Fire extinguishing robot with crawler walking mechanism

Abstract

The invention discloses a fire extinguishing robot with a crawler walking mechanism, and relates to the technical field of fire extinguishing. A round hole is formed in the bottom of the device body, an intelligent module is arranged in the device body, a protective shell is arranged above the periphery of the device body, an electric manipulator is arranged in the round hole of the device body, the electric manipulator is composed of a fixed end and a telescopic end, and a plurality of supporting plates are hinged to the bottom of the telescopic end of the electric manipulator through torsional springs. A motor is arranged in the device body, and an anti-blocking device is arranged on the periphery of the device body and comprises a crawler wheel assembly. Obstacles on the walking path of the crawler wheel assembly are pushed to be away from each other through reciprocating sliding of the baffles, when the crawler wheel assembly directly faces the obstacles, the crawler wheel assembly can be pushed through the baffles only by slightly deflecting the direction, the situation that the obstacles in different shapes interfere with the crawler wheel assembly is avoided, and the trafficability of the crawler wheel assembly is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler-type fire-fighting vehicles, in particular to a fire-fighting robot with a crawler walking mechanism. Background Art

[0002] A tracked fire truck is a special vehicle designed specifically for extinguishing fires. It usually performs firefighting tasks on complex or extreme terrains. The design of this vehicle enables it to travel on uneven ground such as mud, deserts, and forests. It is usually equipped with powerful firefighting equipment and a variety of rescue tools.

[0003] The patent with announcement number CN218967055U discloses an electric four-wheel drive fire-fighting robot, including a mobile chassis assembly and a water jet fire-fighting system, which is arranged on the mobile chassis assembly; the mobile chassis assembly includes a chassis body, and a plurality of track modules are respectively arranged on both sides of the chassis body; the track module includes a driving wheel, a driven wheel and a rotary track, the driving wheel and the driven wheel are respectively located at the two ends of the rotary track, and a load-bearing wheel is arranged between the driving wheel and the driven wheel, and the rotary track is wound around the driving wheel, the load-bearing wheel and the driven wheel; the driving wheel, the load-bearing wheel and the driven wheel are all mounted on the side plate, and the side plate is movably connected to the chassis body through a rotating shaft; the driving wheel is connected to the motor. The patent arranges a plurality of track modules on both sides of the mobile chassis assembly, and each track module is independently driven by a motor, which can greatly improve the maneuverability and efficiency of fire-fighting operations.

[0004] However, the device still has shortcomings: although the device can move on different terrains through the track wheel assembly, in terrain with complex fires, the passability of the track wheel assembly is easily blocked by obstacles of different shapes, which can easily interfere with the walking path and passability of the track wheel assembly, causing the entire device to need to detour, thereby increasing the time to reach the fire source. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a fire-fighting robot with a crawler walking mechanism, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a fire-fighting robot with a crawler walking mechanism, comprising a device body, a circular hole formed in the bottom of the device body, a built-in intelligent module in the device body, a protective shell provided above the periphery of the device body, an electric manipulator provided within the circular hole of the device body, the electric manipulator comprising a fixed end and a telescopic end, the bottom of the telescopic end of the electric manipulator being hinged to a plurality of support plates via a torsion spring, a motor provided within the device body, and an anti-obstruction device provided on the periphery of the device body; The anti-obstruction device comprises a track wheel assembly, wherein the track wheel assembly is arranged on the periphery of the device body, and the outer wall of the track wheel assembly is fixedly installed on the reciprocating screw rod on the side away from the center of the device body, and the reciprocating screw rod penetrates and is threadedly connected to the blocking plate, and the outer wall of the track wheel assembly is provided with a trapezoidal plate, and the trapezoidal plate is fixedly installed with a limit column on one side away from the center of the device body, and the outer wall of the limit column penetrates and is movably installed inside the blocking plate. The bottom edge of the protective shell is hingedly provided with a dust suppression net plate, and the bottom of the dust suppression net plate is located near one side of the device body and is located on the movement track of the blocking plate. The outer wall of the blocking plate is fixedly installed with a plurality of elastic arc sheets, and the concave surfaces of the elastic arc sheets are fixedly installed with elastic telescopic rods. The track wheel assembly is driven by the built-in power supply module to drive the device body to move or rotate. When the track wheel assembly is running, the track wheel inside it starts to rotate, and the track wheel drives the reciprocating screw rod to rotate. The reciprocating screw rod restricts and drives the inner wall of the blocking plate through the reciprocating spiral groove on the outer wall, causing the blocking plate to move along the outer wall of the reciprocating screw rod After the elastic arc piece pushes the obstacle through the rebound force of its own deformation and the thrust of the barrier plate, the elastic arc piece suddenly resets and drives the elastic telescopic rod to reset. During the resetting process of the telescopic end of the elastic telescopic rod, the outer wall of the barrier plate is struck back and forth by the built-in spring to generate vibration.

