Fire-fighting robot for unattended place

Abstract

The invention relates to the technical field of fire-fighting robots, and discloses a fire-fighting robot for unattended places, which comprises a chassis, tires are arranged at the bottom of the chassis, a mounting frame is arranged at the top of the chassis, a front camera is arranged at the front part of the mounting frame, and a rear camera is arranged at the rear part of the mounting frame. A gas sensor, an audible and visual alarm and a holder are arranged on the front portion of the top face of the mounting frame, an infrared camera and a fire extinguishing agent spray gun are arranged on the two sides of the holder, a fire extinguishing agent storage tank is arranged in the mounting frame, and the top of the fire extinguishing agent storage tank is connected to the fire extinguishing agent spray gun through a first conveying pipe; a second conveying pipe is arranged on the rear portion of the fire extinguishing agent storage tank. By adopting a four-wheel four-drive structure, laser and structured light fusion slam, depth camera environment reconstruction and other technologies, the problems that in a traditional fire extinguishing system, a fixed fire extinguishing device depends on preset conditions, accurate fire extinguishing is difficult in the face of complex fire, fire response is not accurate, and the alarm reliability is poor are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting robots, and particularly to a fire-fighting robot for unattended places. Background Art

[0002] With the full advancement of the wave of industrial automation and intelligence, the modern industrial production and data storage fields are undergoing profound changes, and a large number of places are gradually moving towards the unattended mode. As the core hub for material storage, warehouses are filled with a vast amount of goods and numerous flammable packaging materials. Coupled with the extensive use of automated warehousing equipment and complex electrical circuits, fires are extremely likely to be triggered due to electrical failures, spontaneous combustion of goods, etc. Substations undertake the key functions of power conversion and transmission. Equipment such as transformers and switchgear operate at high loads for a long time, and problems such as local overheating and insulation aging may lead to fires. Once the fire spreads, it will directly affect the power supply stability of the area. As the "brain" of the information age, data centers have servers, storage devices, etc. running continuously for 24 hours. With dense electronic components, potential hazards such as heat dissipation system failures and circuit short circuits may cause fires, resulting in the loss of a vast amount of data and incalculable economic losses and social impacts. Petrochemical facilities involve flammable and explosive hazardous chemicals. In each link from raw material storage, production and processing to product transportation, if there is a slight mistake, such as pipeline leakage or reaction out of control, it may trigger a violent combustion or even explosion, with extremely strong destructive power.

[0003] In traditional fire-fighting systems, fixed fire extinguishing devices rely on preset conditions, making it difficult to accurately extinguish fires in the face of complex fire situations. Moreover, the fire alarm system lacks the ability to actively extinguish fires and is prone to false alarms and missed alarms, thus having problems of inaccurate fire response and poor alarm reliability. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a fire-fighting robot for unattended places, which solves the problems that in traditional fire-fighting systems, fixed fire extinguishing devices rely on preset conditions, making it difficult to accurately extinguish fires in the face of complex fire situations, and the fire alarm system lacks the ability to actively extinguish fires and is prone to false alarms and missed alarms, thus having problems of inaccurate fire response and poor alarm reliability.

[0005] To achieve the above object, the present invention is realized through the following technical solutions: A fire-fighting robot for unattended places, including a chassis, tires are provided at the bottom of the chassis, a mounting frame is provided at the top of the chassis, a front camera is provided at the front of the mounting frame, a gas sensor, a sound and light alarm, and a pan-tilt are provided at the front of the top surface of the mounting frame, infrared cameras and fire extinguishing agent spray guns are provided on both sides of the pan-tilt, a fire extinguishing agent storage tank is provided inside the mounting frame, the top of the fire extinguishing agent storage tank is connected to the fire extinguishing agent spray gun through a first delivery pipe, a second delivery pipe is provided at the rear of the fire extinguishing agent storage tank, and a sealing cap is provided at one end of the second delivery pipe away from the fire extinguishing agent storage tank. A battery pack and a processor are provided inside the chassis, and the processor is electrically connected to the battery pack, the front camera, the sound and light alarm, the gas sensor, the fire extinguishing agent spray gun, the infrared camera, the pan-tilt, and a driving mechanism, and the driving mechanism is used to control the rotation of the tires.

[0006] By adopting the above technical solutions, using a 4-wheel 4-wheel drive structure, technologies such as laser plus structured light fusion slam and depth camera environment reconstruction are used to construct a site map and autonomously plan the optimal path, and patrol according to the set route and time; through the front camera, sound and light alarm, gas sensor, fire extinguishing agent spray gun, and infrared camera, information such as temperature, smoke concentration, and gas composition are monitored in real time to detect potential fire hazards in a timely manner; lightweight neural network and other technologies are adopted inside the processor. Through the gas sensor and infrared camera, early fire signs such as weak firelight, abnormal temperature changes, and changes in ambient gas concentration are accurately identified, the occurrence of a fire is quickly judged, and an alarm is issued through the sound and light alarm. After discovering the fire source, quickly reach the fire location, adjust the spraying angle through the fire extinguishing agent spray gun carried by the pan-tilt, start the fire extinguishing device, and spray fire extinguishing agents such as dry powder, foam, and water flow to extinguish the fire. After extinguishing the fire, continuously monitor the ambient temperature through the infrared camera, and extinguish the fire again when the threshold is exceeded, thus solving the problem that the fixed fire extinguishing device in the traditional fire protection system depends on preset conditions, it is difficult to accurately extinguish the fire in the face of complex fire situations, and the fire alarm system lacks the ability to actively extinguish the fire and is prone to false alarms and missed alarms, resulting in inaccurate response to fire situations and poor alarm reliability.

