A high-temperature resistant fire-fighting and rescue robot

Abstract

The present invention discloses a high-temperature resistant fire-fighting and rescue robot, which relates to the technical field of high-temperature resistant robots and includes a housing. A top shell is fixedly connected to the top of the housing. A protective cover is rotatably connected to the top of the top shell. A fixing seat is arranged inside the housing at a position inside the top shell. An adjusting motor is arranged inside the fixing seat. One end of the output shaft of the adjusting motor is fixedly connected to a base. A first robotic arm is rotatably connected to the top of the base. The high-temperature resistant fire-fighting and rescue robot disclosed by the present invention, through the cooperation of the first robotic arm, the second robotic arm and the third robotic arm, enables the abutting block to support the ground to help the robot move on the stairs. By controlling the rotation of the first robotic arm, the second robotic arm and the third robotic arm by the robot, the doors and windows of the room are broken through by the saw blade, and the trapped people are rescued, achieving the effect of being able to cross floors and break through doors and windows to rescue the trapped people in the fire at the same time.

Description

Technical Field

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

[0002] As an important part of modern fire-fighting technology, fire-fighting robots have been widely used and developed rapidly 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 progress of artificial intelligence, the Internet of Things, and automation technologies, fire-fighting robots have become more intelligent, with autonomous navigation, environmental perception, and decision-making capabilities. They can work efficiently in complex and dangerous environments, reducing the risks for fire-fighters.

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

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

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A high-temperature resistant fire-fighting and rescue robot, comprising a housing, a top shell is fixedly connected to the top of the housing, a protective cover is rotatably connected to the top of the top shell, a fixing seat is arranged inside the top of the housing at a position inside the top shell, an adjusting motor is arranged inside the fixing seat, one end of the output shaft of the adjusting motor is fixedly connected to a base, a first robotic arm is rotatably connected to the top of the base, one end of the first robotic arm is rotatably connected to a second robotic arm, one end of the second robotic arm is rotatably connected to a third robotic arm, one end of the third robotic arm is rotatably connected to an auxiliary frame, a switching motor is fixedly connected to the bottom of the auxiliary frame, a conversion frame is detachably installed at one end of the output shaft of the switching motor, a resisting block is arranged at one end of the conversion frame, a cutting motor is arranged at the other end of the conversion frame, and one end of the output shaft of the cutting motor is fixedly connected to a saw blade. The resisting block is used for auxiliary support and auxiliary opening of the protective cover;

[0007] A water spraying mechanism is installed inside the housing, and the water spraying mechanism is used for spraying water to extinguish fires;

[0008] A protection mechanism is installed on the top of the housing, and the protection mechanism is used for protecting the water spraying mechanism.

[0009] Rotating motors are respectively arranged at the joints of the protective cover and the top shell, the base and the first robotic arm, the first robotic arm and the second robotic arm, the second robotic arm and the third robotic arm, and the third robotic arm and the auxiliary frame. A first bar is arranged at the bottom of the protective cover, and a second bar is arranged at a position close to the first bar at the bottom of the protective cover.

[0010] In a preferred solution, the water spraying mechanism includes a water collector fixedly connected to the other end of the housing. Two switching motors are arranged at one end of the water collector, a water inlet pipe is arranged at the other end of the water collector, a fixed cylinder is fixedly connected to the top of the housing, a water cannon horizontal rotation motor is arranged on one side of the fixed cylinder, a rotating pipe is rotatably connected to the top of the fixed cylinder, a water cannon pitch control motor is fixedly connected to the top of the rotating pipe, one end of the output shaft of the water cannon pitch control motor is fixedly connected to a first worm, a cannon head is rotatably connected to one side of the rotating pipe, and a first worm gear is arranged at the joint of the rotating pipe and the cannon head.

