High-temperature-resistant fire-extinguishing rescue robot

Abstract

The high-temperature-resistant fire extinguishing rescue robot relates to the technical field of high-temperature-resistant robots and comprises a shell, a top shell is fixedly connected to the top of the shell, a protective cover is rotatably connected to the top of the top shell, and a fixing seat is arranged at the position, located in the top shell, of the top of the shell; an adjusting motor is arranged in the fixing base, one end of an output shaft of the adjusting motor is fixedly connected with a base, and the top of the base is rotationally connected with a first mechanical arm. According to the high-temperature-resistant fire extinguishing rescue robot, through cooperation of the first mechanical arm, the second mechanical arm and the third mechanical arm, the abutting block supports the ground so as to help the robot to move on stairs, rotation of the first mechanical arm, the second mechanical arm and the third mechanical arm is controlled through the robot, doors and windows of a room are broken through a saw blade, and the high-temperature-resistant fire extinguishing rescue robot is achieved. Therefore, the effect of rescuing the trapped persons in the fire disaster by crossing floors and forcibly dismantling doors and windows is achieved at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of high temperature resistant robots, and in particular to a high temperature resistant fire extinguishing and rescue robot. Background Art

[0002] As an important part of modern firefighting technology, firefighting robots have been widely used and rapidly developed in recent years. These robots can perform various tasks at the fire scene, including flame monitoring, fire extinguishing, smoke removal, and personnel rescue. With the advancement of artificial intelligence, the Internet of Things, and automation technology, firefighting robots have become more intelligent and have autonomous navigation, environmental perception, and decision-making capabilities. They can work efficiently in complex and dangerous environments, reducing the risks to firefighters.

[0003] Generally, firefighting robots are not designed to have the functions of climbing stairs and breaking down doors and windows at the same time, which limits their applicability in various firefighting scenarios. In a fire in a multi-story building, the robot may need to climb stairs for rescue, and in some cases it may need to break down obstacles to perform firefighting or rescue operations. Due to its single function, the firefighting robot cannot flexibly respond to complex fire scenes, resulting in limitations in actual applications. This not only reduces the practicality of the robot, but also affects the efficiency of on-site rescue and cannot meet actual needs. Summary of the invention

[0004] The present invention discloses a high-temperature resistant fire-fighting and rescue robot, which aims to solve the problem that general fire-fighting robots are not designed to have the functions of climbing stairs and breaking down doors and windows at the same time, limiting their applicability in various fire-fighting scenarios. In a fire in a multi-story building, the robot may need to climb stairs for rescue, and in some cases it may need to break down obstacles for fire-fighting or rescue operations. Due to the single function, the fire-fighting robot cannot flexibly respond to complex fire scenes, resulting in limitations in practical applications, which not only reduces the practicability of the robot, but also affects the technical problem of on-site rescue efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A high temperature resistant fire fighting and rescue robot comprises a shell, the top of the shell is fixedly connected with a top shell, the top of the top shell is rotatably connected with a protective cover, the top of the shell is provided with a fixing seat at an inner position of the top shell, an adjusting motor is provided inside the fixing seat, one end of the adjusting motor output shaft is fixedly connected with a base, the top of the base is rotatably connected with a first mechanical arm, one end of the first mechanical arm is rotatably connected with a second mechanical arm, one end of the second mechanical arm is rotatably connected with a third mechanical arm, one end of the third mechanical arm is rotatably connected with an auxiliary frame, a switching motor is fixedly connected with the bottom of the auxiliary frame, one end of the switching motor output shaft is detachably mounted with a conversion frame, one end of the conversion frame is provided with a stop block, the other end of the conversion frame is provided with a cutting motor, one end of the cutting motor output shaft is fixedly connected with a saw blade, and the stop block is used for auxiliary support and auxiliary opening of the protective cover; A water spray mechanism is installed inside the shell, and the water spray mechanism is used for spraying water to extinguish fire; A protection mechanism is installed on the top of the shell, and the protection mechanism is used to protect the water spraying mechanism.