[0007] Preferably, the driving mechanism includes a motor, the bottom of the motor is fixedly connected to the bottom surface of the chassis, a fourth rotating shaft is rotatably provided at the output end of the motor, a third gear is fixedly connected to the outer wall of the fourth rotating shaft, a first rotating shaft is rotatably connected to the side wall of the chassis, a first gear is provided on the outer wall of the first rotating shaft, and the tooth ends of the first gear and the third gear can mesh with each other, and tires are fixedly connected to both ends of the first rotating shaft.

[0008] Preferably, the first gear includes a first connection groove, a first shaft hole, and a first disk. A first shaft hole is provided in the middle of the first disk, a first connection groove is provided on the side wall of the first disk, and a first guiding groove is provided inside the first disk. The first guiding groove is located on the side wall of the first shaft hole. A first rack is fixedly connected to the outer wall of the first rotating shaft, and the tooth end of the first rack meshes with the first guiding groove. A third limiting block is fixedly connected to the inner bottom surface of the chassis, a third electric push rod is arranged on the top of the third limiting block, the output end of the third electric push rod is fixedly connected with a third expansion head, a first limiting tooth is provided on the top surface of the third electric push rod, and the groove of the first limiting tooth meshes with the tooth end of the first disk. The third expansion head is located inside the first connection groove.

[0009] Preferably, a first worm is fixedly connected to the side of the fourth rotating shaft away from the motor. A second rotating shaft is rotatably arranged on the inner bottom surface of the chassis. A second worm gear is fixedly connected to the outer wall of the second rotating shaft, and the tooth end of the second worm gear meshes with the tooth end of the first worm. A second gear is arranged on the upper outer wall of the second rotating shaft, a driving block is arranged on the top of the second gear, and the top of the driving block is fixedly connected to the bottom of the cloud platform.

[0010] Preferably, the second gear includes a second shaft hole, a fourth rack, a second disk, and a second connection groove. The fourth rack is fixedly connected to the top surface of the second disk, a second connection groove is provided on the side wall of the second disk, the second shaft hole is located in the middle of the second disk, a second guiding groove is provided in the middle of the second disk, a second rack is fixedly connected to the outer wall of the second rotating shaft, and the second rack meshes with the second guiding groove. The bottom surface of the mounting frame is fixedly connected to the side of the second electric push rod away from the output end. The output end of the second electric push rod is fixedly connected with a second expansion head. The second expansion head is located inside the second connection groove, and a second limiting block is fixedly connected to the outer wall of the second electric push rod.

[0011] Preferably, the driving block includes a connecting section. The top of the connecting section is fixedly connected to the bottom surface of the cloud platform. An annular groove is provided on the middle side wall of the connecting section, and a limiting groove is provided on the side wall of the connecting section. The limiting groove is located at the bottom of the annular groove and communicates with the annular groove. The second limiting block can be engaged inside the limiting groove. A fifth rack is arranged on the bottom surface of the connecting section, and the fifth rack can mesh with the fourth rack. A through hole is provided in the middle of the connecting section, the diameter of the through hole is larger than the diameter of the second rotating shaft, a third mounting hole is provided on the bottom of the cloud platform, the position and diameter of the third mounting hole correspond to the through hole, and the second rotating shaft passes through the third mounting hole.

[0012] Preferably, a second mounting hole is formed in the side wall of the pan-tilt, a third rotating shaft is arranged on the upper part of the pan-tilt, the third rotating shaft is rotatably connected to the inside of the second mounting hole, a first worm gear is arranged on the outer wall of the third rotating shaft, the top of the second rotating shaft is fixedly connected with a second worm, and the tooth ends of the second worm and the first worm gear are meshed with each other. One end of the third rotating shaft is provided with an infrared camera, and the other end of the third rotating shaft is provided with a fire extinguishing agent spray gun.

[0013] Preferably, the first worm gear includes a third disk, a third connecting groove is formed in the side wall of the third disk, a third shaft hole is formed in the middle of the third disk, a third guiding groove is formed in the middle of the third disk, the third guiding groove is located on the side wall of the third shaft hole, a third rack is fixedly connected to the outer wall of the third rotating shaft, the third rack is meshed with the third guiding groove, a first limiting block is fixedly connected to the inner bottom surface of the pan-tilt, a first electric push rod is arranged on the top of the first limiting block, the output end of the first electric push rod is fixedly connected with a first enlarged head, the first enlarged head is located inside the third connecting groove, and a second limiting tooth is arranged on the top surface of the first limiting block, and the tooth end of the second limiting tooth can be meshed with the tooth end of the third disk.

[0014] Preferably, a fixing hole is formed in the middle of the fire extinguishing agent storage tank, and the second rotating shaft passes through the inside of the fixing hole.

[0015] Preferably, a first mounting hole is formed in the middle of the mounting frame, the connecting section penetrates through the inside of the first mounting hole, and the diameter of the first mounting hole is larger than the diameter of the connecting section.