[0007] According to the above technical solution, a torsion spring is arranged between the top of the dust suppression screen and the protective shell, and several elastic arc pieces are evenly distributed on the outer wall of the barrier plate, and the outer wall of the barrier plate is located on the motion trajectory of the telescopic end of the elastic telescopic rod.

[0008] According to the above technical solution, a flat plate is fixedly installed at the top of the output end of the motor. A water tank is fixedly installed at the left side of the top of the flat plate. A carbon dioxide tank is fixedly installed at the top of the flat plate. The carbon dioxide tank is located at the back of the water tank. Transfer components are fixedly installed on the right sides of both the water tank and the carbon dioxide tank. A switching module is built in the transfer component. A water delivery pipe penetrates through and is fixedly installed on the right side of the transfer component. A filter plate is fixedly installed on the left side inside the water delivery pipe. A rotating column is rotatably installed on the right side of the filter plate. Two inclined plates are fixedly installed on the outer wall of the rotating column. The two inclined plates are symmetrically distributed with respect to the axis of the rotating column. The right side of the water delivery pipe penetrates through and is fixedly installed with a storage tank. A telescopic pipe is hinged to the right side of the storage tank. A collar is slidably installed on the outer wall of the telescopic pipe. An electric push rod is hinged to the top of the flat plate through a torsion spring. The top of the telescopic end of the electric push rod is hinged to the bottom of the outer wall of the collar. An L-shaped plate is fixedly installed on the right side of the outer wall of the telescopic end of the electric push rod. A telescopic column is fixedly installed on the top of the flat plate. A monitoring component is fixedly installed on the top of the telescopic end of the telescopic column. A laser component is arranged on the right side of the outer wall of the telescopic end of the telescopic column. The device body drives the motor to move or rotate. When the device body finishes working inside a groove or gully, the electric manipulator is remotely started through the intelligent module. The telescopic end of the electric manipulator drives the support plate to move downward and contact the ground to generate a resistance force. The hinge shaft of the support plate starts to rotate until the plane of the support plate contacts the ground to form a support. When it is necessary to detect a fire or the fire situation, the crawler assembly drives the device body to go to the designated location. The device body drives the motor to move synchronously. The output end of the motor drives the flat plate to perform small-amplitude front-back arc-shaped rotation to prevent excessive pressure between the flat plate and the output end of the motor when the flat plate rotates in a circle and causes damage. The flat plate drives the telescopic column to move synchronously. The telescopic column drives the monitoring component to move synchronously. When the monitoring component transmits the fire picture to the staff's monitoring screen, the staff selects a reasonable fire extinguishing material, namely water or carbon dioxide. At this time, the transfer component blocks and seals one of the unselected fire extinguishing materials, namely the water tank or the carbon dioxide tank, through the switching module. The selected fire extinguishing material is transported to the inside of the water delivery pipe through the transfer component. The water delivery pipe transports the fire extinguishing material to the inside of the storage tank. Then, the fire extinguishing material is sprayed towards the fire source through the telescopic pipe. The electric push rod is started. When the telescopic end of the electric push rod rises, the hinge shaft between the telescopic end and the collar starts to rotate to promote the collar to generate a sliding force. The collar slides along the outer wall of the telescopic pipe and the hinge shaft between the telescopic pipe and the storage tank starts to rotate through the telescopic end of the electric push rod. At this time, the telescopic pipe moves upward in an arc shape to adjust its spraying angle. At the same time, the telescopic end of the electric push rod drives the L-shaped plate to move synchronously. The L-shaped plate drives the telescopic column to move synchronously. The telescopic end of the telescopic column drives the monitoring component and the laser component to move synchronously. At the same time, the laser component can emit light points to guide the way when the device body rescues trapped people. The inclined plates inside the water delivery pipe are distributed relatively obliquely, so that when water flows through, the inclined plates are forced to generate a rotational force and start to rotate. The inclined plates drive the rotating column to rotate. At the same time, the inclined plates scrape the filter plate.

