Movable emergency fire-fighting robot capable of climbing

Abstract

The invention discloses a movable emergency fire fighting robot capable of climbing, and relates to the technical field of fire fighting, both sides of a main body are fixedly connected with crawler belt parts, the top of the main body is fixedly connected with a water tank, the top of the water tank is fixedly connected with a rotating part, and the side surface of the rotating part is fixedly connected with a throwing part; the side face of the spraying component is fixedly connected with the side, away from the throwing component, of the rotating component, the spraying component comprises a water pump, and the bottom of the water pump is fixedly connected with the bottom of an inner cavity of the water tank. After the fire-fighting robot body is moved to a proper position through remote control, the water pump is started through control, so that water in the water tank is fed into the spraying mechanism through the water pipe and the rotating pipe by the water pump and is sprayed out through the spraying mechanism, and a fire is effectively extinguished.

Description

Technical Field

[0001] The invention relates to the technical field of fire fighting and fire extinguishing, and in particular to a mobile emergency fire fighting and fire extinguishing robot capable of climbing. Background Art

[0002] The emergency fire-fighting robot is a high-tech fire-fighting equipment that plays an increasingly important role in modern firefighting work. The emergency fire-fighting robot is an automated equipment that can replace firefighters to perform fire-fighting, reconnaissance and other tasks at the fire scene. It can work in dangerous environments such as high temperature, thick smoke, toxic and harmful gases, reducing the risk of casualties among firefighters. In order to ensure the mobility of the robot at the fire scene, some fire-fighting robots also have special mobile functions, such as the ability to climb stairs, which is achieved through a special crawler structure or an adjustable chassis, enabling it to shuttle through the stairwells of high-rise buildings, reach various floors of the fire scene, and work better with firefighters.