[0006] Rotating motors are respectively provided at the connection between the protective cover and the top shell, the connection between the base and the first mechanical arm, the connection between the first mechanical arm and the second mechanical arm, the connection between the second mechanical arm and the third mechanical arm, and the connection between the third mechanical arm and the auxiliary frame. A first shifting bar is provided at the bottom of the protective cover, and a second shifting bar is provided at the bottom of the protective cover near the first shifting bar.

[0007] In a preferred embodiment, the water spraying mechanism includes a water collector fixedly connected to the other end of the outer shell, one end of the water collector is provided with two switching motors, the other end of the water collector is provided with a water inlet pipe, the top of the outer shell is fixedly connected with a fixed cylinder, one side of the fixed cylinder is provided with a water cannon horizontal rotation motor, the top of the fixed cylinder is rotatably connected with a rotating tube, the top of the rotating tube is fixedly connected with a water cannon pitch control motor, one end of the output shaft of the water cannon pitch control motor is fixedly connected with a first worm, one side of the rotating tube is rotatably connected with a gun head, and a first worm gear is provided at the connection between the rotating tube and the gun head.

[0008] The first worm gear is meshed with the first worm, a second worm is provided at one end of the output shaft of the water cannon horizontal rotation motor, a second worm gear is provided at the connection between the fixed tube and the rotating tube, a controller is provided on the other side of the rotating tube, the second worm gear is meshed with the second worm, and the controller is electrically connected to the water cannon pitch control motor, the water cannon horizontal rotation motor, the adjustment motor, the cutting motor, the switching motor and the rotating motor respectively.

[0009] In a preferred embodiment, the protection mechanism includes a rotating shell rotatably connected to the top of the outer shell, the rotating shell has a fixed cylinder as the rotation center, an arc-shaped rack is fixedly connected to the upper surface of the outer shell, a fixed shell is provided on one side of the rotating shell, a protection motor is provided inside the fixed shell, and one end of the output shaft of the protection motor is fixedly connected to a gear, which meshes with the arc-shaped rack.

[0010] The arc-shaped rack is semicircular, and the fixed shell is located at the bottom of one side of the rotating shell close to the arc-shaped rack. The fixed shell drives the rotating shell to rotate and shields the gun head, thereby protecting the gun head.

[0011] The transmission mechanism is a plurality of springs that can be used for the rotation of the gears, and the plurality of springs can be used for the rotation of the gears. The plurality of springs can be used for the rotation of the gears. The plurality of springs can be used for the rotation of the gears.

[0012] The other end of the gas spring is rotatably connected to one side of the shell, and two supporting wheels are rotatably connected to the top of the second rotating frame on both sides of the shell, and driving wheels are rotatably connected to the positions of the two sides of the shell near the third rotating frame, and a driving motor is arranged on one side of the driving wheel, and tracks are arranged on the outer sides of the tensioning wheel, the bottom wheel, the driving wheel and the supporting wheel.

[0013] In a preferred embodiment, a detection mechanism is provided at one end of the shell, and the detection mechanism is used to detect obstacles. The detection mechanism includes two lighting lamps arranged inside the shell at the bottom of the gun head, a camera is arranged inside the shell near the lighting lamps, and an infrared probe is arranged inside the shell near the camera.

[0014] The lighting lamp, the camera and the infrared probe are electrically connected to the controller respectively, and one end of the lighting lamp, the camera and the infrared probe extends to the outside of the shell respectively.

[0015] From the above, it can be seen that the high temperature resistant fire-fighting and rescue robot provided by the present invention has the following technical effects.

[0016] First: when the robot slips, the stop block is controlled to press against the ground to prevent the robot from sliding on the stairs. The first robotic arm, the second robotic arm and the third robotic arm cooperate to make the stop block hold the ground to help the robot move on the stairs. If it is difficult for the trapped persons to open the doors and windows of the room to escape, the robot controls the rotation of the first robotic arm, the second robotic arm and the third robotic arm to make the saw blade face the doors and windows of the room. The saw blade is driven to rotate by starting the cutting motor, and the doors and windows of the room are broken by the saw blade to rescue the trapped persons, thereby achieving the effect of rescuing people trapped in a fire by crossing floors and breaking doors and windows.