[0011] The first worm gear meshes with the first worm. A second worm is arranged at one end of the output shaft of the water cannon horizontal rotation motor. A second worm gear is arranged at the joint of the fixed cylinder and the rotating pipe. A controller is arranged on the other side of the rotating pipe. The second worm gear meshes with the second worm. The controller is electrically connected to the water cannon pitch control motor, the water cannon horizontal rotation motor, the adjusting motor, the cutting motor, the switching motor and the rotating motor respectively.

[0012] In a preferred embodiment, the protection mechanism includes a rotating shell rotatably connected to the top of the housing. The rotating shell rotates around the fixed cylinder as the center of rotation. An arc-shaped rack is fixedly connected to the upper surface of the housing. A fixed shell is provided on one side of the rotating shell. A protection motor is arranged inside the fixed shell. One end of the output shaft of the protection motor is fixedly connected with a gear, and the gear meshes with the arc-shaped rack.

[0013] The arc-shaped rack is semi-circular. The fixed shell is located at the bottom of one side of the rotating shell near the arc-shaped rack. The fixed shell drives the rotating shell to rotate and shields the gun head, thus achieving the effect of protecting the gun head.

[0014] In a preferred embodiment, movement mechanisms are installed on both sides of the housing. The movement mechanisms are used to drive the housing to move. The movement mechanisms include tensioning mechanisms arranged on both sides of the housing. One end of a telescopic tensioning mechanism is slidably connected with a bracket. One end of the bracket is rotatably connected with a tensioning wheel. The other end of the bracket is sleeved with a buffer spring. On both sides of the housing, a first rotating frame, a second rotating frame and a third rotating frame are respectively rotatably connected at the bottom positions of the tensioning wheels. Gas springs are respectively arranged on one side of the first rotating frame, the second rotating frame and the third rotating frame. The bottom of the second rotating frame is rotatably connected with an auxiliary rod. Bottom wheels are respectively rotatably connected to the bottoms of the first rotating frame, the third rotating frame and both ends of the auxiliary rod.

[0015] The other ends of the gas springs are rotatably connected with one side of the housing. Two support wheels are respectively rotatably connected to the top positions of both sides of the housing at the second rotating frame. Driving wheels are respectively rotatably connected to the positions of both sides of the housing near the third rotating frame. A driving motor is arranged on one side of the driving wheels. A crawler belt is arranged on the outer sides of the tensioning wheels, the bottom wheels, the driving wheels and the support wheels.

[0016] In a preferred embodiment, a detection mechanism is arranged at one end of the housing. The detection mechanism is used to detect obstacles. The detection mechanism includes two lighting lamps arranged inside the housing at the bottom position of the gun head. A camera is arranged inside the housing near the lighting lamps. An infrared probe is arranged inside the housing near the camera.

[0017] The lighting lamps, the camera and the infrared probe are respectively electrically connected to a controller. One ends of the lighting lamps, the camera and the infrared probe respectively extend to the outside of the housing.

[0018] As can be seen from the above, a high-temperature fire-fighting and rescue robot provided by the present invention has the following technical effects.

[0019] First: When the robot slips, the abutting block is controlled to press against the ground to prevent the robot from sliding on the stairs. Through the cooperation of the first robotic arm, the second robotic arm, and the third robotic arm, the abutting block props up the ground to help the robot move on the stairs. If the trapped person has difficulty opening 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 face the saw blade towards the doors and windows of the room. By starting the cutting motor to drive the saw blade to rotate, the saw blade breaks through the doors and windows of the room to rescue the trapped person, achieving the effect of simultaneously having the ability to cross floors and break through doors and windows to rescue trapped persons in a fire.

[0020] Second: In case of a large fire at the fire scene where it is difficult for personnel to extinguish the fire, by turning on the switching motor, the water pipe is connected to the inside of the water collector. The robot drives the water pipe to move to the designated position. The water inside the water pipe enters the inside of the rotating pipe through the water collector and the water inlet pipe. The water is sprayed out through the rotating pipe and the gun head. The water gun 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 gun horizontal rotation motor controls the left and right rotation of the rotating pipe and the gun head, achieving the effect of controlling the water spraying direction of the gun head.