[0003] In existing devices, when the spray mechanism on the fire-fighting robot works for a long time, dust in the surrounding environment will adhere to the wall of the spray pipe. As time accumulates, these impurities and dirt will increase, which will also have an adverse effect on the normal operation of the spray work, thereby causing pipe blockage or corrosion, affecting the uniformity of the spray and the fire extinguishing effect. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention solves the technical problems by adopting the following technical solution: the present invention provides a mobile emergency fire-fighting robot capable of climbing, comprising: A main body, both sides of which are fixedly connected with track components, the top of the main body is fixedly connected with a water tank, the top of the water tank is fixedly connected with a rotating component, and the side of the rotating component is fixedly connected with a throwing component; A spraying component, which is used for fire extinguishing, and a side of the spraying component is fixedly connected to a side of the rotating component away from the throwing component; The spraying component includes a water pump, the bottom of the water pump is fixedly connected to the bottom of the inner cavity of the water tank, the top of the water pump is fixedly connected to a water pipe, the top of the water pipe is rotatably connected to a rotating pipe, the top of the rotating pipe is fixedly connected to a connecting pipe, the top of the connecting pipe is fixedly connected to a spray mechanism, the bottom of the spray mechanism is fixedly connected to an adjusting block, the bottom of the adjusting block is rotatably connected to a fixed shaft, the end of the fixed shaft away from the adjusting block is fixedly connected to the rotating component, and the side of the connecting pipe is fixedly connected to the inner side of the rotating component; when a small-scale fire occurs at the fire point, after the fire-fighting robot body is moved to a suitable position through remote control, the water pump is turned on through control, so that the water pump sends the water in the water tank to the spray mechanism through the water pipe and the rotating pipe, and sprays it through the spray mechanism to effectively extinguish the fire; Preferably, the spray mechanism comprises a spray pipe, the side surface of the spray pipe is fixedly connected to the top of the adjusting block, one end of the spray pipe is threadedly connected to the adjusting head, the end of the spray pipe away from the adjusting head is fixedly connected to a fixed shell, the inner side of the fixed shell is fixedly connected to the top of the rotating tube, the end of the fixed shell away from the spray pipe is provided with a connecting port, the inner side of the fixed shell is fixedly connected to a one-way valve, the inner side of the spray pipe is fixedly connected to a cross plate, and the inner side of the spray pipe away from the cross plate is fixedly connected to a buffer mechanism. The side of the cross plate is fixedly connected to a guide rod, the side of the cross plate is fixedly connected to a first spring, the other end of the first spring is fixedly connected to a moving frame, the inner side of the moving frame is slidably connected to the side of the guide rod, and scrapers are fixedly connected to both sides of the moving frame, and the side of the scraper away from the moving frame contacts the inner wall of the sprinkler pipe. When the fire-fighting robot body continues to perform fire-fighting work, it can be connected and fixed to the connecting port through an external water pipe, and at the same time, it can continue to enter the sprinkler pipe through the one-way valve, so as to be sprayed out through the adjusting head , so as to continuously extinguish the fire at the fire point. At the same time, when the water flow continues to enter the inner cavity of the sprinkler pipe, the water flow continuously impacts the mobile frame, so that the mobile frame drives the scrapers on both sides to move on the guide rod, so as to contact and move with the inner wall of the sprinkler pipe. The water flow itself may carry various impurities, such as mud, dust, etc. These impurities will be deposited on the pipe wall due to the change of water flow speed when passing through the sprinkler pipe. In addition, dust in the surrounding environment of the pipeline may also enter the pipeline through the pipeline interface and other parts, adhere to the pipe wall, and As time goes by, these impurities and dirt will increase, which will also have an adverse effect on the normal operation of the spraying work, thereby causing pipe blockage or corrosion, affecting the uniformity of the spraying and the fire extinguishing effect. When the fire extinguishing work is completed, the external water pipe stops supplying water to the spray pipe, and the movable frame is pulled by the reset of the first spring to drive the movable plate to move in the inner wall of the spray pipe. At the same time, the scrapers on both sides of the movable plate clean the inner wall of the spray pipe, and at the same time, the reset of the first spring drives the movable frame and the buffer mechanism to reset and offset each other; Preferably, the buffer mechanism comprises a buffer frame, the side surface of the buffer frame is fixedly connected to the inner wall of the spray pipe, the inner side of the buffer frame is fixedly connected to one end of the guide rod away from the cross plate, the side of the buffer frame close to the moving frame is fixedly connected with an impact block, the inner side of the impact block is slidably connected with a buffer rod, the end of the buffer rod away from the buffer frame is fixedly connected with the buffer plate, both sides of the buffer plate are slidably connected to the inner side of the impact block, the buffer rod is sleeved with a second spring, one end of the second spring is fixedly connected to one end of the buffer plate, and the other end of the second spring is fixedly connected to the inner side of the impact block; when the external water pipe stops supplying water to the spray pipe, the moving frame is pulled by the reset of the first spring to drive the moving frame to reset and move on the guide rod, so that the side of the moving frame collides with the buffer plate, and when the buffer plate and the moving frame are squeezed and resisted, the buffer plate can slide in the inner side of the buffer frame through the buffer rod, and at the same time, through the buffering work of the second spring, it is avoided that the impact force between the moving frame and the buffer plate is too large, which will cause impact damage to the side of the moving frame; Preferably, the throwing component includes a throwing tube, the side surface of the throwing tube is fixedly connected to one end of the rotating component away from the spraying component, one end of the throwing tube is fixedly connected to a bracket, the side surface of the bracket is fixedly connected to an electric hydraulic cylinder, the output end of the electric hydraulic cylinder is fixedly connected to a pulling rod, one end of the pulling rod is fixedly connected to a second magnet, the inner side of the throwing tube is fixedly connected to a circular plate, the inner side of the circular plate is slidably connected to a round rod, one end of the round rod is fixedly connected to an ejection plate, the side surface of the ejection plate is slidably connected to the inner side of the throwing tube, The other end of the round rod is fixedly connected to the first magnet, and the round rod is sleeved with a third spring, one end of the third spring is fixedly connected to the first magnet, and the other end of the third spring is fixedly connected to the round plate, and a discharge mechanism is fixedly connected to the side of the throwing tube; when it is necessary to extinguish some fire sources that are difficult to approach, the throwing tube is driven by the rotating component through the rotating component, and after rotating to a suitable throwing angle, the foam bomb is put into the throwing tube by pulling the discharge mechanism, and at the same time, the electric hydraulic cylinder is opened, and the output end of the electric hydraulic cylinder is pulled The rod drives the second magnet to move toward one end of the bracket inside the throwing tube. Since the first magnet and the second magnet attract each other, the second magnet drives the first magnet to move in the inner cavity of the throwing tube. At the same time, the first magnet drives the ejection plate through the round rod to slide in the inner side of the round plate. At the same time, the first magnet pulls the third spring to move. The output end of the electric hydraulic cylinder continuously drives the second magnet to move through the pulling rod. When the pulling force is greater than the suction force between the second magnet and the first magnet, the third spring drives the first magnet to separate from the second magnet. At the same time, the reset pulling force of the third spring enables the first magnet to drive the ejection plate through the round rod to impact the foam bomb in the inner cavity of the throwing tube, and throw the foam bomb to the fire point. When the foam bomb is triggered to be launched, the bomb body ruptures during the flight or after reaching the target location, and the foam fire extinguishing agent is released. The foam fire extinguishing agent will expand rapidly to form a large amount of foam. These foams can cover the surface of the burning object and extinguish the fire by isolating oxygen. At the same time, the foam also has a certain cooling effect, which can reduce the temperature of the burning object, thereby achieving the purpose of extinguishing the fire. Preferably, the discharging mechanism comprises a discharging shell, the bottom of the discharging shell is fixedly connected to the inner side of the throwing tube, the side of the discharging shell is provided with a discharging groove, and both sides of the throwing tube are provided with moving grooves, the inner side of the moving groove is slidably connected with a baffle, the middle part of the baffle is provided with a through hole, the top of the moving groove is provided with a sliding groove, the side of the baffle is fixedly connected with a connecting frame, the side of the connecting frame is slidably connected to the inner side of the sliding groove, the end of the connecting frame away from the baffle is fixedly connected to the limiting plate, the side of the limiting plate is slidably connected to the inner side of the discharging shell, the side of the limiting plate is provided with a through hole, the side of the connecting frame is fixedly connected with a round shaft, the end of the round shaft away from the connecting frame is slidably connected to the side of the discharging shell, and a fourth spring is sleeved on the round rod, one end of the fourth spring is fixedly connected to the side of the connecting frame, and the other end of the fourth spring is fixedly connected to the side of the discharging shell. Fixed connection; after the foam bomb in the inner cavity of the throwing tube is thrown, the connecting frame is moved in the sliding groove by pulling the connecting frame, and the connecting frame drives the baffle to move in the moving groove to the side close to the electric hydraulic cylinder, and at the same time, the connecting frame drives the limit plate to slide on the inner side of the discharge shell, and at the same time, the connecting frame is continuously pulled until the through hole is concentric with the discharge trough, and the gap height between the bottom of the limit plate and the top of the baffle is the height of a foam bomb, so that the foam bombs vertically stacked in the discharge trough are against the top of the baffle through the discharge trough and the through hole, and by loosening the connecting frame, the connecting frame is pulled by the reset of the fourth spring and moves in the inner side of the discharge shell through the round rod, so that the connecting frame drives the baffle and the limit plate to reset and move, so that the through hole is concentric with the discharge trough, so that the foam bomb dropped on the baffle enters the throwing tube through the through hole, so as to carry out subsequent feeding work.