[0016] Working principle: The controller is used to start the motor, and then drive the first gear to rotate through the third gear, so that the first rotating shaft drives the tire to rotate, and then drives the robot to move; the infrared camera, the front camera and the gas sensor are used to collect the temperature and smoke information in the environment; the fourth rotating shaft is used to drive the first worm to rotate, so as to drive the second worm gear to rotate, and then drive the second gear to rotate through the second rotating shaft, so that the second gear drives the driving block to rotate, so that the pan-tilt rotates horizontally, and thus can drive the infrared camera and the fire extinguishing agent spray gun to rotate horizontally to collect information and perform fire extinguishing work in the horizontal 360-degree range; the second worm is used to drive the first worm gear to rotate, so as to drive the third rotating shaft to rotate, and then control the infrared camera and the fire extinguishing agent spray gun to rotate in the vertical direction, so as to collect information and perform fire extinguishing work in the environment range higher than the robot.

[0017] The present invention provides a fire-fighting robot for unattended places. It has the following beneficial effects: 1. By adopting a four-wheel four-wheel drive structure and technologies such as laser plus structured light fusion SLAM and depth camera environmental reconstruction, the present invention constructs a site map, autonomously plans the optimal path, and conducts inspections according to the set route and time. Information such as temperature, smoke concentration, and gas composition is monitored in real time through the front camera, audible and visual alarm, gas sensor, fire extinguishing agent spray gun, and infrared camera to detect potential fire hazards in a timely manner. Inside the processor, technologies such as lightweight neural networks are adopted. Through the gas sensor and infrared camera, early fire signs such as weak firelight, abnormal temperature changes, and changes in ambient gas concentration are accurately identified, the occurrence of a fire is quickly judged, and an alarm is issued through the audible and visual alarm. After discovering the fire source, it quickly reaches the fire location, adjusts the spraying angle through the fire extinguishing agent spray gun carried by the pan-tilt, activates the fire extinguishing device, and sprays fire extinguishing agents such as dry powder, foam, and water flow to extinguish the fire. After extinguishing the fire, the ambient temperature is continuously monitored through the infrared camera, and secondary extinguishing is carried out when the threshold is exceeded, thus solving the problems in the traditional fire protection system that the fixed fire extinguishing device depends on preset conditions, it is difficult to accurately extinguish the fire in the face of complex fire situations, and the fire alarm system lacks the ability to actively extinguish fires and is prone to false alarms and missed alarms, resulting in inaccurate response to fire situations and poor alarm reliability.

[0018] 2. The present invention outputs rotational force through the motor, and then drives the first gear through the third gear to drive the tire to rotate. At the same time, the rotational force output by the motor can be transmitted to the second worm gear by using the first worm, and then the second gear is driven to rotate through the second rotating shaft, so that the driving block drives the pan-tilt to rotate. At the same time, the second worm at the top of the second rotating shaft can drive the first worm gear to rotate, so as to drive the third rotating shaft to rotate, thereby driving the infrared camera and the fire extinguishing agent spray gun to change the angle in the vertical direction. Therefore, the movement of the robot can be driven by one motor, and at the same time, the horizontal rotation of the pan-tilt and the change of the vertical direction angle of the infrared camera and the fire extinguishing agent spray gun can be driven.

[0019] 3. The second rotating shaft can pass through the fixing hole in the middle of the fire extinguishing agent storage tank, so that the second rotating shaft can smoothly transmit the rotational force. At the same time, the large shaking of the fire extinguishing agent storage tank can be restricted by using the second rotating shaft, thereby preventing the accidental dropping of the fire extinguishing agent storage tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the front three-dimensional structure schematic diagram of the present invention; Figure 2 is the rear three-dimensional structure schematic diagram of the present invention; Figure 3 is the front view structure diagram of the driving device of the present invention; Figure 4 is the three-dimensional structure diagram of the driving device of the present invention; Figure 5 is the three-dimensional structure schematic diagram of the first gear of the present invention; Figure 6Schematic perspective view of the third limiting block of the present invention; Figure 7 Schematic perspective view of a partial structure of the mounting bracket of the present invention; Figure 8 Schematic perspective view of the second gear of the present invention; Figure 9 Schematic perspective view of the second electric push rod of the present invention; Figure 10 Schematic perspective view of the bottom of the driving block of the present invention; Figure 11 Schematic perspective view of the upper part of the driving block of the present invention; Figure 12 Schematic perspective view of a partial structure of the connection between the pan-tilt and the driving block of the present invention; Figure 13 Schematic perspective view of the first worm gear of the present invention; Figure 14 Schematic perspective view of the structure at the first limiting block of the present invention; Figure 15 For the present invention Figure 4 Enlarged schematic view of the structure at position A in; Figure 16 Schematic perspective view of the structure at the fire extinguishing agent storage tank of the present invention.

[0021] Wherein, 1. Pan-tilt; 2. Infrared camera; 3. Fire extinguishing agent spray gun; 4. Gas sensor; 5. Acoustic-optic alarm; 6. Mounting bracket; 7. Front camera; 8. Chassis; 9. Tire; 10. First delivery pipe; 11. Fire extinguishing agent storage tank; 12. Second delivery pipe; 13. Motor; 14. First gear; 141. First connection groove; 142. First shaft hole; 143. First disk; 15. First rack; 16. First rotating shaft; 17. First worm; 18. Second rotating shaft; 19. Second rack; 20. Second gear; 201. Second shaft hole; 202. Fourth rack; 203. Second disk; 204. Second connection groove; 21. Driving block; 211. Connection section; 212. Annular groove; 213. Limiting groove; 214. Through hole; 215. Fifth rack; 22. Third rotating shaft; 23. Third rack; 24. Second worm; 25. First worm gear; 251. Third connection groove; 252. Third disk; 253. Third shaft hole; 26. Third gear; 27. Fourth rotating shaft; 28. Second worm gear; 29. First electric push rod; 30. First enlarged head; 31. First limiting block; 32. First limiting tooth; 33. First mounting hole; 34. Second electric push rod; 35. Second limiting block; 36. Second enlarged head; 37. Second mounting hole; 38. Third mounting hole; 39. Second limiting tooth; 40. Fixing hole; 41. Third enlarged head; 42. Third limiting block; 43. Third electric push rod. Detailed implementation mode