[0009] According to the above technical solution, the telescopic column is located on the right side of the electric push rod, and the left side of the telescopic end of the telescopic column is fixedly installed on the right side of the L-shaped plate. The right side of the plate is provided with an anti-damage device for moving obstacles on the path of the device body to avoid impact on the device body.

[0010] According to the above technical solution, the anti-damage device includes a circular plate, a plurality of cylinders, a plurality of transverse plates and an arc groove column. The left side of the circular plate is fixedly installed on the right side of the device body. The outer walls of the plurality of cylinders are penetrated by torsion springs and rotatably installed inside the end of the circular plate away from the device body. The plurality of cylinders are equidistantly distributed. The sides of the plurality of transverse plates close to the top and bottom of the circular plate are provided with a sliding groove. The upper and lower ends of the cylinder are slidably installed inside the sliding groove of the transverse plate close to the circular plate, and a spring is provided between the sliding groove of the transverse plate and the cylinder. The upper and lower ends of the arc groove column are rotatably installed inside the right horizontal plate. When the device body moves or rotates, it drives the circular plate to move synchronously, the circular plate drives the cylinder to move synchronously, the cylinder drives the horizontal plate to move synchronously, and the horizontal plate drives the arc groove column to move synchronously. When the circular plate encounters a large number of accumulated obstacles when going straight and cannot turn to avoid them, the arc groove column contacts the side of the obstacle to generate friction, and the arc groove column starts to rotate due to the friction. When the arc groove column contacts the obstacle and rotates until it can no longer rotate, it generates a resistance thrust, and the arc groove column causes the horizontal plate to slide left and right along the cylinder.

[0011] According to the above technical solution, the anti-damage device also includes a semicircular plate and a resistance block, the upper and lower ends of the semicircular plate are fixedly installed inside the left side of the horizontal plate, the left side of the resistance block is fixedly installed on the left side of the inner wall of the circular plate, and the resistance block is located on the movement trajectory of the semicircular plate. An anti-poisoning device is provided above the circular plate to absorb harmful gases generated when the factory building is on fire to prevent trapped personnel from inhaling and suffocating. When the horizontal plate moves toward the main body of the device, it drives the semicircular plate to move synchronously, and the semicircular plate will contact the arc surface of the resistance block. The arc surface of the resistance block guides the semicircular plate to make an arc-shaped offset, and the semicircular plate drives the horizontal plate to move synchronously. The horizontal plate restricts the cylinder through the slide groove to cause the cylinder to rotate synchronously inside the circular plate, and the horizontal plate drives the arc groove column to move synchronously, that is, the arc groove column sweeps, and then the above structure is reset by the torsion spring and the spring.

[0012] According to the above technical solution, the anti-damage device also includes a vertical rod, a swing plate and a cold air component. The bottom of the vertical rod is fixedly installed on the top of the circular plate. The inside of the swing plate is penetrated by a torsion spring and hinged to the outer wall surface of the vertical rod. The swing plate is hinged to the right side of the flat plate near the right side of the device body. The cold air component is fixed on the inner wall of the swing plate near the center of the circular plate. When the flat plate drives the telescopic tube to swing slightly to expand its spraying range, the flat plate drives the swing plate to move synchronously. The swing plate is affected by the force of the swinging of the flat plate, prompting its own hinge axis to start rotating. At this time, the swing plate swings along the outer wall of the vertical rod in the opposite direction to the swinging of the flat plate, and the swinging plate drives the cold air component to swing synchronously.

[0013] When the U-shaped plate is driven by the friction plate, the friction plate is automatically reset by the torsion spring, and the reciprocating motion of the spoiler is achieved.