[0005] The beneficial effects of the present invention are as follows: 1. The present invention is provided with a spraying component. When a small-scale fire occurs at the fire point, the fire-fighting robot body is moved to a suitable position by remote control, and the water pump is turned on by control, so that the water pump sends the water in the water tank to the spray mechanism through the water pipe and the rotating pipe, and the water is sprayed out through the spray mechanism to effectively extinguish the fire.

[0006] 2. The present invention sets a spray mechanism. When the main body of the fire-fighting robot continues to perform fire-fighting work, it can be connected and fixed to the connecting port through an external water pipe, and at the same time, it continues to enter the spray pipe through a one-way valve, so as to be sprayed out through an adjusting head, so as to continuously extinguish the fire at the fire point. At the same time, when the water flow continues to enter the inner cavity of the spray pipe, the water flow continuously impacts the moving frame, so that the moving frame drives the scrapers on both sides to move on the guide rod, so as to contact and move with the inner wall of the spray pipe. The water flow itself may carry various impurities, such as mud, dust, etc. These impurities will be deposited on the pipe wall due to the change of water flow speed when passing through the spray pipe.

[0007] 3. The present invention provides a buffer mechanism. When the external water pipe stops supplying water to the spray pipe, the movable frame is pulled by the reset of the first spring to drive the movable frame to reset on the guide rod, so that the side of the movable frame collides with the buffer plate. At the same time, when the buffer plate and the movable frame are squeezed and pressed against each other, the buffer plate can slide on the inner side of the buffer frame through the buffer rod. At the same time, the buffering work of the second spring is performed to avoid excessive impact force between the movable frame and the buffer plate, which will cause impact damage to the side of the movable frame.

[0008] 4. The present invention provides a throwing component. When it is necessary to extinguish a fire that is difficult to approach, the rotating component is controlled to drive the throwing tube. After the throwing tube is rotated to a suitable throwing angle, the discharge mechanism is pulled to put the foam bomb into the throwing tube. At the same time, the electric hydraulic cylinder is opened. The output end of the electric hydraulic cylinder drives the second magnet to move inside the throwing tube toward one end of the bracket through the pulling rod. Since the first magnet and the second magnet are attracted to each other, the second magnet drives the first magnet to move in the inner cavity of the throwing tube. At the same time, the first magnet drives the ejection plate through the round rod to slide on the inner side of the round plate. At the same time, the first magnet pulls the third spring to move, and the output end of the electric hydraulic cylinder continuously drives the ejection plate to slide on the inner side of the round plate. The second magnet is driven to move by pulling the rod. When the pulling force is greater than the suction force between the second magnet and the first magnet, the third spring drives the first magnet to separate from the second magnet. At the same time, through the reset pulling force of the third spring, the first magnet can drive the ejection plate through the round rod to collide with the foam bomb in the inner cavity of the throwing tube, and throw the foam bomb toward the fire point. When the foam bomb is triggered to be launched, the bomb body ruptures during the flight or after arriving at the target location, and the foam fire extinguishing agent is released. The foam fire extinguishing agent will expand rapidly to form a large amount of foam. These foams can cover the surface of the burning object and extinguish the fire by isolating oxygen. At the same time, the foam also has a certain cooling effect, which can reduce the temperature of the burning object, thereby achieving the purpose of extinguishing the fire. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1It is a structural schematic diagram of a mobile emergency fire-fighting robot capable of climbing according to the present invention; Figure 2 is a cross-sectional view of the present invention; Figure 3 It is a structural schematic diagram of the water tank of the present invention; Figure 4 It is a structural schematic diagram of the spraying component of the present invention; Figure 5 It is a structural schematic diagram of the spray mechanism of the present invention; Figure 6 It is a structural schematic diagram of the buffer mechanism of the present invention; Figure 7 It is a structural schematic diagram of the throwing component of the present invention; Figure 8 1. The structure diagram of the discharge mechanism of the present invention; In the figure: 1. Main body; 2. Track component; 3. Water tank; 4. Rotating component; 5. Spraying component; 51. Fixed shaft; 52. Adjusting block; 53. Spraying mechanism; 531. Spraying pipe; 532. Adjusting head; 533. Fixed shell; 534. Connecting port; 535. One-way valve; 536. Buffer mechanism; 5361. Buffer frame; 5362. Impact block; 5363. Buffer rod; 5364. Buffer plate; 5365. Second spring; 537. Cross plate; 538. Guide rod; 539. Moving frame; 5310. Scraper; 5311. First spring; 54. Water Pump; 55, water pipe; 56, rotating pipe; 57, connecting pipe; 6, throwing component; 61, throwing tube; 62, bracket; 63, electric hydraulic cylinder; 64, pulling rod; 65, round plate; 66, ejector plate; 67, third spring; 68, discharge mechanism; 681, discharge shell; 682, sliding groove; 683, baffle; 684, through hole; 685, connecting frame; 686, round shaft; 687, fourth spring; 688, moving groove; 689, limit plate; 6810, through hole; 6811, discharge trough; 69, first magnet; 610, second magnet; 611, round rod. DETAILED DESCRIPTION