[0022] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0023] Please refer to Figure 1 - Figure 2 , including a chassis 8, tires 9 are provided at the bottom of the chassis 8, a mounting frame 6 is provided at the top of the chassis 8, a front camera 7 is provided at the front of the mounting frame 6, a gas sensor 4, an audible and visual alarm 5 and a pan-tilt head 1 are provided at the front part of the top surface of the mounting frame 6, infrared cameras 2 and fire extinguishing agent spray guns 3 are provided on both sides of the pan-tilt head 1, a fire extinguishing agent storage tank 11 is provided inside the mounting frame 6, the top of the fire extinguishing agent storage tank 11 is connected to the fire extinguishing agent spray gun 3 through a first delivery pipe 10, a second delivery pipe 12 is provided at the rear of the fire extinguishing agent storage tank 11, and a sealing cover is provided at one end of the second delivery pipe 12 away from the fire extinguishing agent storage tank 11. A battery pack and a processor are provided inside the chassis 8, and the processor is electrically connected to the battery pack, the front camera 7, the audible and visual alarm 5, the gas sensor 4, the fire extinguishing agent spray gun 3, the infrared camera 2, the pan-tilt head 1 and a driving mechanism, and the driving mechanism can control the rotation of the tires 9.

[0024] Specifically, the chassis 8 can be used to install the tires 9 at the bottom, and at the same time can be used to install the internal drive mechanism, and also to install the upper mounting frame 6 and the fire extinguishing agent storage tank 11; the tires 9 can be used to bear the upper load, and at the same time the rotation of the tires 9 can drive the robot to move; the mounting frame 6 can be used to support and install the upper pan-tilt 1, and at the same time can also protect the internal fire extinguishing agent storage tank 11; the front camera 7 can be used to collect the image information in front of the robot; the gas sensor 4 can be used to collect the gas information in the environment; the sound and light alarm 5 can be used to emit sound information and light information to achieve the warning effect; the pan-tilt 1 can drive the fire extinguishing agent spray gun 3 and the infrared camera 2 to rotate horizontally; the infrared camera 2 can emit infrared light to accurately identify early fire signs, such as weak firelight and abnormal temperature changes; the fire extinguishing agent spray gun 3 can spray the fire extinguishing agent to carry out the fire extinguishing work; the fire extinguishing agent storage tank 11 can be used to store the fire extinguishing agent, and then can support the long-term fire extinguishing work; the first delivery pipe 10 can be used to deliver the fire extinguishing agent inside the fire extinguishing agent storage tank 11 to the inside of the fire extinguishing agent spray gun 3. A valve is provided inside the fire extinguishing agent spray gun 3, and the air pressure inside the fire extinguishing agent storage tank 11 is higher than the ambient air pressure. Therefore, when the valve is opened, the fire extinguishing agent inside the fire extinguishing agent storage tank 11 can be sprayed through the fire extinguishing agent spray gun 3; the second delivery pipe 12 can be used to deliver the fire extinguishing agent into the fire extinguishing agent storage tank 11; the sealing cover can be used to seal the second delivery pipe 12. After the fire extinguishing agent is input through the second delivery pipe 12, it can be sealed with the sealing cover to prevent the leakage of the fire extinguishing agent inside the fire extinguishing agent storage tank 11; the battery pack can supply power to the processor; the processor can process the collected environmental information, then automatically generate execution instructions, and then control the operation of the front camera 7, the sound and light alarm 5, the gas sensor 4, the fire extinguishing agent spray gun 3, the infrared camera 2, the pan-tilt 1 and the drive mechanism; the fire-fighting robot for unattended places adopts a 4-wheel 4-wheel drive structure; technologies such as laser plus structured light fusion slam composed of the infrared camera 2 and depth camera environmental reconstruction composed of the front camera 7 are used to construct a site map and autonomously plan the optimal path, and patrol according to the set route and time; the temperature, smoke concentration, gas composition and other information are monitored in real time through the front camera 7, the sound and light alarm 5, the gas sensor 4, the fire extinguishing agent spray gun 3 and the infrared camera 2 to detect fire hazards in time; lightweight neural network and other technologies are adopted inside the processor. Through the gas sensor 4 and the infrared camera 2, early fire signs such as weak firelight, abnormal temperature changes, and changes in ambient gas concentration are accurately identified, the occurrence of a fire is quickly judged, and an alarm is issued through the sound and light alarm 5 to notify the site responsible person and relevant personnel;After discovering the fire source, quickly reach the fire location, independently select the fire extinguishing distance according to the fire situation, adjust the spraying angle through the fire extinguishing agent spray gun 3 carried by the pan-tilt 1, activate the fire extinguishing device, such as spraying dry powder, foam, water flow and other fire extinguishing agents to extinguish the fire. After extinguishing the fire, continuously monitor the ambient temperature through the infrared camera 2, and extinguish the fire again when the threshold is exceeded; the fire-fighting robot for unattended places has an automatic charging function, and automatically navigates to find a charging pile to charge when the battery level is low to ensure uninterrupted patrol; the fire-fighting robot for unattended places is equipped with a large-capacity fire extinguishing agent storage tank 11, and the fire extinguishing agent storage tank 11 can store different types of fire extinguishing agents and can be applied in the following scenarios: warehouses, where a large amount of goods are stored. When unattended, the fire-fighting robot can conduct 24-hour inspections to prevent fires from occurring, and dispose of them in a timely manner at the initial stage of the fire to reduce losses; data centers, where the equipment is intensive and valuable, and the environmental requirements are strict. The fire-fighting robot can monitor the temperature, the operating status of electrical equipment, etc., prevent electrical fires, and the fire extinguishing method will not damage electronic equipment; substations, converter stations, and charging stations, where there are many electrical equipment in substations, converter stations, and charging stations, and there is a fire risk. The fire-fighting robot can inspect the operating conditions of the equipment, detect and handle fire hazards caused by electrical faults.;