[0021] Third: In case of a large fire, to prevent the gun head from being damaged by the fire, the protection motor inside the fixed shell is controlled to rotate, driving the gear to rotate. As a result, the fixed shell and the rotating shell rotate along the arc-shaped rack, causing the rotating shell to rotate half a turn. The rotating shell and the top shell enclose the gun head inside, achieving the effect of protecting the gun head. At the same time, the protective cover can protect and insulate the robotic arm, enabling the entire robot to have high-temperature resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 An isometric structural view of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0023] Figure 2 A sectional structural view of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0024] Figure 3 A partial structural view of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0025] Figure 4 A state diagram of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention when breaking through doors and windows.

[0026] Figure 5 An auxiliary stair-climbing posture structural view of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0027] Figure 6 An internal structural view of a high-temperature resistant fire-fighting and rescue robot proposed by the present invention.

[0028] Figure 7 Schematic diagram of the gun head structure of a high-temperature fire-fighting and rescue robot proposed by the present invention.

[0029] Figure 8 Schematic diagram of the arc-shaped rack structure of a high-temperature fire-fighting and rescue robot proposed by the present invention.

[0030] In the figure: 1. Outer shell; 2. Tensioning wheel; 3. Crawler belt; 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 robotic arm; 18. Second robotic arm; 19. Third robotic arm; 20. Fixed seat; 21. Adjusting motor; 22. Auxiliary frame; 23. 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 pipe; 35. Water cannon pitch control motor; 36. Water cannon horizontal rotation motor; 37. Arc-shaped rack; 38. Fixed cylinder; 39. First worm gear; 40. First worm; 41. Fixed shell; 42. Gear; 43. First bar; 44. Second bar. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] A high-temperature fire-fighting and rescue robot disclosed by the present invention is mainly applied to the situation that general fire-fighting robots cannot simultaneously have the functions of climbing stairs and breaking doors and windows in design, which limits their applicability in various fire-fighting scenarios. In a multi-story building fire, the robot may need to climb stairs for rescue, and in some cases, it may need to break 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 its actual application, not only reducing the practicability of the robot, but also affecting the on-site rescue efficiency.

[0033] Refer to Figure 1 — Figure 8, a high-temperature resistant fire-fighting and rescue robot, including a housing 1. A top shell 14 is fixedly connected to the top of the housing 1. A protective cover 13 is rotatably connected to the top of the top shell 14. A fixing seat 20 is arranged inside the housing 1 at the position 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 a base. A first robotic arm 17 is rotatably connected to the top of the base. One end of the first robotic arm 17 is rotatably connected to a second robotic arm 18. One end of the second robotic arm 18 is rotatably connected to a third robotic arm 19. One end of the third robotic 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. One end of the output shaft of the switching motor 27 is detachably installed with a conversion frame 24. A resisting 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. One end of the output shaft of the cutting motor 25 is fixedly connected to a saw blade 26;

[0034] A water spraying mechanism is installed inside the housing 1, and the water spraying mechanism is used for spraying water to extinguish fires;

[0035] A protection mechanism is installed on the top of the housing 1, and the protection mechanism is used for protecting the water spraying mechanism;

[0036] Motion mechanisms are installed on both sides of the housing 1, and the motion mechanisms are used for driving the housing 1 to move;

[0037] A detection mechanism is arranged at one end of the housing 1, and the detection mechanism is used for detecting obstacles.

[0038] Rotating motors are respectively arranged at the connection between the protective cover 13 and the top shell 14, the connection between the base and the first robotic arm 17, the connection between the first robotic arm 17 and the second robotic arm 18, the connection between the second robotic arm 18 and the third robotic arm 19, and the connection between the third robotic arm 19 and the auxiliary frame 22. A first bar 43 is arranged at the bottom of the protective cover 13. A second bar 44 is arranged at the bottom of the protective cover 13 near the first bar 43.