[0017] Secondly: if the fire is large and difficult to put out at the fire scene, turn on the switching motor, connect the water pipe to the inside of the water collector, and use the robot to drive the water pipe to the designated position. The water inside the water pipe enters the inside of the rotating tube through the water collector and the water inlet pipe, and the water is sprayed out through the rotating tube and the gun head. The water cannon's pitch control motor drives the first worm to rotate, thereby driving the first worm gear and the gun head to flip up and down. Similarly, the water cannon's horizontal rotation motor controls the left and right rotation of the rotating tube and the gun head, thereby achieving the effect of controlling the direction of water spraying from the gun head.

[0018] Third: When the fire is large, in order to prevent the gun head from being burned by the fire, the protective motor inside the fixed shell is controlled to rotate, driving the gear to rotate, so that the fixed shell and the rotating shell rotate along the arc rack, making the rotating shell rotate half a circle, and the rotating shell and the top shell seal the gun head inside, which plays a role in protecting the gun head. At the same time, the protective cover can protect and insulate the mechanical arm, making the entire robot resistant to high temperatures. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the axonometric structure of a high-temperature resistant fire-fighting and rescue robot proposed in the present invention.

[0020] Figure 2 This is a schematic cross-sectional structural diagram of a high temperature resistant fire extinguishing and rescue robot proposed by the present invention.

[0021] Figure 3 This is a schematic diagram of the partial structure of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0022] Figure 4 This is a schematic diagram of the door and window breaking state of a high-temperature resistant fire-fighting and rescue robot proposed in the present invention.

[0023] Figure 5 This is a schematic diagram of the auxiliary stair climbing posture structure of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0024] Figure 6 This is a schematic diagram of the internal structure of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0025] Figure 7 This is a schematic diagram of the gun head structure of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0026] Figure 8 This is a schematic diagram of the arc-shaped rack structure of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0027] In the figure: 1, housing; 2, tension wheel; 3, crawler track; 4, tensioning mechanism; 5, first rotating frame; 6, bottom wheel; 7, second rotating frame; 8, auxiliary rod; 9, gas spring; 10, third rotating frame; 11, driving wheel; 12, supporting wheel; 13, protective cover; 14, top shell; 15, gun head; 16, rotating shell; 17, first mechanical arm; 18, second mechanical arm; 19, third mechanical arm; 20, fixed seat; 21, adjusting motor; 22, auxiliary frame; 23, stop block; 24. Conversion frame; 25. Cutting motor; 26. Saw blade; 27. Switching motor; 28. Water collector; 29. ​​Water inlet pipe; 30. Controller; 31. Lighting lamp; 32. Camera; 33. Infrared probe; 34. Rotating tube; 35. Water cannon pitch control motor; 36. Water cannon horizontal rotation motor; 37. Arc rack; 38. Fixed cylinder; 39. First worm gear; 40. First worm; 41. Fixed shell; 42. Gear; 43. First shift bar; 44. Second shift bar. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] The high-temperature resistant fire-fighting and rescue robot disclosed in the present invention is mainly used in scenarios where general fire-fighting robots are not designed to have the functions of climbing stairs and breaking down doors and windows at the same time, which limits their applicability in various fire-fighting scenarios. In a fire in a multi-story building, the robot may need to climb stairs for rescue, and in some cases it may need to break down obstacles for fire-fighting or rescue operations. Due to its single function, the fire-fighting robot cannot flexibly respond to complex fire scenes, which leads to its limitations in actual applications, which not only reduces the practicability of the robot, but also affects the efficiency of on-site rescue.