[0025] Please refer to Figure 2 - Figure 4 , the driving mechanism includes a motor 13, the bottom of the motor 13 is fixedly connected to the bottom surface of the chassis 8, a fourth rotating shaft 27 is rotatably arranged at the output end of the motor 13, a third gear 26 is fixedly connected to the outer wall of the fourth rotating shaft 27, a first rotating shaft 16 is rotatably connected to the side wall of the chassis 8, a first gear 14 is arranged on the outer wall of the first rotating shaft 16, and the tooth ends of the first gear 14 and the third gear 26 can mesh with each other. Tires 9 are fixedly connected to both ends of the first rotating shaft 16.

[0026] Specifically, the motor 13 plays a role in outputting rotational force, thereby driving the fourth rotating shaft 27 to rotate; the fourth rotating shaft 27 can transmit the rotational force to the third gear 26 and the first worm 17; the tooth ends of the first gear 14 and the third gear 26 can mesh with each other, which can play a role in transmitting the rotational force conveyed by the fourth rotating shaft 27 to the first gear 14; since the first gear 14 is arranged on the outer wall of the first rotating shaft 16, the rotational force conveyed to the first gear 14 can be transmitted to the first rotating shaft 16; since tires 9 are fixedly connected to both ends of the first rotating shaft 16, the rotational force conveyed to the first rotating shaft 16 can be transmitted to the tires 9, thereby driving the robot to move.

[0027] Please refer to Figure 3 - Figure 6, the first gear 14 includes a first connection groove 141, a first shaft hole 142, and a first disk 143. A first shaft hole 142 is provided in the middle of the first disk 143. A first connection groove 141 is provided on the side wall of the first disk 143. A first guiding groove is provided inside the first disk 143. The first guiding groove is located on the side wall of the first shaft hole 142. A first rack 15 is fixedly connected to the outer wall of the first rotating shaft 16. The tooth end of the first rack 15 meshes with the first guiding groove. A third limiting block 42 is fixedly connected to the inner bottom surface of the chassis 8. A third electric push rod 43 is provided on the top of the third limiting block 42. The output end of the third electric push rod 43 is fixedly connected to a third expansion head 41. A first limiting tooth 32 is provided on the top surface of the third electric push rod 43. The groove of the first limiting tooth 32 meshes with the tooth end of the first disk 143. The third expansion head 41 is located inside the first connection groove 141.

[0028] Specifically, the first disk 143 can bear the rotational load and transmit the rotational force; the first shaft hole 142 can be used to install the first rotating shaft 16; the first connection groove 141 can be used to place the third expansion head 41; the tooth end of the first rack 15 meshes with the first guiding groove, so that the rotational force of the first disk 143 can be transmitted to the first rotating shaft 16. At the same time, the first disk 143 can slide on the outer wall of the first rack 15 and can transmit the rotational force; the third limiting block 42 can be used to install the third electric push rod 43 and can be used to set the first limiting tooth 32; the third electric push rod 43 can be used to drive the third expansion head 41 to move. Furthermore, the third expansion head 41 can drive the first disk 143 to move on the outer wall of the first rack 15 through the first connection groove 141, so as to control the meshing state between the tooth end of the first disk 143 and the tooth end of the third gear 26; the first limiting tooth 32 can mesh with the tooth end of the first disk 143. When the first disk 143 is pulled towards the third limiting block 42 by the third electric push rod 43, the tooth end of the first disk 143 is disengaged from the tooth end of the third gear 26, and at the same time, the tooth end of the first disk 143 meshes with the first limiting tooth 32, so that the first disk 143 cannot rotate, thereby controlling the robot to stop moving.

[0029] Please refer to Figure 3 - Figure 4 , a first worm 17 is fixedly connected to the side of the fourth rotating shaft 27 away from the motor 13. A second rotating shaft 18 is rotatably provided on the inner bottom surface of the chassis 8. A second worm gear 28 is fixedly connected to the outer wall of the second rotating shaft 18. The tooth end of the second worm gear 28 meshes with the tooth end of the first worm 17. A second gear 20 is provided on the upper outer wall of the second rotating shaft 18. A driving block 21 is provided on the top of the second gear 20. The top of the driving block 21 is fixedly connected to the bottom of the cloud platform 1.

[0030] Specifically, the first worm 17 can be used to transmit the rotational force to the second worm wheel 28; the second worm wheel 28 can drive the second rotating shaft 18 to rotate, and further drive the second gear 20 to rotate; the second gear 20 can drive the driving block 21 to rotate; the rotation of the driving block 21 can drive the pan-tilt 1 to rotate, so as to achieve the purpose of driving the horizontal rotation of the pan-tilt 1.