[0010] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0011] Example 1, using Figure 1-Figure 6 A mobile emergency fire-fighting robot capable of climbing according to one embodiment of the present invention is described as follows; like Figure 1-Figure 6 The present invention shows a mobile emergency fire-fighting robot capable of climbing, comprising: A main body 1, with track parts 2 fixedly connected to both sides of the main body 1, a water tank 3 fixedly connected to the top of the main body 1, a rotating part 4 fixedly connected to the top of the water tank 3, and a throwing part 6 fixedly connected to the side of the rotating part 4; A spraying component 5, which is used for fire extinguishing, and a side of the spraying component 5 is fixedly connected to a side of the rotating component 4 away from the throwing component 6; The spraying component 5 includes a water pump 54, the bottom of which is fixedly connected to the bottom of the inner cavity of the water tank 3, a water pipe 55 is fixedly connected to the top of the water pump 54, a rotating pipe 56 is rotatably connected to the top of the water pipe 55, a connecting pipe 57 is fixedly connected to the top of the rotating pipe 56, a spray mechanism 53 is fixedly connected to the top of the connecting pipe 57, an adjusting block 52 is fixedly connected to the bottom of the spray mechanism 53, a fixed shaft 51 is rotatably connected to the bottom of the adjusting block 52, an end of the fixed shaft 51 away from the adjusting block 52 is fixedly connected to the rotating component 4, and a side of the connecting pipe 57 is fixedly connected to the inner side of the rotating component 4; when a small-scale fire occurs at the fire point, after the fire-fighting robot body 1 is moved to a suitable position by remote control, the water pump 54 is turned on by control, so that the water pump 54 sends the water in the water tank 3 to the spray mechanism 53 through the water pipe 55 and the rotating pipe 56, and sprays it through the spray mechanism 53 to effectively extinguish the fire; The spray mechanism 53 includes a spray pipe 531, the side of the spray pipe 531 is fixedly connected to the top of the adjustment block 52, one end of the spray pipe 531 is threadedly connected to the adjustment head 532, the end of the spray pipe 531 away from the adjustment head 532 is fixedly connected to the fixed shell 533, the inner side of the fixed shell 533 is fixedly connected to the top of the rotating tube 56, the end of the fixed shell 533 away from the spray pipe 531 is provided with a connection port 534, the inner side of the fixed shell 533 is fixedly connected to a one-way valve 535, the inner side of the spray pipe 531 is fixedly connected to a cross plate 537, and the inner side of the spray pipe 531 away from the cross plate 537 is fixedly connected to the buffer mechanism 5 36, the side of the cross plate 537 is fixedly connected with a guide rod 538, the side of the cross plate 537 is fixedly connected with a first spring 5311, the other end of the first spring 5311 is fixedly connected with a moving frame 539, the inner side of the moving frame 539 is slidably connected to the side of the guide rod 538, and the two sides of the moving frame 539 are fixedly connected with scrapers 5310, and the side of the scraper 5310 away from the moving frame 539 is in contact with the inner wall of the spray pipe 531. When the fire-fighting robot body 1 continues to perform fire-fighting work, it can be connected and fixed with the connecting port 534 through the external water pipe 55, and at the same time, it can continue to enter the spray pipe 531 through the one-way valve 535. , so that it is sprayed out through the regulating head 532, so as to continuously extinguish the fire point. At the same time, when the water flow continues to enter the inner cavity of the spray pipe 531, the water flow continuously impacts the moving frame 539, so that the moving frame 539 drives the scrapers 5310 on both sides to move on the guide rod 538, so as to contact and move with the inner wall of the spray pipe 531. The water flow itself may carry various impurities, such as mud, dust, etc. These impurities will be precipitated on the pipe wall due to the change of water flow speed when passing through the spray pipe 531. In addition, dust in the surrounding environment of the pipeline may also enter the pipeline through the pipeline interface and other parts and adhere to the pipe wall As time goes by, these impurities and dirt will accumulate more and more, which will also have an adverse effect on the normal operation of the spraying work, thereby causing pipe blockage or corrosion, affecting the uniformity of the spraying and the fire extinguishing effect. When the fire extinguishing work is completed, the external water pipe 55 stops supplying water to the spray pipe 531, and the movable frame 539 is pulled by the reset of the first spring 5311 to drive the movable plate to move in the inner wall of the spray pipe 531. At the same time, the scrapers 5310 on both sides of the movable plate clean the inner wall of the spray pipe 531. At the same time, the reset of the first spring 5311 drives the movable frame 539 and the buffer mechanism 536 to reset and offset each other. The buffer mechanism 536 includes a buffer frame 5361, the side of the buffer frame 5361 is fixedly connected to the inner wall of the spray pipe 531, the inner side of the buffer frame 5361 is fixedly connected to the end of the guide rod 538 away from the cross plate 537, the side of the buffer frame 5361 close to the movable frame 539 is fixedly connected to the impact block 5362, the inner side of the impact block 5362 is slidably connected to the buffer rod 5363, the end of the buffer rod 5363 away from the buffer frame 5361 is fixedly connected to the buffer plate 5364, the two sides of the buffer plate 5364 are slidably connected to the inner side of the impact block 5362, the buffer rod 5363 is sleeved with a second spring 5365, one end of the second spring 5365 is fixedly connected to one end of the buffer plate 5364, and the second spring 5365 is fixedly connected to the end of the buffer plate 5364. The other end of the outer water pipe 55 is fixedly connected to the inner side of the impact block 5362; when the external water pipe 55 stops supplying water to the spray pipe 531, the movable frame 539 is pulled by the first spring 5311 to reset and move the movable frame 539 on the guide rod 538, so that the side of the movable frame 539 is collided with the buffer plate 5364, and when the buffer plate 5364 is pressed against the movable frame 539, the buffer plate 5364 can slide on the inner side of the buffer frame 5361 through the buffer rod 5363, and the second spring 5365 is used for buffering, so as to avoid excessive impact force between the movable frame 539 and the buffer plate 5364, which will cause impact damage to the side of the movable frame 539; Embodiment 2, use Figure 7-Figure 8 The present