[0030] Reference Figure 1 — Figure 8A high temperature resistant fire fighting and rescue robot comprises a shell 1, a top shell 14 is fixedly connected to the top of the shell 1, a protective cover 13 is rotatably connected to the top of the top shell 14, a fixing seat 20 is arranged at the top of the shell 1 inside the top shell 14, an adjusting motor 21 is arranged inside the fixing seat 20, one end of the output shaft of the adjusting motor 21 is fixedly connected to the base, a first mechanical arm 17 is rotatably connected to the top of the base, a second mechanical arm 18 is rotatably connected to one end of the first mechanical arm 17, a third mechanical arm 19 is rotatably connected to one end of the second mechanical arm 18, an auxiliary frame 22 is rotatably connected to one end of the third mechanical arm 19, a switching motor 27 is fixedly connected to the bottom of the auxiliary frame 22, a conversion frame 24 is detachably mounted on one end of the output shaft of the switching motor 27, a stop block 23 is arranged at one end of the conversion frame 24, a cutting motor 25 is arranged at the other end of the conversion frame 24, and a saw blade 26 is fixedly connected to one end of the output shaft of the cutting motor 25; A water spray mechanism is installed inside the housing 1, and the water spray mechanism is used to spray water to extinguish fire; A protection mechanism is installed on the top of the housing 1, and the protection mechanism is used to protect the water spray mechanism; A motion mechanism is installed on both sides of the housing 1, and the motion mechanism is used to drive the housing 1 to move; A detection mechanism is provided at one end of the housing 1, and the detection mechanism is used to detect obstacles.

[0031] Rotating motors are respectively provided at the connection between the protective cover 13 and the top shell 14, the connection between the base and the first mechanical arm 17, the connection between the first mechanical arm 17 and the second mechanical arm 18, the connection between the second mechanical arm 18 and the third mechanical arm 19, and the connection between the third mechanical arm 19 and the auxiliary frame 22. A first shifting bar 43 is provided at the bottom of the protective cover 13, and a second shifting bar 44 is provided at the bottom of the protective cover 13 near the first shifting bar 43.

[0032] In this embodiment, there are places at the fire scene that are difficult for firefighters to reach. By controlling the robot to move at the fire scene, people may be trapped inside different floors inside the building. The robot is controlled to climb the stairs. In the process of climbing the stairs, the protective cover 13 is controlled to open, and the first mechanical arm 17 is controlled to rotate, driving the second mechanical arm 18 and the third mechanical arm 19 to extend to the outside of the top shell 14. Through the rotation of the second mechanical arm 18 and the third mechanical arm 19, the auxiliary frame 22 and the conversion frame 24 are controlled to approach the surface of the stairs. The conversion frame 24 is rotated so that the stop block 23 is located behind the robot to prevent the robot from flipping over during the climbing process. Figure 5 shown.

[0033] Furthermore, through the cooperation of the first mechanical arm 17, the second mechanical arm 18 and the third mechanical arm 19, the support block 23 supports the ground to help the robot move on the stairs and prevent the robot from slipping during the climbing process. After reaching the designated floor, the robot is controlled to move to the designated room. If the trapped person finds it difficult to open the doors and windows of the room to escape, the robot controls the rotation of the first mechanical arm 17, the second mechanical arm 18 and the third mechanical arm 19 to make the saw blade 26 face the doors and windows of the room. By starting the cutting motor 25 to drive the saw blade 26 to rotate, the doors and windows of the room are broken by the saw blade 26 to rescue the trapped person, thereby achieving the effect of crossing floors and breaking doors and windows to rescue trapped people in a fire.

[0034] Reference Figure 1 , Figure 2 , Figure 3 and Figure 6 In a preferred embodiment, the water spraying mechanism includes a water collector 28 fixedly connected to the other end of the shell 1, two switching motors 27 are provided at one end of the water collector 28, and a water inlet pipe 29 is provided at the other end of the water collector 28. A fixed cylinder 38 is fixedly connected to the top of the shell 1, and a water cannon horizontal rotation motor 36 is provided on one side of the fixed cylinder 38. The top of the fixed cylinder 38 is rotatably connected to a rotating tube 34, and the top of the rotating tube 34 is fixedly connected to a water cannon pitch control motor 35. One end of the output shaft of the water cannon pitch control motor 35 is fixedly connected to a first worm 40, and one side of the rotating tube 34 is rotatably connected to a gun head 15. A first worm gear 39 is provided at the connection between the rotating tube 34 and the gun head 15.

[0035] The first worm gear 39 is meshed with the first worm 40, a second worm is provided at one end of the output shaft of the water cannon horizontal rotation motor 36, a second worm gear is provided at the connection between the fixed cylinder 38 and the rotating tube 34, and a controller 30 is provided on the other side of the rotating tube 34. The second worm gear is meshed with the second worm, and the controller 30 is electrically connected to the water cannon pitch control motor 35, the water cannon horizontal rotation motor 36, the adjustment motor 21, the cutting motor 25, the switching motor 27 and the rotating motor respectively.