[0014] According to the above technical solution, the anti-poisoning device also includes an arc-shaped plate, a runner, a wave plate, a friction roller, an activated carbon plate and a spiral sheet. The arc-shaped plate is hinged at one end near the center of the circular plate at the outer wall of the spoiler, and the arc-shaped plate has toughness. The bottom of the runner is rotatably mounted on the top of the arc-shaped plate, and the outer wall of the runner is in contact with the right side of the outer wall of the device body. The bottom of the wave plate is fixedly mounted on the top edge of the runner, the friction roller is fixedly mounted on the outer wall of the wave plate, the bottom of the activated carbon plate is rotatably mounted on the top of the runner through a torsion spring, and the inner wall of the spiral sheet is rotatably mounted on the limit rod On the outer wall surface, when the spoiler swings, it drives the arc plate to slide synchronously along the top of the circular plate, and the arc plate drives the runner to slide synchronously along the outer wall of the right side of the device body, and friction generates a rotational force. When the runner starts to rotate through the friction force, it drives the wave plate to move synchronously, and the wave plate drives the friction roller to rotate. Since the activated carbon plate is installed for rotation, the activated carbon plate remains relatively stationary. When the activated carbon plate is stationary, the limit rod restricts the spiral plate, causing the spiral plate to stop synchronously. When the friction roller rotates, it generates friction between its own outer wall and the spiral plate, and the spiral plate rotates along the outer wall of the limit rod through friction.

[0015] According to the above technical solution, a meandering groove is opened on the outer wall of the activated carbon plate, and a limiting rod is fixedly installed inside the meandering groove of the activated carbon plate. The spiral sheet is located inside the meandering groove of the activated carbon plate, and the outer wall of the spiral sheet is located on the movement trajectory of the outer wall of the friction roller.

[0016] The present invention provides a fire-fighting robot with a crawler walking mechanism. It has the following beneficial effects: (1) The present invention sets an anti-obstruction device, and cooperates with the track wheel assembly, reciprocating screw, baffle plate, trapezoidal plate, limiting column, dust suppression screen plate, elastic arc plate and elastic telescopic rod. The baffle plate pushes away obstacles on the walking path of the track wheel assembly by reciprocating sliding. When the track wheel assembly faces an obstacle, it only needs to slightly deflect the direction to push through the baffle plate, thereby avoiding interference of obstacles of different shapes on the track wheel assembly and improving its passability, ensuring that the entire device can quickly rush to the fire source to avoid delaying the fire extinguishing opportunity; at the same time, the dust suppression screen plate is expanded to intercept particles raised by the fire phenomenon, preventing particles from adhering to the surface of the track wheel, causing its outer wall to be uneven and increasing the wear on the track. At the same time, the elastic arc plate increases the baffle plate's ability to push and protect larger obstacles. The subsequent knocking vibration of the elastic telescopic rod reduces the adhesion of dirt to the baffle plate, reducing the difficulty of subsequent cleaning of the baffle plate.

[0017] (2) The present invention cooperates with a motor, a flat plate, a water tank, a carbon dioxide tank, a switching assembly, a water pipe, a filter plate, a rotating column, an inclined plate, a storage box, a telescopic tube, an electric push rod, an L-shaped plate, a telescopic column, a monitoring assembly and a laser assembly. First, the present invention enables the staff to select different fire extinguishing schemes according to different fire sources. At the same time, the telescopic tube can rotate back and forth to spray fire extinguishing materials to the fire source, thereby expanding its coverage of the fire source and performing fire extinguishing operations at a relatively long distance. At the same time, the crawler assembly can traverse different terrains and always maintain a safe distance close to or away from the fire source. The monitoring assembly can also move synchronously with the fire extinguishing direction of the telescopic tube, enabling the staff to monitor the fire source in real time, understand the size and cause of the fire at the first time, and promptly understand whether the fire department needs to assist in extinguishing the fire, thereby protecting personal safety. Finally, the surface cleanliness of the filter plate is ensured to avoid scale accumulation that causes the filter plate to be blocked, thereby reducing the output.

[0018] (3) The present invention sets up an anti-damage device, and cooperates with a flat plate, a circular plate, a cylinder, a horizontal plate, an arc groove column, a semicircular plate, a resistance block, a vertical rod, a swing plate and a cold air component, so that the arc groove column can buffer the obstacle to avoid excessive vibration force causing the monitoring image to shake, and the arc groove column and the horizontal plate can displace the obstacle through friction and swing force, so as to avoid the obstacle blocking the path of the device body, thereby reducing the detection range of the fire, and timely understanding whether there are dangerous goods at the fire source; it can also expand the blowing range of the cold air component, cool the monitoring component and the laser component, and at the same time avoid the monitoring component being in the radiation range of the fire source for a long time, causing the monitoring transmission image to be distorted due to heat waves, and avoid the blurred image making it difficult for staff to observe the details of the fire source.