invention is a mobile emergency fire-fighting robot capable of climbing. like Figure 7-Figure 8 It is shown that a mobile emergency fire-fighting robot capable of climbing of the present invention is based on the first embodiment; The throwing component 6 includes a throwing cylinder 61, the side of the throwing cylinder 61 is fixedly connected to one end of the rotating component 4 away from the spraying component 5, one end of the throwing cylinder 61 is fixedly connected to a bracket 62, the side of the bracket 62 is fixedly connected to an electric hydraulic cylinder 63, the output end of the electric hydraulic cylinder 63 is fixedly connected to a pull rod 64, one end of the pull rod 64 is fixedly connected to a second magnet 610, the inner side of the throwing cylinder 61 is fixedly connected to a circular plate 65, the inner side of the circular plate 65 is slidably connected to a round rod 611, one end of the round rod 611 is fixedly connected to an ejection plate 66, the side of the ejection plate 66 is slidably connected to the inner side of the throwing cylinder 61, and the other end of the round rod 611 is fixedly connected to the inner side of the throwing cylinder 61. The first magnet 69 is fixedly connected to the round rod 611, and a third spring 67 is sleeved on the round rod 611. One end of the third spring 67 is fixedly connected to the first magnet 69, and the other end of the third spring 67 is fixedly connected to the round plate 65. A discharge mechanism 68 is fixedly connected to the side of the throwing tube 61. When it is necessary to extinguish some fire sources that are difficult to approach, the throwing tube 61 is driven by the rotating component 4 through the rotating component 4. After rotating to a suitable throwing angle, the foam bomb is put into the throwing tube 61 by pulling the discharge mechanism 68. At the same time, the electric hydraulic cylinder 63 is opened, and the output end of the electric hydraulic cylinder 63 drives the second magnet 61 through the pulling rod 64. 0 moves inside the throwing tube 61 toward one end of the bracket 62. Since the first magnet 69 and the second magnet 610 attract each other, the second magnet 610 drives the first magnet 69 to move in the inner cavity of the throwing tube 61. At the same time, the first magnet 69 drives the ejection plate 66 through the round rod 611 to slide inside the round plate 65. At the same time, the first magnet 69 pulls the third spring 67 to move. The output end of the electric hydraulic cylinder 63 continuously drives the second magnet 610 to move through the pulling rod 64. When the pulling force is greater than the suction force between the second magnet 610 and the first magnet 69, the third spring 67 drives The first magnet 69 is separated from the second magnet 610, and at the same time, the third spring 67 has a resetting pulling force, so that the first magnet 69 can drive the ejection plate 66 to impact the foam bomb in the inner cavity of the throwing tube 61 through the round rod 611, and throw the foam bomb to the fire point. When the foam bomb is triggered and fired, the bomb body ruptures during the flight or after reaching the target location, and the foam fire extinguishing agent is released. The foam fire extinguishing agent will expand rapidly to form a large amount of foam, which can cover the surface of the burning object and extinguish the fire by isolating oxygen. At the same time, the foam also has a certain cooling effect, which can reduce the temperature of the burning object, thereby achieving the purpose of extinguishing the fire. The discharge mechanism 68 includes a discharge shell 681, the bottom of which is fixedly connected to the inner side of the throwing tube 61, a discharge groove 6811 is provided on the side of the discharge shell 681, and a moving groove 688 is provided on both sides of the throwing tube 61. A baffle 683 is slidably connected to the inner side of the moving groove 688, a through hole 684 is provided in the middle of the baffle 683, a sliding groove 682 is provided on the top of the moving groove 688, a connecting frame 685 is fixedly connected to the side of the baffle 683, and the side of the connecting frame 685 is slidably connected to the inner side of the sliding groove 682, and the connecting frame 685 is away from the baffle 68 One end of the rod 611 is fixedly connected to a limit plate 689, the side of the limit plate 689 is slidably connected to the inner side of the discharge housing 681, a through hole 6810 is provided on the side of the limit plate 689, a round shaft 686 is fixedly connected to the side of the connecting frame 685, and one end of the round shaft 686 away from the connecting frame 685 is slidably connected to the side of the discharge housing 681, a fourth spring 687 is sleeved on the round rod 611, one end of the fourth spring 687 is fixedly connected to the side of the connecting frame 685, and the other end of the fourth spring 687 is fixedly connected to the side of the discharge housing 681; in the inner cavity of the throwing tube 61 After the foam bomb is thrown, the connecting frame 685 is pulled to move in the sliding groove 682, and the connecting frame 685 drives the baffle 683 to move in the moving groove 688 to the side close to the electric hydraulic cylinder 63. At the same time, the connecting frame 685 drives the limit plate 689 to slide in the inner side of the discharge shell 681, and the connecting frame 685 is continuously pulled until the through hole 6810 is concentric with the discharge groove 6811. At the same time, the gap height between the bottom of the limit plate 689 and the top of the baffle 683 is the height of a foam bomb, so that the discharge groove 6811 is vertically connected in sequence. When the stacked foam bombs are against the top of the baffle 683 through the discharge trough 6811 and the through hole 684, the connecting frame 685 is loosened, and the connecting frame 685 is pulled by the fourth spring 687 to move inside the discharge housing 681 through the round rod 611, so that the connecting frame 685 drives the baffle 683 and the limit plate 689 to reset and move, so that the through hole 684 is concentric with the discharge trough 6811, so that the foam bombs dropped on the baffle 683 enter the throwing tube 61 through the through hole 684, so as to carry out the subsequent feeding work; The specific workflow is as follows: During operation, after adding a large amount of water to the water tank 3 for storage, the operator uses wireless communication equipment, such as a radio remote control, or sends instructions through a computer network system in a safe area. After the main body 1 receives the instruction, the driving motor drives the crawler component 2 to move to the designated location of the fire scene. It is equipped with a sensor system, including a temperature sensor, a smoke sensor, a flame sensor, etc., which can sense the surrounding environment in real time, such as the temperature of the