[0039] In this embodiment, in places where firefighters are difficult to reach at the fire scene, by controlling the robot to move at the fire scene. Inside a building, there may be people trapped on different floors. Control the robot to climb the stairs. During the process of climbing the stairs, by controlling the protective cover 13 to open, and at the same time controlling the first robotic arm 17 to rotate, driving the second robotic arm 18 and the third robotic arm 19 to extend outside the top shell 14. By rotating the second robotic arm 18 and the third robotic arm 19, control the auxiliary frame 22 and the conversion frame 24 to approach the surface of the stairs. Rotate the conversion frame 24 so that the resisting block 23 is located behind the robot to prevent the robot from tipping over during the process of climbing the stairs, as Figure 5 shown.

[0040] Further, through the cooperation of the first robotic arm 17, the second robotic arm 18, and the third robotic arm 19, the abutting block 23 props against the ground to help the robot move on the stairs, preventing 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 has difficulty opening the doors and windows of the room to escape, the first robotic arm 17, the second robotic arm 18, and the third robotic arm 19 are controlled by the robot to rotate, so that the saw blade 26 faces 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, and the trapped person is rescued, achieving the effect of being able to cross floors and break doors and windows to rescue trapped persons in a fire at the same time.

[0041] Refer to 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 housing 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 housing 1. A water cannon horizontal rotation motor 36 is provided on one side of the fixed cylinder 38. A rotating pipe 34 is rotatably connected to the top of the fixed cylinder 38. A water cannon pitch control motor 35 is fixedly connected to the top of the rotating pipe 34. One end of the output shaft of the water cannon pitch control motor 35 is fixedly connected to a first worm 40. A gun head 15 is rotatably connected to one side of the rotating pipe 34. A first worm gear 39 is provided at the connection between the rotating pipe 34 and the gun head 15.

[0042] The first worm gear 39 meshes 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 pipe 34. A controller 30 is provided on the other side of the rotating pipe 34. The second worm gear and the second worm mesh. 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 rotation motor respectively.

[0043] In this embodiment, at the fire scene, if the fire is intense and it is difficult for personnel to extinguish the fire, by turning on the switching motor 27, the water pipe is connected to the inside of the water collector 28. The robot drives the water pipe to move to the designated position. The water inside the water pipe enters the inside of the rotating pipe 34 through the water collector 28 and the water inlet pipe 29, and the water is sprayed out through the rotating pipe 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 pipe 34 and the gun head 15, achieving the effect of controlling the water spraying direction of the gun head 15.

[0044] Refer to 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 around the fixed cylinder 38 as the rotation center. 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. One end of the output shaft of the protection motor is fixedly connected to a gear 42, and the gear 42 meshes with the arc-shaped rack 37.

[0045] The arc-shaped rack 37 is semi-circular. The fixed shell 41 is located at the bottom of one side of the rotating shell 16 near the arc-shaped rack 37. The fixed shell 41 drives the rotating shell 16 to rotate and shields the gun head 15, thus achieving the effect of protecting the gun head 15.

[0046] In this embodiment, when the fire is large, to prevent the gun head 15 from being damaged 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 and the position of the arc-shaped rack 37 is fixed, 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 turn. The rotating shell 16 and the top shell 14 enclose the gun head 15 inside, achieving the effect of protecting the gun head 15.

[0047] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , in a preferred embodiment, the movement mechanism includes a tensioning mechanism 4 provided on both sides of the outer 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. The other end of the bracket is sleeved with a buffer spring. On both sides of the outer shell 1, a first rotating frame 5, a second rotating frame 7 and a third rotating frame 10 are respectively rotatably connected at the bottom position of the tensioning wheel 2. 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. The bottoms of the first rotating frame 5 and the third rotating frame 10 and both ends of the auxiliary rod 8 are respectively rotatably connected to bottom wheels 6.