[0019] (4) The present invention adopts the arrangement of an anti-poisoning device, and cooperates with a swing plate, a U-shaped plate, a resistance plate, a spoiler, an arc plate, a rotor, a wave plate, a friction roller, an activated carbon plate and a spiral sheet, so that the spoiler is accelerated to accelerate the air circulation speed around the monitoring component when swinging back and forth, that is, the hot air is quickly and evenly mixed with the cold air blown out by the cold air component, further avoiding the heat wave from interfering with the clarity of the image of the monitoring component, and at the same time avoiding the burning hot dirt from adhering to the surface of electronic equipment such as the monitoring component; it also causes the wave plate to increase the disturbance frequency of the surrounding gas through its own wave surface within the same length of time, thereby improving the absorption effect of the activated carbon plate on the harmful gas generated by the flame burning during the movement of the device body, and avoiding the trapped personnel from absorbing excessive harmful substances and thus being poisoned when the device body leads the trapped personnel out of the fire scene; finally, it causes the activated carbon plate to evenly absorb the harmful gas to avoid the occurrence of local saturation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the present invention as a whole; Figure 2 Schematic diagram of the internal structure of the present invention as a whole; Figure 3 A bottom perspective schematic diagram of the present invention as a whole; Figure 4 This is a schematic diagram of the peripheral structure of the water tank of the present invention; Figure 5 For the present invention Figure 4 A schematic diagram of the structure at center A; Figure 6 Schematic diagram of the anti-damage device of the present invention; Figure 7 This is a schematic diagram showing an independent display of the anti-damage device of the present invention; Figure 8 This is a schematic diagram of the anti-poisoning device of the present invention; Figure 9 It is an enlarged schematic diagram of part of the structure of the anti-poisoning device of the present invention; Figure 10 For the present invention Figure 9 A magnified schematic diagram of the structure at point B in the middle; Figure 11 Schematic diagram of the anti-obstruction device of the present invention; Figure 12 This is a schematic diagram showing the overall anti-obstruction device of the present invention.

[0021] In the figure: 1. Device body; 2. Electric manipulator; 21. Support plate; 3. Motor; 4. Anti-damage device; 41. Circular plate; 42. Cylinder; 43. Horizontal plate; 44. Arc groove column; 45. Semicircular plate; 46. Interference block; 47. Vertical rod; 48. Swing plate; 49. Cold air assembly; 5. Anti-poisoning device; 51. U-shaped plate; 52. Interference plate; 53. Spoiler; 54. Arc plate; 55. Rotor; 56. Wave plate; 57. Friction roller; 58. Activated carbon plate; 59. Spiral sheet; 6. Flat plate; 7. Water tank; 8. Carbon dioxide tank; 9. Adapter assembly; 10. Water pipe; 101. Filter plate; 102. Rotating column; 103. Inclined plate; 11. Storage box; 12. Telescopic tube; 13. Electric push rod; 14. L-shaped plate; 15. Telescopic column; 16. Monitoring assembly; 17. Laser assembly; 70. Anti-obstruction device; 701. Track wheel assembly; 702. Reciprocating screw; 703. Blocking plate; 704. Trapezoidal plate; 705. Limiting column; 706. Dust suppression screen; 707. Elastic arc sheet; 708. Elastic telescopic rod. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] See also Figures 1-12 One embodiment of the present invention is a firefighting robot with a crawler walking mechanism, comprising a device body 1, a circular hole formed in the bottom of the device body 1, a built-in intelligent module, a protective shell disposed above the periphery of the device body 1, an electric manipulator 2 disposed within the circular hole of the device body 1, the electric manipulator 2 comprising a fixed end and a telescopic end, the bottom of the telescopic end of the electric manipulator 2 being hinged to a plurality of support plates 21 via a torsion spring, a motor 3 disposed within the device body 1, and an anti-obstruction device 70 disposed on the periphery of the device body 1; The anti-obstruction device 70 includes a crawler wheel assembly 701. The crawler wheel assembly 701 is arranged on the periphery of the device main body 1. On the outer wall of the left end of the crawler wheel assembly 701, far from the center of the device main body 1, a reciprocating lead screw 702 is fixedly installed. The outer wall of the reciprocating lead screw 702 penetrates and is threadedly connected with a baffle plate 703. A trapezoidal plate 704 is arranged on the outer wall of the crawler wheel assembly 701. A limiting column 705 is fixedly installed on the side of the trapezoidal plate 704 far from the center of the device main body 1. The outer wall of the limiting column 705 penetrates and is movably installed inside the baffle plate 703. A dust reduction net plate 706 is hinged at the bottom edge of the protective shell. The bottom of the dust reduction net plate 706, on the side close to the device main body 1, is located on the movement track of the baffle plate 703. A number of elastic arc pieces 707 are fixedly installed on the outer wall of the baffle plate 703. Elastic telescopic rods 708 are fixedly installed on the concave surfaces of the number of elastic arc pieces 707. Through the above cooperation, relying on the reciprocating sliding of the baffle plate 703, the obstacles on the walking path of the crawler wheel assembly 701 are pushed away. When the crawler wheel assembly 701 faces an obstacle directly, it only needs to deflect slightly to push through the baffle plate 703, avoiding interference of obstacles with different shapes to the crawler wheel assembly 701 and improving its passability, ensuring that the whole device can quickly rush to the fire source to avoid delaying the fire extinguishing opportunity; through the above cooperation, the interception range of the dust reduction net plate 706 for the particulate matter raised by the fire is expanded, preventing the particulate matter from adhering to the surface of the crawler wheel and causing unevenness on its outer wall, increasing the wear of the crawler. At the same time, the elastic arc pieces 707 increase the pushing and protection ability of the baffle plate 703 for larger obstacles. Subsequently, the knocking vibration of the elastic telescopic rods 708 reduces the adhesion of dirt to the baffle plate 703, reducing the subsequent cleaning difficulty of the baffle plate 703.