fire, the location and intensity of the flame, and feed back these data to the operator in order to better formulate a fire extinguishing strategy. Through remote control, the rotating component 4 is rotated and adjusted, and the spraying component 5 is used to spray water to extinguish the fire. When the fire point is far away and there are a large number of obstacles around the fire point that hinder the movement of the robot, the throwing component 6 can be controlled to throw a foam bomb to the fire point to extinguish the fire; When a small-scale fire occurs at the fire point, the fire-fighting robot body 1 is moved to a suitable position by remote control, and the water pump 54 is turned on by control, so that the water pump 54 sends the water in the water tank 3 to the spray mechanism 53 through the water pipe 55 and the rotating pipe 56, and the water is sprayed through the spray mechanism 53 to effectively extinguish the fire; When the fire-fighting robot body 1 continues to perform fire-fighting work, it can be connected and fixed to the connecting port 534 through the external water pipe 55, and at the same time, it can continue to enter the spray pipe 531 through the one-way valve 535, so as to be sprayed out through the adjusting head 532, so as to continue to extinguish the fire at the fire point. At the same time, when the water flow continues to enter the inner cavity of the spray pipe 531, the water flow continuously impacts the moving frame 539, so that the moving frame 539 drives the scrapers 5310 on both sides to move on the guide rod 538, so as to contact and move with the inner wall of the spray pipe 531. The water flow itself may carry various impurities, such as mud, dust, etc. These impurities will be precipitated on the pipe wall due to the change of water flow speed when passing through the spray pipe 531. In addition, the pipeline Dust and the like in the surrounding environment may also enter the interior of the pipe through the pipe interface and other parts, and adhere to the pipe wall. As time goes by, these impurities and dirt will accumulate more and more, which will also have an adverse effect on the normal operation of the spraying work, thereby causing pipe blockage or corrosion, affecting the uniformity of the spraying and the fire extinguishing effect. When the fire extinguishing work is completed, the external water pipe 55 stops supplying water to the spray pipe 531, and the movable frame 539 is pulled by the reset of the first spring 5311 to drive the movable plate to move in the inner wall of the spray pipe 531. At the same time, the scrapers 5310 on both sides of the movable plate clean the inner wall of the spray pipe 531, and at the same time, the reset of the first spring 5311 drives the movable frame 539 and the buffer mechanism 536 to reset and offset each other; When the external water pipe 55 stops supplying water to the spray pipe 531, the movable frame 539 is pulled by the reset of the first spring 5311, driving the movable frame 539 to reset on the guide rod 538, so that the side of the movable frame 539 is collided with the buffer plate 5364. At the same time, when the buffer plate 5364 and the movable frame 539 are pressed and pressed against each other, the buffer plate 5364 can slide on the inner side of the buffer frame 5361 through the buffer rod 5363. At the same time, the buffering work of the second spring 5365 is used to prevent the impact force between the movable frame 539 and the buffer plate 5364 from being too large, which will cause impact damage to the side of the movable frame 539. When it is necessary to extinguish fires at some inaccessible fire sources, the rotating component 4 is manipulated to drive the throwing tube 61 through the rotating component 4. After rotating to a suitable throwing angle, the foam bomb is put into the throwing tube 61 by pulling the discharge mechanism 68. At the same time, the electric hydraulic cylinder 63 is opened, and the output end of the electric hydraulic cylinder 63 drives the second magnet 610 to move toward one end of the bracket 62 inside the throwing tube 61 through the pulling rod 64. Since the first magnet 69 and the second magnet 610 are attracted to each other, the second magnet 610 drives the first magnet 69 to move in the inner cavity of the throwing tube 61. At the same time, the first magnet 69 drives the ejection plate 66 through the round rod 611 to slide on the inner side of the round plate 65. At the same time, the first magnet 69 pulls the third spring 67 to move, and the output of the electric hydraulic cylinder 63 The end continues to drive the second magnet 610 to move by pulling the rod 64. When the pulling force is greater than the suction force between the second magnet 610 and the first magnet 69, the third spring 67 drives the first magnet 69 to separate from the second magnet 610. At the same time, through the reset pulling force of the third spring 67, the first magnet 69 can drive the ejection plate 66 to impact the foam bomb in the inner cavity of the throwing tube 61 through the round rod 611, and throw the foam bomb to the fire point. When the foam bomb is triggered and fired, during the flight or after reaching the target location, the bomb body ruptures and the foam fire extinguishing agent is released. The foam fire extinguishing agent will expand rapidly to form a large amount of foam. These foams can cover the surface of the burning object and extinguish the fire by isolating oxygen. At the same time, the foam also has a certain cooling effect, which can reduce the temperature of the burning object, thereby achieving the purpose of extinguishing the fire. After the foam bomb in the inner cavity of the throwing tube 61 is thrown, the connecting frame 685 is pulled to move in the sliding groove 682, and the connecting frame 685 drives the baffle 683 to move in the moving groove 688 to the side close to the electric hydraulic cylinder 63, and at the same time, the connecting frame 685 drives the limit plate 689 to slide in the inner side of the discharge shell 681, and at the same time, the connecting frame 685 is continuously pulled until the through hole 6810 is concentric with the discharge groove 6811, and the gap height between the bottom of the limit plate 689 and the top of the baffle 683 is the height of a foam bomb, so that the discharge groove 6811 When the foam bombs stacked vertically in sequence are against the top of the baffle 683 through the discharge trough 6811 and the through hole 684, the connecting frame 685 is loosened, and the connecting frame 685 is pulled by the fourth spring 687 to move inside the discharge shell 681 through the round rod 611, so that the connecting frame 685 drives the baffle 683 and the limit plate 689 to reset and move, so that the through hole 684 is concentric with the discharge trough 6811, so that the foam bomb dropped on the baffle 683 enters the throwing tube 61 through the through hole 684, so as to carry out the subsequent feeding work.