[0048] The other end of the gas spring 9 is rotatably connected to one side of the outer shell 1. On both sides of the outer shell 1, two support wheels 12 are respectively rotatably connected at the top position of the second rotating frame 7. On both sides of the outer shell 1, near the third rotating frame 10, driving wheels 11 are respectively rotatably connected. A driving motor is provided on one side of the driving wheel 11. A crawler 3 is provided outside the tensioning wheel 2, the bottom wheel 6, the driving wheel 11 and the support wheel 12.

[0049] In this embodiment, the driving motor rotates to drive the driving wheel 11 to rotate, and the crawler belt 3 drives the tensioning wheel 2 and the bottom wheel 6 to rotate, enabling the housing 1 to achieve the movement functions of steering, advancing, and retreating. The gas spring 9 buffers the vibration during the movement of the robot, and the tensioning wheel 2 tightens the crawler belt 3 to prevent the crawler belt 3 from falling off.

[0050] Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 6 In a preferred embodiment, the detection mechanism includes two lighting lamps 31 disposed at the bottom of the gun head 15 inside the housing 1, a camera 32 disposed near the lighting lamp 31 inside the housing 1, and an infrared probe 33 disposed near the camera 32 inside the housing 1.

[0051] The lighting lamp 31, the camera 32, and the infrared probe 33 are respectively electrically connected to the controller 30, and one ends of the lighting lamp 31, the camera 32, and the infrared probe 33 respectively extend to the outside of the housing 1.

[0052] In this embodiment, the lighting lamp 31 provides illumination, the camera 32 is used to observe the road conditions, and when the camera 32 cannot clearly see the road conditions, the infrared probe 33 detects road obstacles.

[0053] Further, if the protective cover 13 is affected by high temperature and the electric 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 robotic arm 18 and the third robotic arm 19 can be used to drive the abutting block 23 to abut against the second bar 44, and the protective cover 13 is lifted upward. Similarly, when the protective cover 13 cannot be closed, the rotation of the second robotic arm 18 and the third robotic arm 19 can be used to drive the abutting block 23 to latch onto the first bar 43 to close the protective cover 13, achieving the effect of 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 to maintain the opened and closed states.

[0054] Specifically, the first bar 43 and the second bar 44 are relatively arranged in an "L" shape, and the abutting block 23 is in a "J" shape, facilitating the mutual cooperation between the abutting block 23 and the first bar 43 and the second bar 44.

[0055] In other embodiments, the conversion frame 24 can be disassembled from the switching motor 27, thereby replacing the robotic gripper, enabling the robot to have different functions in different usage environments. For example, the robotic gripper can be used to pick up obstacles blocking the road to avoid affecting the robot's passage, or to pick up important materials and store them inside the protective cover 13, etc.