[0031] Please refer to Figure 3 - Figure 9 , the second gear 20 includes a second shaft hole 201, a fourth rack 202, a second disk 203 and a second connection groove 204. The fourth rack 202 is fixedly connected to the top surface of the second disk 203. The side wall of the second disk 203 is provided with the second connection groove 204. The second shaft hole 201 is located in the middle of the second disk 203. A second guiding groove is provided in the middle of the second disk 203. The outer wall of the second rotating shaft 18 is fixedly connected with a second rack 19. The second rack 19 meshes with the second guiding groove. The bottom surface of the mounting bracket 6 is fixedly connected to the side of the second electric push rod 34 away from the output end. The output end of the second electric push rod 34 is fixedly connected with a second enlarged head 36. The second enlarged head 36 is located inside the second connection groove 204. The outer wall of the second electric push rod 34 is fixedly connected with a second limiting block 35.

[0032] Specifically, the second disk 203 can be used to fixedly install the fourth rack 202; the fourth rack 202 can mesh with the fifth rack 215 to drive the connecting section 211 to rotate; the second connection groove 204 can mesh with the second rack 19, so that the second gear 20 can move up and down on the outer wall of the second rack 19, and at the same time, the rotational force of the second rotating shaft 18 can be transmitted to the second disk 203; the second shaft hole 201 can be used to install the second rotating shaft 18; the second electric push rod 34 can be used to push the second enlarged head 36 and the second limiting block 35 to move up and down; the second connection groove 204 can be used to engage with the second enlarged head 36, so that the up and down movement of the second enlarged head 36 can drive the up and down movement of the second disk 203.

[0033] Please refer to Figure 4 - Figure 12, the driving block 21 includes a connecting section 211. The top of the connecting section 211 is fixedly connected to the bottom surface of the pan-tilt 1. An annular groove 212 is formed in the middle side wall of the connecting section 211. A limiting groove 213 is formed in the side wall of the connecting section 211. The limiting groove 213 is located at the bottom of the annular groove 212 and communicates with the annular groove 212. The second limiting block 35 can be engaged inside the limiting groove 213. A fifth rack 215 is arranged on the bottom surface of the connecting section 211. The fifth rack 215 can be meshed with the fourth rack 202. A through hole 214 is formed in the middle of the connecting section 211. The diameter of the through hole 214 is larger than the diameter of the second rotating shaft 18. A third mounting hole 38 is formed in the bottom of the pan-tilt 1. The position and diameter of the third mounting hole 38 correspond to those of the through hole 214. The second rotating shaft 18 passes through the third mounting hole 38.

[0034] Specifically, the connecting section 211 can play a role in connecting the pan-tilt 1; the annular groove 212 can play a role in accommodating the second limiting block 35. When the second electric push rod 34 moves the second limiting block 35 to the annular groove 212, the second limiting block 35 will not prevent the connecting section 211 from rotating; the limiting groove 213 can play a role in engaging with the second limiting block 35. When the second limiting block 35 moves inside the limiting groove 213, it can fix the connecting section 211 and prevent the connecting section 211 from rotating; the through hole 214 enables the second rotating shaft 18 to pass through; since the diameter of the through hole 214 is larger than the diameter of the second rotating shaft 18, it can prevent the rotation of the second rotating shaft 18 from driving the connecting section 211 to rotate; the fifth rack 215 can be meshed with the fourth rack 202, so as to drive the connecting section 211 to rotate by using the second disc 203; when the second electric push rod 34 controls the second expansion head 36 to move upward, the second expansion head 36 drives the second disc 203 to move upward, so that the fourth rack 202 is meshed with the fifth rack 215 to achieve transmission. At this time, the second limiting block 35 is located inside the annular groove 212 and does not limit the rotation of the connecting section 211. When the second electric push rod 34 controls the second disc 203 to move downward, the fourth rack 202 is separated from the fifth rack 215, and at the same time, the second limiting block 35 moves inside the limiting groove 213. At this time, the connecting section 211 loses the driving force of rotation and is restricted from rotating by the second limiting block 35, so as to prevent the vibration of the connecting section 211 when the robot moves and cause the connecting section 211 to rotate; through the third mounting hole 38, the second rotating shaft 18 can pass through, and at the same time, it can prevent the second rotating shaft 18 from driving the pan-tilt 1 to rotate.

[0035] Please refer to Figure 1 - Figure 12, a second mounting hole 37 is formed in the side wall of the pan-tilt 1, a third rotating shaft 22 is arranged on the upper part of the pan-tilt 1, the third rotating shaft 22 is rotatably connected to the inside of the second mounting hole 37, a first worm gear 25 is arranged on the outer wall of the third rotating shaft 22, the top of the second rotating shaft 18 is fixedly connected with a second worm 24, and the tooth ends of the second worm 24 and the first worm gear 25 are meshed with each other. One end of the third rotating shaft 22 is provided with an infrared camera 2, and the other end of the third rotating shaft 22 is provided with a fire extinguishing agent spray gun 3.

[0036] Specifically, the second mounting hole 37 can be used to mount the third rotating shaft 22; the third rotating shaft 22 can be used to mount the infrared camera 2 and the fire extinguishing agent spray gun 3; by meshing the tooth ends of the second worm 24 and the first worm gear 25, the rotational force of the second rotating shaft 18 transmitted to the second worm 24 can be transmitted to the inside of the first worm gear 25, thereby driving the third rotating shaft 22 to rotate. Thus, the infrared camera 2 and the fire extinguishing agent spray gun 3 can rotate in the vertical direction, so as to increase the angle range of environmental collection and fire extinguishing.