[0036] In this embodiment, if the fire is large and difficult to put out at the fire scene, the switching motor 27 is turned on to connect the water pipe to the inside of the water collector 28, and the robot drives the water pipe to move to the specified position. The water inside the water pipe enters the inside of the rotating tube 34 through the water collector 28 and the water inlet pipe 29, and the water is sprayed out through the rotating tube 34 and the gun head 15. The water cannon pitch control motor 35 drives the first worm 40 to rotate, thereby driving the first worm gear 39 and the gun head 15 to flip up and down. Similarly, the water cannon horizontal rotation motor 36 controls the left and right rotation of the rotating tube 34 and the gun head 15, thereby achieving the effect of controlling the water spraying direction of the gun head 15.

[0037] Reference Figure 1 , Figure 2 , Figure 7 and Figure 8 In a preferred embodiment, the protection mechanism includes a rotating shell 16 rotatably connected to the top of the outer shell 1, the rotating shell 16 rotates with the fixed cylinder 38 as the center of rotation, an arc-shaped rack 37 is fixedly connected to the upper surface of the outer shell 1, a fixed shell 41 is provided on one side of the rotating shell 16, a protection motor is provided inside the fixed shell 41, and one end of the output shaft of the protection motor is fixedly connected to a gear 42, and the gear 42 is meshed with the arc-shaped rack 37.

[0038] The arc-shaped rack 37 is semicircular, and the fixed shell 41 is located at the bottom of one side of the rotating shell 16 close to the arc-shaped rack 37. The fixed shell 41 drives the rotating shell 16 to rotate and shield the gun head 15, thereby protecting the gun head 15.

[0039] In this embodiment, when the fire is large, in order to prevent the gun head 15 from being burned by the fire, the protection motor inside the fixed shell 41 is controlled to rotate, driving the gear 42 to rotate. Since the fixed shell 41 and the rotating shell 16 are fixedly connected together, the position of the arc-shaped rack 37 is fixed, and the gear 42 meshes and rotates at the arc-shaped rack 37, so that the fixed shell 41 and the rotating shell 16 rotate along the arc direction of the arc-shaped rack 37, causing the rotating shell 16 to rotate half a circle, and the rotating shell 16 and the top shell 14 enclose the gun head 15 inside, thereby protecting the gun head 15.

[0040] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 In a preferred embodiment, the motion mechanism includes a tensioning mechanism 4 arranged on both sides of the shell 1, one end of the telescopic tensioning mechanism 4 is slidably connected to a bracket, one end of the bracket is rotatably connected to a tensioning wheel 2, and the other end of the bracket is sleeved with a buffer spring. The two sides of the shell 1 are located at the bottom of the tensioning wheel 2 and are rotatably connected to the first rotating frame 5, the second rotating frame 7 and the third rotating frame 10, respectively. One side of the first rotating frame 5, the second rotating frame 7 and the third rotating frame 10 are respectively provided with gas springs 9, the bottom of the second rotating frame 7 is rotatably connected to an auxiliary rod 8, and the bottom of the first rotating frame 5, the third rotating frame 10 and the two ends of the auxiliary rod 8 are respectively rotatably connected to the bottom wheel 6.

[0041] The other end of the gas spring 9 is rotatably connected to one side of the outer shell 1. Two supporting wheels 12 are rotatably connected to the top of the second rotating frame 7 on both sides of the outer shell 1. Driving wheels 11 are rotatably connected to the positions of the third rotating frame 10 on both sides of the outer shell 1. A driving motor is provided on one side of the driving wheel 11, and tracks 3 are provided on the outer sides of the tensioning wheel 2, the bottom wheel 6, the driving wheel 11 and the support wheel 12.

[0042] In this embodiment, the driving motor drives the active wheel 11 to rotate, and the track 3 drives the tensioning wheel 2 and the bottom wheel 6 to rotate, so that the shell 1 can realize the movement functions of turning, moving forward and backward. The gas spring 9 buffers the vibration during the movement of the robot, and the tensioning wheel 2 has the effect of tensioning the track 3 to prevent the track 3 from falling off.