[0024] A torsion spring is arranged between the top of the dust reduction net plate 706 and the protective shell. The number of elastic arc pieces 707 are equidistantly distributed on the outer wall of the baffle plate 703. The outer wall of the baffle plate 703 is located on the movement track of the telescopic end of the elastic telescopic rod 708.

[0025] At the top of the output end of the motor 3, a flat plate 6 is fixedly installed. On the left side of the top of the flat plate 6, a water tank 7 is fixedly installed. On the top of the flat plate 6, a carbon dioxide tank 8 is fixedly installed. The carbon dioxide tank 8 is located at the back of the water tank 7. On the right sides of both the water tank 7 and the carbon dioxide tank 8, a transfer component 9 is fixedly installed. The transfer component 9 is internally provided with a switching module. On the right side of the transfer component 9, a water delivery pipe 10 penetrates and is fixedly installed. On the left side inside the water delivery pipe 10, a filter plate 101 is fixedly installed. On the right side of the filter plate 101, a rotating column 102 is rotatably installed. On the outer wall of the rotating column 102, two inclined plates 103 are fixedly installed. The two inclined plates 103 are symmetrically distributed with respect to the axis of the rotating column 102. On the right side of the water delivery pipe 10, a storage tank 11 penetrates and is fixedly installed. On the right side of the storage tank 11, a telescopic pipe 12 is hinged. A collar is slidably installed on the outer wall of the telescopic pipe 12. On the top of the flat plate 6, an electric push rod 13 is hinged through a torsion spring. The top of the telescopic end of the electric push rod 13 is hinged to the bottom of the outer wall of the collar. On the right side of the outer wall of the telescopic end of the electric push rod 13, an L-shaped plate 14 is fixedly installed. On the top of the flat plate 6, a telescopic column 15 is fixedly installed. On the top of the telescopic end of the telescopic column 15, a monitoring component 16 is fixedly installed. On the right side of the outer wall of the telescopic end of the telescopic column 15, a laser component 17 is provided. At this time, the electric manipulator 21 pushes the device body 1 upward to facilitate the staff to hoist the device body 1, avoiding the staff from entering the gully deeply and increasing the work risk; through the above cooperation, the staff can select different fire extinguishing schemes according to different fire sources. At the same time, the telescopic pipe 12 can rotate back and forth to spray fire extinguishing materials on the fire source, expanding its coverage of the fire source. At the same time, relying on the crawler assembly 2, it can approach or move away from the fire source and always maintain a safe distance; through the above cooperation, the monitoring component 16 can move synchronously with the fire extinguishing direction of the telescopic pipe 12, enabling the staff to monitor the fire source in real time, understand the fire size and the cause of the fire in the first time, and timely understand whether the assistance of the fire department is needed for fire extinguishing to protect personal safety; at the same time, the laser component 17 can emit light points for guiding when the device body 1 rescues trapped people; through the above cooperation, the cleanliness of the surface of the filter plate 101 is ensured, and the blockage of the filter plate 101 caused by the accumulation of water scale is avoided, thereby reducing the output volume. Figure One The part of the outer shell carried by this fire extinguishing robot. The cylindrical part on the top of the outer shell is connected to the water tank 7 inside the outer shell for water source delivery. At the same time, the crawler assembly 2 part of this device can be replaced with different models according to different terrains to improve terrain adaptability.