[0037] Please refer to Figure 3 - Figure 15 , the first worm gear 25 includes a third disk 252, a third connecting groove 251 is formed in the side wall of the third disk 252, a third shaft hole 253 is formed in the middle of the third disk 252, a third guiding groove is formed in the middle of the third disk 252, the third guiding groove is located on the side wall of the third shaft hole 253, a third rack 23 is fixedly connected to the outer wall of the third rotating shaft 22, the third rack 23 is meshed with the third guiding groove, a first limiting block 31 is fixedly connected to the inner bottom surface of the pan-tilt 1, a first electric push rod 29 is arranged on the top of the first limiting block 31, the output end of the first electric push rod 29 is fixedly connected with a first enlarged head 30, the first enlarged head 30 is located inside the third connecting groove 251, and a second limiting tooth 39 is arranged on the top surface of the first limiting block 31, and the tooth end of the second limiting tooth 39 can be meshed with the tooth end of the third disk 252.

[0038] Specifically, the third turntable 252 can play a role in transmitting rotational force; the third connecting groove 251 can play a role in placing the third expansion head 41; the third shaft hole 253 can play a role in installing the third rotating shaft 22; the third rack 23 can play a role in transmitting rotational force; by the third rack 23 meshing with the third guiding groove, the rotational force of the third turntable 252 can be transmitted to the third rotating shaft 22 through the third rack 23; the third rack 23 can enable the third turntable 252 to transmit rotational force while moving on the surface of the third rack 23; the first limiting block 31 can play a role in installing the first electric push rod 29; the first electric push rod 29 can play a role in controlling the front and back movement of the first expansion head 30, thereby driving the third turntable 252 to move; the second limiting tooth 39 can play a role in engaging with the tooth end of the third turntable 252, thereby restricting the rotation of the third turntable 252; when the first electric push rod 29 controls the first expansion head 30 to pull the third turntable 252 to move in the direction of the first limiting block 31, the tooth end of the third turntable 252 disengages from the tooth end of the second worm 24, and at the same time the tooth end of the third turntable 252 engages with the second limiting tooth 39, thus preventing the third turntable 252 from rotating and further restricting the rotation of the third rotating shaft 22.

[0039] Please refer to Figure 16 , a fixing hole 40 is provided in the middle of the fire extinguishing agent storage tank 11, and the second rotating shaft 18 passes through the inside of the fixing hole 40.

[0040] Specifically, the second rotating shaft 18 can pass through the fixing hole 40, and at the same time the diameter of the fixing hole 40 is larger than the diameter of the second rotating shaft 18. Therefore, the fire extinguishing agent storage tank 11 does not restrict the rotation of the second rotating shaft 18, and at the same time the second rotating shaft 18 can prevent the fire extinguishing agent storage tank 11 from falling off accidentally.

[0041] Please refer to Figure 3 - Figure 11 , a first mounting hole 33 is provided in the middle of the mounting bracket 6, the connecting section 211 passes through the inside of the first mounting hole 33, and the diameter of the first mounting hole 33 is larger than the diameter of the connecting section 211.

[0042] Specifically, the first mounting hole 33 can play a role in installing the connecting section 211; by the diameter of the first mounting hole 33 being larger than the diameter of the connecting section 211, the mounting bracket 6 can be prevented from restricting the rotation of the connecting section 211.

[0043] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fire-fighting robot for unattended places, including a chassis (8), characterized in that, The bottom of the chassis (8) is provided with tires (9), the top of the chassis (8) is provided with a mounting frame (6), the front of the mounting frame (6) is provided with a front camera (7), the front part of the top surface of the mounting frame (6) is provided with a gas sensor (4), an audible and visual alarm (5) and a pan-tilt head (1), infrared cameras (2) and fire extinguishing agent spray guns (3) are arranged on both sides of the pan-tilt head (1), a fire extinguishing agent storage tank (11) is arranged inside the mounting frame (6), the top of the fire extinguishing agent storage tank (11) is connected to the fire extinguishing agent spray gun (3) through a first conveying pipe (10), a second conveying pipe (12) is arranged at the rear of the fire extinguishing agent storage tank (11), and one end of the second conveying pipe (12) far away from the fire extinguishing agent storage tank (11) is provided with a sealing cover. A battery pack and a processor are arranged inside the chassis (8), and the processor is electrically connected to the battery pack, the front camera (7), the audible and visual alarm (5), the gas sensor (4), the fire extinguishing agent spray gun (3), the infrared cameras (2), the pan-tilt head (1) and a driving mechanism, and the driving mechanism is used to control the rotation of the tires (9).

2. The fire-fighting robot for unattended places according to claim 1, wherein, The driving mechanism includes a motor (13), the bottom of the motor (13) is fixedly connected to the bottom surface of the chassis (8), a fourth rotating shaft (27) is rotatably arranged at the output end of the motor (13), a third gear (26) is fixedly connected to the outer wall of the fourth rotating shaft (27), a first rotating shaft (16) is rotatably connected to the side wall of the chassis (8), a first gear (14) is arranged on the outer wall of the first rotating shaft (16), and the tooth ends of the first gear (14) and the third gear (26) can mesh with each other. Tires (9) are fixedly connected to both ends of the first rotating shaft (16).