[0056] Working principle: When in use, in places where firefighters are difficult to reach at the fire scene, control the robot to move at the fire scene. Inside the building, there may be people trapped on different floors. Control the robot to climb the stairs. During the process of climbing the stairs, control the protective cover 13 to open, and at the same time control the first robotic arm 17 to rotate, driving the second robotic arm 18 and the third robotic arm 19 to extend outside the top shell 14. Through the rotation of the second robotic arm 18 and the third robotic arm 19, control the auxiliary frame 22 and the conversion frame 24 to approach the surface of the stairs. Rotate the conversion frame 24 so that the abutting block 23 faces the ground. When the robot slips, control the abutting block 23 to abut against the ground to prevent the robot from sliding on the stairs. Through the cooperation of the first robotic arm 17, the second robotic arm 18 and the third robotic arm 19, make the abutting block 23 support the ground to help the robot move on the stairs. After reaching the designated floor, control the robot to move to the designated room. If the trapped people have difficulty opening the doors and windows of the room to escape, control the first robotic arm 17, the second robotic arm 18 and the third robotic arm 19 of the robot to rotate, so that the saw blade 26 faces the doors and windows of the room. Start the cutting motor 25 to drive the saw blade 26 to rotate, and break through the doors and windows of the room with the saw blade 26 to rescue the trapped people. It has the effect of simultaneously crossing floors and breaking through 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 people to extinguish the fire, turn on the switching motor 27, connect the water pipe into the water collector 28, drive the water pipe to move to the designated position by the robot. The water inside the water pipe enters the inside of the rotating pipe 34 through the water collector 28 and the water inlet pipe 29, and the water is sprayed out through the rotating pipe 34 and the gun head 15. Drive the first worm 40 to rotate by the water cannon pitch control motor 35, so as to drive the first worm gear 39 and the gun head 15 to turn up and down. Similarly, control the left and right rotation of the rotating pipe 34 and the gun head 15 by the water cannon horizontal rotation motor 36, achieving the effect of controlling the spraying direction of the gun head 15. When the fire is large, to prevent the gun head 15 from being damaged by the fire, control the protection motor inside the fixed shell 41 to rotate, drive the gear 42 to rotate, so that the fixed shell 41 and the rotating shell 16 rotate along the arc-shaped rack 37, making the rotating shell 16 rotate half a circle. The rotating shell 16 and the top shell 14 enclose the gun head 15 inside, playing the role of protecting the gun head 15. Drive the driving motor to rotate to drive the driving wheel 11 to rotate, drive the tensioning wheel 2 and the bottom wheel 6 to rotate through the track 3, so that the outer shell 1 realizes the motion functions of turning, moving forward and backward. The gas spring 9 plays the role of buffering the vibration during the movement of the robot, and the tensioning wheel 2 plays the role of tensioning the track 3 to prevent the track 3 from falling off. The lighting lamp 31 plays the role of lighting, and the camera 32 realizes the effect of observing the road conditions. When the camera 32 cannot clearly see the road conditions, detect the road obstacles through the infrared probe 33.

[0057] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A high-temperature resistant fire-fighting and rescue robot, comprising a housing (1), characterized in that, A top shell (14) is fixedly connected to the top of the outer shell (1). A protective cover (13) is rotatably connected to the top of the top shell (14). A fixing seat (20) is arranged inside the top of the outer shell (1) at a position 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 a base. A first robotic arm (17) is rotatably connected to the top of the base. One end of the first robotic arm (17) is rotatably connected to a second robotic arm (18). One end of the second robotic arm (18) is rotatably connected to a third robotic arm (19). One end of the third robotic 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). One end of the output shaft of the switching motor (27) is detachably installed with a conversion frame (24). One end of the conversion frame (24) is provided with a resisting block (23). The other end of the conversion frame (24) is provided with a cutting motor (25). One end of the output shaft of the cutting motor (25) is fixedly connected to a saw blade (26). The resisting block (23) is used for auxiliary support and for assisting in opening the protective cover (13). A water spraying mechanism is installed inside the outer shell (1), and the water spraying mechanism is used for spraying water to extinguish fires. A protection mechanism is installed on the top of the outer shell (1), and the protection mechanism is used for protecting the water spraying mechanism. Rotating motors are respectively arranged at the connection between the protective cover (13) and the top shell (14), at the connection between the base and the first robotic arm (17), at the connection between the first robotic arm (17) and the second robotic arm (18), at the connection between the second robotic arm (18) and the third robotic arm (19), and at the connection between the third robotic arm (19) and the auxiliary frame (22). A first bar (43) is arranged at the bottom of the protective cover (13). A second bar (44) is arranged at the bottom of the protective cover (13) near the first bar (43). The first bar (43) and the second bar (44) are "L"-shaped structures arranged oppositely, and the resisting block (23) is a "J"-shaped structure. The protection mechanism includes a rotating shell (16) rotatably connected to the top of the outer shell (1). The rotating shell (16) rotates around a 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 arranged on one side of the rotating shell (16). A protection motor is arranged inside the fixed shell (41). One end of the output shaft of the protection motor is fixedly connected to a gear (42), and the gear (42) meshes with the arc-shaped rack (37). The arc-shaped rack (37) is semi-circular. The fixed shell (41) is located at a position on one side of the bottom of the rotating shell (16) near the arc-shaped rack (37). The fixed shell (41) drives the rotating shell (16) to rotate and blocks the gun head (15), thereby achieving the effect of protecting the gun head (15).