[0043] Reference Figure 1 , Figure 2 , Figure 3 and Figure 6 In a preferred embodiment, the detection mechanism includes two lighting lamps 31 arranged inside the shell 1 at the bottom of the gun head 15, a camera 32 is arranged inside the shell 1 near the lighting lamps 31, and an infrared probe 33 is arranged inside the shell 1 near the camera 32.

[0044] The lighting lamp 31 , the camera 32 and the infrared probe 33 are electrically connected to the controller 30 , respectively. One end of the lighting lamp 31 , the camera 32 and the infrared probe 33 extend to the outside of the housing 1 , respectively.

[0045] In this embodiment, the lighting lamp 31 is used to provide lighting, and the camera 32 is used to observe the road conditions. When the camera 32 cannot clearly see the road conditions, the infrared probe 33 is used to detect road obstacles.

[0046] Furthermore, if the protective cover 13 is affected by high temperature and the electrical control components of the protective cover 13 malfunction, the protective cover 13 may not be able to open automatically. At this time, the rotation of the second mechanical arm 18 and the third mechanical arm 19 can be used to drive the block 23 to resist the second lever 44 to lift the protective cover 13 upward. Similarly, when the protective cover 13 cannot be closed, the rotation of the second mechanical arm 18 and the third mechanical arm 19 can be used to drive the block 23 to buckle the first lever 43 to close the protective cover 13, thereby assisting in opening and closing the protective cover 13 when the protective cover 13 fails. The rotating shaft of the protective cover 13 has a certain damping force for maintaining the state after opening and closing.

[0047] Specifically, the first shift bar 43 and the second shift bar 44 are relatively arranged in an “L”-shaped structure, and the stop block 23 is a “J”-shaped structure, which facilitates the mutual cooperation between the stop block 23 and the first shift bar 43 and the second shift bar 44 .

[0048] In other embodiments, the conversion frame 24 can be disassembled from the switching motor 27 to replace the mechanical claw, so that the robot can have different functions in different usage environments. For example, the mechanical claw can be used to pick up debris blocking the road to avoid affecting the robot's passage, or to take important materials and store them inside the protective cover 13.