3. The fire-fighting robot for unattended places according to claim 2, characterized in that, The first gear (14) includes a first connecting groove (141), a first shaft hole (142) and a first disc (143). A first shaft hole (142) is opened in the middle of the first disc (143), a first connecting groove (141) is opened on the side wall of the first disc (143), a first guiding groove is opened inside the first disc (143), the first guiding groove is located on the side wall of the first shaft hole (142), a first rack (15) is fixedly connected to the outer wall of the first rotating shaft (16), and the tooth end of the first rack (15) meshes with the first guiding groove. A third limiting block (42) is fixedly connected to the inner bottom surface of the chassis (8), a third electric push rod (43) is arranged on the top of the third limiting block (42), the output end of the third electric push rod (43) is fixedly connected to a third enlarged head (41), a first limiting tooth (32) is opened on the top surface of the third electric push rod (43), the groove of the first limiting tooth (32) meshes with the tooth end of the first disc (143), and the third enlarged head (41) is located inside the first connecting groove (141).

4. The fire-fighting robot for unattended places according to claim 2, wherein On one side of the fourth rotating shaft (27) away from the motor (13), a first worm (17) is fixedly connected. On the inner bottom surface of the chassis (8), a second rotating shaft (18) is rotatably arranged. On the outer wall of the second rotating shaft (18), a second worm gear (28) is fixedly connected. The tooth ends of the second worm gear (28) and the first worm (17) are meshed with each other. On the upper outer wall of the second rotating shaft (18), a second gear (20) is arranged. On the top of the second gear (20), a driving block (21) is arranged. The top of the driving block (21) is fixedly connected to the bottom of the pan-tilt (1).

5. The fire-fighting robot for unattended places according to claim 4, wherein The second gear (20) includes a second shaft hole (201), a fourth rack (202), a second disk (203) and a second connecting groove (204). The fourth rack (202) is fixedly connected to the top surface of the second disk (203). On the side wall of the second disk (203), a second connecting groove (204) is formed. The second shaft hole (201) is located in the middle of the second disk (203). In the middle of the second disk (203), a second guiding groove is formed. On the outer wall of the second rotating shaft (18), a second rack (19) is fixedly connected. The second rack (19) is meshed with the second guiding groove. The bottom surface of the mounting frame (6) is fixedly connected to one side of the second electric push rod (34) away from the output end. The output end of the second electric push rod (34) is fixedly connected to a second enlarged head (36). The second enlarged head (36) is located inside the second connecting groove (204). On the outer wall of the second electric push rod (34), a second limiting block (35) is fixedly connected.

6. The fire-fighting robot for unattended places according to claim 5, wherein, The driving block (21) includes a connecting section (211). The top of the connecting section (211) is fixedly connected to the bottom surface of the pan-tilt (1). On the middle side wall of the connecting section (211), an annular groove (212) is formed. On the side wall of the connecting section (211), a limiting groove (213) is formed. The limiting groove (213) is located at the bottom of the annular groove (212) and is communicated with the annular groove (212). The second limiting block (35) can be engaged inside the limiting groove (213). On the bottom surface of the connecting section (211), a fifth rack (215) is arranged. The fifth rack (215) can be meshed with the fourth rack (202). In the middle of the connecting section (211), a through hole (214) is formed. The diameter of the through hole (214) is larger than the diameter of the second rotating shaft (18). On the bottom of the pan-tilt (1), a third mounting hole (38) is formed. The position and diameter of the third mounting hole (38) correspond to those of the through hole (214). The second rotating shaft (18) passes through the third mounting hole (38).

7. The fire-fighting robot for unattended places according to claim 6, characterized in that, The side wall of the pan-tilt (1) is provided with a second mounting hole (37). The upper part of the pan-tilt (1) is provided with a third rotating shaft (22). The third rotating shaft (22) is rotatably connected to the inside of the second mounting hole (37). A first worm gear (25) is arranged on the outer wall of the third rotating shaft (22). The top of the second rotating shaft (18) is fixedly connected with a second worm (24). The tooth ends of the second worm (24) and the first worm gear (25) are meshed with each other. An infrared camera (2) is arranged at one end of the third rotating shaft (22), and a fire extinguishing agent spray gun (3) is arranged at the other end of the third rotating shaft (22).

8. The fire-fighting robot for unattended places according to claim 7, characterized in that, The first worm gear (25) includes a third disk (252). A third connecting groove (251) is formed in the side wall of the third disk (252). A third shaft hole (253) is formed in the middle of the third disk (252). A third guiding groove is formed in the middle of the third disk (252). The third guiding groove is located on the side wall of the third shaft hole (253). A third rack (23) is fixedly connected to the outer wall of the third rotating shaft (22). The third rack (23) is meshed with the third guiding groove. A first limiting block (31) is fixedly connected to the inner bottom surface of the pan-tilt (1). A first electric push rod (29) is arranged on the top of the first limiting block (31). The output end of the first electric push rod (29) is fixedly connected with a first enlarged head (30). The first enlarged head (30) is located inside the third connecting groove (251). A second limiting tooth (39) is arranged on the top surface of the first limiting block (31). The tooth end of the second limiting tooth (39) can be meshed with the tooth end of the third disk (252).

9. The fire-fighting robot for unattended places according to claim 4, characterized in that, A fixing hole (40) is formed in the middle of the fire extinguishing agent storage tank (11). The second rotating shaft (18) passes through the inside of the fixing hole (40).

10. The fire-fighting robot for unattended places according to claim 6, characterized in that A first mounting hole (33) is formed in the middle of the mounting bracket (6). The connecting section (211) penetrates through the inside of the first mounting hole (33). The diameter of the first mounting hole (33) is larger than the diameter of the connecting section (211).

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