2. The high-temperature resistant fire-fighting and rescue robot according to claim 1, wherein, The water spraying mechanism includes a water collector (28) fixedly connected to the other end of the housing (1). Two switching motors (27) are arranged at one end of the water collector (28), and a water inlet pipe (29) is arranged at the other end of the water collector (28). A fixed cylinder (38) is fixedly connected to the top of the housing (1). A water cannon horizontal rotation motor (36) is arranged on one side of the fixed cylinder (38). A rotating pipe (34) is rotatably connected to the top of the fixed cylinder (38). A water cannon pitch control motor (35) is fixedly connected to the top of the rotating pipe (34). One end of the output shaft of the water cannon pitch control motor (35) is fixedly connected with a first worm (40). A cannon head (15) is rotatably connected to one side of the rotating pipe (34). A first worm gear (39) is arranged at the connection between the rotating pipe (34) and the cannon head (15).

3. The high-temperature resistant fire-fighting and rescue robot according to claim 2, characterized in that, The first worm gear (39) meshes with the first worm (40). A second worm is arranged at one end of the output shaft of the water cannon horizontal rotation motor (36). A second worm gear is arranged at the connection between the fixed cylinder (38) and the rotating pipe (34). A controller (30) is arranged on the other side of the rotating pipe (34). The second worm gear meshes with the second worm. 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 motors (27), and the rotating motor respectively.

4. The high-temperature resistant fire-fighting and rescue robot according to claim 3, wherein Motion mechanisms are installed on both sides of the housing (1) and are used to drive the housing (1) to move. The motion mechanisms include telescopic tensioning mechanisms (4) arranged on both sides of the housing (1). One end of the telescopic tensioning mechanism (4) is slidably connected with a bracket. One end of the bracket is rotatably connected with a tensioning wheel (2). The other end of the bracket is sleeved with a buffer spring. On both sides of the housing (1) at the bottom position of the tensioning wheel (2), a first rotating frame (5), a second rotating frame (7), and a third rotating frame (10) are respectively rotatably connected. Gas springs (9) are respectively arranged on one side of the first rotating frame (5), the second rotating frame (7), and the third rotating frame (10). The bottom of the second rotating frame (7) is rotatably connected with an auxiliary rod (8). Bottom wheels (6) are respectively rotatably connected to the bottoms of the first rotating frame (5), the third rotating frame (10), and both ends of the auxiliary rod (8).

5. The high-temperature resistant fire-fighting and rescue robot according to claim 4, characterized in that, The other end of the gas spring (9) is rotatably connected to one side of the housing (1). Two support wheels (12) are respectively rotatably connected to both sides of the housing (1) at the top position of the second rotating frame (7). Driving wheels (11) are respectively rotatably connected to both sides of the housing (1) near the third rotating frame (10). A driving motor is arranged on one side of the driving wheel (11). A crawler belt (3) is arranged outside the tensioning wheel (2), the bottom wheels (6), the driving wheels (11), and the support wheels (12).

6. The high-temperature resistant fire-fighting and rescue robot according to claim 5, characterized in that One end of the said housing (1) is provided with a detection mechanism for detecting obstacles. The detection mechanism includes two lighting lamps (31) arranged inside the housing (1) at the bottom position of the gun head (15). A camera (32) is arranged inside the housing (1) near the lighting lamp (31), and an infrared probe (33) is arranged inside the housing (1) near the camera (32).

7. The high-temperature resistant fire-fighting and rescue robot according to claim 6, wherein, The lighting lamp (31), the camera (32) and the infrared probe (33) are respectively electrically connected to a controller (30), and one ends of the lighting lamp (31), the camera (32) and the infrared probe (33) respectively extend to the outside of the housing (1).

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