[0049] Working principle: When in use, there are places at the fire scene that are difficult for firefighters to reach. By controlling the robot to move at the fire scene, people may be trapped inside different floors inside the building. The robot is controlled to climb the stairs. In the process of climbing the stairs, the protective cover 13 is controlled to open, and the first mechanical arm 17 is controlled to rotate at the same time, driving the second mechanical arm 18 and the third mechanical arm 19 to extend to the outside of the top shell 14. Through the rotation of the second mechanical arm 18 and the third mechanical arm 19, the auxiliary frame 22 and the conversion frame 24 are controlled to approach the surface of the stairs, and the conversion frame 24 is rotated to make the block 23 face the ground. When the robot slips, the block 23 is controlled to resist the ground to prevent the robot from sliding on the stairs. , through the cooperation of the first mechanical arm 17, the second mechanical arm 18 and the third mechanical arm 19, the support block 23 supports the ground to help the robot move on the stairs. After reaching the designated floor, the robot is controlled to move to the designated room. If it is difficult for the trapped person to open the door and window of the room to escape, the robot controls the rotation of the first mechanical arm 17, the second mechanical arm 18 and the third mechanical arm 19 to make the saw blade 26 face the door and window of the room, and the saw blade 26 is driven to rotate by starting the cutting motor 25. The door and window of the room are broken by the saw blade 26 to rescue the trapped person, which has the effect of crossing floors and breaking doors and windows to rescue the trapped people in the fire. If the fire is large at the fire scene and it is difficult for personnel to extinguish the fire, the robot can be used to rescue the trapped person. By turning on the switching motor 27, the water pipe is connected to the inside of the water collector 28, and the robot drives the water pipe to move to the specified position. The water in the water pipe enters the inside of the rotating tube 34 through the water collector 28 and the water inlet pipe 29, and the water is sprayed out through the rotating tube 34 and the gun head 15. The first worm 40 is driven to rotate by the water cannon pitch control motor 35, thereby driving the first worm gear 39 and the gun head 15 to flip up and down. Similarly, the rotating tube 34 and the gun head 15 are controlled to rotate left and right by the water cannon horizontal rotation motor 36, thereby achieving the effect of controlling the spraying direction of the gun head 15. When the fire is large, in order to prevent the gun head 15 from being burned by the fire, the protection motor inside the fixed shell 41 is controlled to rotate, driving the gear 42 to rotate, so that the fixed shell 41 The rotating shell 16 rotates along the arc rack 37, so that the rotating shell 16 rotates half a circle. The rotating shell 16 and the top shell 14 enclose the gun head 15 inside, which plays a role in protecting the gun head 15. The driving motor drives the active wheel 11 to rotate, and the track 3 drives the tensioning wheel 2 and the bottom wheel 6 to rotate, so that the outer shell 1 can realize the movement functions of turning, moving forward and backward. The gas spring 9 can buffer the vibration during the movement of the robot. The tensioning wheel 2 can tighten the track 3 to prevent the track 3 from falling off. The lighting lamp 31 can achieve the lighting effect. The camera 32 can realize the effect of observing the road condition. When the camera 32 cannot see the road condition clearly, the infrared probe 33 is used to detect road obstacles.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A high temperature resistant fire extinguishing and rescue robot, comprising a housing (1), characterized in that: The top of the housing (1) is fixedly connected to a top housing (14), the top of the top housing (14) is rotatably connected to a protective cover (13), a fixing seat (20) is provided at the top of the housing (1) at an internal position of the top housing (14), an adjusting motor (21) is provided inside the fixing seat (20), one end of an output shaft of the adjusting motor (21) is fixedly connected to a base, the top of the base is rotatably connected to a first mechanical arm (17), one end of the first mechanical arm (17) is rotatably connected to a second mechanical arm (18), and one end of the second mechanical arm (18) is rotatably connected to a second mechanical arm (18). A third mechanical arm (19) is connected, one end of the third mechanical arm (19) is rotatably connected to an auxiliary frame (22), a switching motor (27) is fixedly connected to the bottom of the auxiliary frame (22), a conversion frame (24) is detachably mounted on one end of the output shaft of the switching motor (27), a stop block (23) is provided at one end of the conversion frame (24), a cutting motor (25) is provided at the other end of the conversion frame (24), one end of the output shaft of the cutting motor (25) is fixedly connected to a saw blade (26), and the stop block (23) is used for auxiliary support and auxiliary opening of the protective cover (13); A water spray mechanism is installed inside the housing (1), and the water spray mechanism is used to spray water to extinguish fire; A protection mechanism is installed on the top of the housing (1), and the protection mechanism is used to protect the water spraying mechanism.

2. A high temperature resistant fire extinguishing and rescue robot according to claim 1, characterized in that: Rotating motors are respectively provided at the connection between the protective cover (13) and the top shell (14), the connection between the base and the first mechanical arm (17), the connection between the first mechanical arm (17) and the second mechanical arm (18), the connection between the second mechanical arm (18) and the third mechanical arm (19), and the connection between the third mechanical arm (19) and the auxiliary frame (22). A first shifting bar (43) is provided at the bottom of the protective cover (13), and a second shifting bar (44) is provided at the bottom of the protective cover (13) near the first shifting bar (43).

3. A high temperature resistant fire extinguishing and rescue robot according to claim 2, characterized in that: The water spraying mechanism comprises a water collector (28) fixedly connected to the other end of the housing (1); one end of the water collector (28) is provided with two switching motors (27); the other end of the water collector (28) is provided with a water inlet pipe (29); the top of the housing (1) is fixedly connected with a fixing cylinder (38); one side of the fixing cylinder (38) is provided with a water cannon horizontal rotation motor (36); the top of the fixing cylinder (38) is rotatably connected with a rotating tube (34); the top of the rotating tube (34) is fixedly connected with a water cannon elevation control motor (35); one end of the output shaft of the water cannon elevation control motor (35) is fixedly connected with a first worm gear (40); one side of the rotating tube (34) is rotatably connected with a cannon head (15); and a first worm gear (39) is provided at the connection between the rotating tube (34) and the cannon head (15).