[0012] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A mobile emergency fire-fighting robot capable of climbing, characterized in that: include: A main body (1), both sides of the main body (1) are fixedly connected to track components (2), the top of the main body (1) is fixedly connected to a water tank (3), the top of the water tank (3) is fixedly connected to a rotating component (4), and the side of the rotating component (4) is fixedly connected to a throwing component (6); A spraying component (5), the spraying component (5) being used for fire extinguishing work, wherein a side surface of the spraying component (5) is fixedly connected to a side of the rotating component (4) away from the throwing component (6); The spraying component (5) comprises a water pump (54), the bottom of which is fixedly connected to the bottom of the inner cavity of the water tank (3), the top of which is fixedly connected to a water pipe (55), the top of which is rotatably connected to a rotating pipe (56), the top of which is fixedly connected to a connecting pipe (57), the top of which is fixedly connected to a spray mechanism (53), the bottom of which is fixedly connected to an adjusting block (52), the bottom of which is rotatably connected to a fixed shaft (51), the end of which, away from the adjusting block (52), is fixedly connected to the rotating component (4), and the side surface of the connecting pipe (57) is fixedly connected to the inner side of the rotating component (4).

2. The mobile emergency fire-fighting robot capable of climbing according to claim 1, characterized in that: The spray mechanism (53) comprises a spray pipe (531), one end of the spray pipe (531) is threadedly connected to an adjusting head (532), one end of the spray pipe (531) away from the adjusting head (532) is fixedly connected to a fixed shell (533), one end of the fixed shell (533) away from the spray pipe (531) is provided with a connecting port (534), the inner side of the fixed shell (533) is fixedly connected to a one-way valve (535), and the inner side of the spray pipe (531) is fixedly connected to a fixed outer shell (534). A cross plate (537) is fixedly connected to the spray pipe (531); a buffer mechanism (536) is fixedly connected to the inner side of the spray pipe (531) away from the cross plate (537); a guide rod (538) is fixedly connected to the side of the cross plate (537); a first spring (5311) is fixedly connected to the side of the cross plate (537); the other end of the first spring (5311) is fixedly connected to a movable frame (539); and scrapers (5310) are fixedly connected to both sides of the movable frame (539).