4. A high temperature resistant fire extinguishing and rescue robot according to claim 3, characterized in that: The first worm gear (39) is meshed with the first worm (40); a second worm is provided at one end of the output shaft of the water cannon horizontal rotation motor (36); a second worm gear is provided at the connection between the fixed cylinder (38) and the rotating tube (34); a controller (30) is provided on the other side of the rotating tube (34); the second worm gear is meshed with the second worm; and the controller (30) is electrically connected to the water cannon pitch control motor (35), the water cannon horizontal rotation motor (36), the adjustment motor (21), the cutting motor (25), the switching motor (27) and the rotating motor, respectively.

5. A high temperature resistant fire extinguishing and rescue robot according to claim 4, characterized in that: The protection mechanism comprises a rotating shell (16) rotatably connected to the top of the outer shell (1), the rotating shell (16) having a fixed cylinder (38) as the center of rotation, an arc-shaped rack (37) fixedly connected to the upper surface of the outer shell (1), a fixed shell (41) provided on one side of the rotating shell (16), a protection motor provided inside the fixed shell (41), a gear (42) fixedly connected to one end of the output shaft of the protection motor, and the gear (42) meshing with the arc-shaped rack (37).

6. A high temperature resistant fire extinguishing and rescue robot according to claim 5, characterized in that: The arc-shaped rack (37) is semicircular, and the fixed shell (41) is located at a bottom of one side of the rotating shell (16) close to the arc-shaped rack (37). The fixed shell (41) drives the rotating shell (16) to rotate and shield the cannon head (15), thereby protecting the cannon head (15).

7. A high temperature resistant fire extinguishing and rescue robot according to claim 6, characterized in that: A motion mechanism is installed on both sides of the shell (1), and the motion mechanism is used to drive the shell (1) to move. The motion mechanism includes a tensioning mechanism (4) arranged on both sides of the shell (1), one end of the telescopic tensioning mechanism (4) is slidably connected to a bracket, one end of the bracket is rotatably connected to a tensioning wheel (2), and the other end of the bracket is sleeved with a buffer spring. The two sides of the shell (1) are located at the bottom of the tensioning wheel (2) and are rotatably connected to a first rotating frame (5), a second rotating frame (7) and a third rotating frame (10), respectively. One side of the first rotating frame (5), the second rotating frame (7) and the third rotating frame (10) are respectively provided with a gas spring (9), the bottom of the second rotating frame (7) is rotatably connected to an auxiliary rod (8), and the bottom of the first rotating frame (5), the third rotating frame (10) and the two ends of the auxiliary rod (8) are respectively rotatably connected to bottom wheels (6).

8. The high temperature resistant fire extinguishing and rescue robot according to claim 7, characterized in that: The other end of the gas spring (9) is rotatably connected to one side of the outer shell (1); two sides of the outer shell (1) are rotatably connected to two support wheels (12) at the top of the second rotating frame (7); two sides of the outer shell (1) are rotatably connected to driving wheels (11) at positions close to the third rotating frame (10); a driving motor is provided on one side of the driving wheel (11); and tracks (3) are provided on the outer sides of the tension wheel (2), the bottom wheel (6), the driving wheel (11) and the support wheel (12).

9. A high temperature resistant fire extinguishing and rescue robot according to claim 8, characterized in that: A detection mechanism is provided at one end of the housing (1), and the detection mechanism is used to detect obstacles. The detection mechanism comprises two lighting lamps (31) arranged inside the housing (1) and located at the bottom of the gun head (15); a camera (32) is provided inside the housing (1) near the lighting lamps (31); and an infrared probe (33) is provided inside the housing (1) near the camera (32).

10. A high temperature resistant fire extinguishing and rescue robot according to claim 9, characterized in that: The lighting lamp (31), the camera (32) and the infrared probe (33) are respectively electrically connected to the controller (30); one end of the lighting lamp (31), the camera (32) and the infrared probe (33) respectively extends to the outside of the housing (1).

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