3. The mobile emergency fire-fighting robot capable of climbing according to claim 2, characterized in that: The side of the spray pipe (531) is fixedly connected to the top of the adjustment block (52), the inner side of the fixed housing (533) is fixedly connected to the top of the rotating tube (56), the side of the scraper (5310) away from the movable frame (539) is in contact with the inner wall of the spray pipe (531), and the inner side of the movable frame (539) is slidably connected to the side of the guide rod (538).

4. The mobile emergency fire-fighting robot capable of climbing according to claim 2, characterized in that: The buffer mechanism (536) comprises a buffer frame (5361), the inner side of the buffer frame (5361) is fixedly connected to one end of the guide rod (538) away from the cross plate (537), the side of the buffer frame (5361) close to the movable frame (539) is fixedly connected to an impact block (5362), the inner side of the impact block (5362) is slidably connected to a buffer rod (5363), the end of the buffer rod (5363) away from the buffer frame (5361) is fixedly connected to a buffer plate (5364), and a second spring (5365) is sleeved on the buffer rod (5363).

5. The mobile emergency fire-fighting robot capable of climbing according to claim 4, characterized in that: The side surface of the buffer frame (5361) is fixedly connected to the inner wall of the spray pipe (531), the two sides of the buffer plate (5364) are slidably connected to the inner side of the impact block (5362), one end of the second spring (5365) is fixedly connected to one end of the buffer plate (5364), and the other end of the second spring (5365) is fixedly connected to the inner side of the impact block (5362).

6. The mobile emergency fire-fighting robot capable of climbing according to claim 1, characterized in that: The throwing component (6) comprises a throwing cylinder (61), the side of the throwing cylinder (61) is fixedly connected to one end of the rotating component (4) away from the spraying component (5), one end of the throwing cylinder (61) is fixedly connected to a bracket (62), the side of the bracket (62) is fixedly connected to an electric hydraulic cylinder (63), the output end of the electric hydraulic cylinder (63) is fixedly connected to a pulling rod (64), one end of the pulling rod (64) is fixedly connected to a second magnet (610), the inner side of the throwing cylinder (61) is fixedly connected to a circular plate (65), the inner side of the circular plate (65) is slidably connected to a round rod (611), one end of the round rod (611) is fixedly connected to an ejection plate (66), the other end of the round rod (611) is fixedly connected to a first magnet (69), a third spring (67) is sleeved on the round rod (611), and the side of the throwing cylinder (61) is fixedly connected to a discharge mechanism (68).

7. The mobile emergency fire-fighting robot capable of climbing according to claim 6, characterized in that: The side surface of the ejection plate (66) is slidably connected to the inner side of the throwing tube (61), one end of the third spring (67) is fixedly connected to the first magnet (69), and the other end of the third spring (67) is fixedly connected to the circular plate (65).

8. The mobile emergency fire-fighting robot capable of climbing according to claim 6, characterized in that: The material discharging mechanism (68) comprises a material discharging shell (681), a material discharging groove (6811) is provided on the side of the material discharging shell (681), a moving groove (688) is provided on both sides of the throwing tube (61), a baffle (683) is slidably connected to the inner side of the moving groove (688), a through hole (684) is provided in the middle of the baffle (683), a sliding groove (682) is provided on the top of the moving groove (688), and the side of the baffle (683) is fixed A connecting frame (685) is connected, one end of the connecting frame (685) away from the baffle (683) is fixedly connected to a limit plate (689), a side surface of the limit plate (689) is provided with a through hole (6810), a side surface of the connecting frame (685) is fixedly connected to a round shaft (686), one end of the round shaft (686) away from the connecting frame (685) is slidably connected to the side surface of the discharge housing (681), and a fourth spring (687) is sleeved on the round rod (611).

9. The mobile emergency fire-fighting robot capable of climbing according to claim 8, characterized in that: The bottom of the discharge housing (681) is fixedly connected to the inner side of the throwing tube (61), the side of the connecting frame (685) is slidably connected to the inner side of the sliding groove (682), the side of the limiting plate (689) is slidably connected to the inner side of the discharge housing (681), one end of the fourth spring (687) is fixedly connected to the side of the connecting frame (685), and the other end of the fourth spring (687) is fixedly connected to the side of the discharge housing (681).

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