[0026] The telescopic column 15 is located on the right side of the electric push rod 13, and the left side of the telescopic end of the telescopic column 15 is fixedly installed on the right side of the L-shaped plate 14. On the right side of the flat plate 6, a damage prevention device 4 is provided for moving obstacles on the path of the device body 1 to avoid the device body 1 from being impacted.

[0027] When in use, the track wheel assembly 701 is driven by the built-in power supply module to drive the device body 1 to move or rotate. When the track wheel assembly 701 is running, the track wheel inside it starts to rotate, and the track wheel drives the reciprocating screw rod 702 to rotate. The reciprocating screw rod 702 restricts and drives the inner wall of the blocking plate 703 through the reciprocating spiral groove on the outer wall, causing the blocking plate 703 to slide back and forth along the outer wall of the reciprocating screw rod 702 away from the outer wall of the device body 1 and reset. When the blocking plate 703 slides, it is stably limited by the limit column 705. At the same time, the limit column 705 is limited by the trapezoidal plate 704. Through the above cooperation, the blocking plate 703 is The reciprocating sliding of the partition 703 pushes the obstacles on the walking path of the track wheel assembly 701 away. When the track wheel assembly 701 faces an obstacle, it only needs to slightly deflect the direction to be pushed by the blocking plate 703, avoiding interference of obstacles of different shapes on the track wheel assembly 701, improving its passability, and ensuring that the entire device can quickly rush to the fire source to avoid delaying the fire extinguishing opportunity; when the blocking plate 703 moves away from the center of the device body 1, it hits the inner wall of the dust suppression screen plate 706, causing the hinge shaft between the top of the dust suppression screen plate 706 and the protective shell to start rotating. At this time, the dust suppression screen plate 706 moves away from the center of the device body 1 The elastic arc piece 707 is driven by the elastic telescopic rod 708 to move synchronously. When the elastic arc piece 707 contacts a larger obstacle through the blocking plate 703, a resistance force is generated and the elastic arc piece 707 is deformed. When the elastic arc piece 707 is deformed, it drives the elastic telescopic rod 708 to move toward the blocking plate 703. After the telescopic end of the elastic telescopic rod 708 contacts the outer wall of the blocking plate 703, a resistance force is generated and it begins to shrink. When the elastic arc piece 707 pushes the obstacle through the rebound force of its own deformation and the thrust of the blocking plate 703, the elastic telescopic rod 708 is pushed. Afterwards, the elastic arc piece 707 suddenly resets and drives the elastic telescopic rod 708 to reset. During the resetting process of the telescopic end of the elastic telescopic rod 708, the built-in spring reciprocates and knocks the outer wall of the baffle plate 703 to generate vibration. Through the above cooperation, the dust suppression mesh plate 706 is expanded to intercept particles raised by fire phenomena, and prevents particles from adhering to the surface of the crawler wheel, causing its outer wall to be uneven and increase the wear of the crawler. At the same time, the elastic arc piece 707 increases the pushing and protection ability of the baffle plate 703 against larger obstacles. The subsequent knocking vibration of the elastic telescopic rod 708 reduces the adhesion of dirt to the baffle plate 703, thereby reducing the difficulty of subsequent cleaning of the baffle plate 703.

[0028] During use, the device body 1 drives the motor 3 to move or rotate. When the operation of the device body 1 inside the groove or gully is completed, an electrical signal is sent to the electric manipulator 2 through the intelligent module. After receiving the electrical signal, the electric manipulator 2 starts. The telescopic end of the started electric manipulator 2 drives the support plate 21 to move downward and contact the ground to generate a resisting force. The hinge shaft of the support plate 21 starts to rotate until the plane of the support plate 21 contacts the ground to form a support. At this time, the electric manipulator 2 pushes the device body 1 upward to facilitate the staff to hoist the device body 1, avoiding the staff going deep into the gully and increasing the work risk; when it is necessary to detect a fire or the fire situation, the crawler assembly 2 drives the device body 1 to the designated location, and the device body 1 drives the motor 3 to move synchronously. The output end of the motor 3 drives the flat plate 6 to rotate in a small amplitude in a front-back arc shape. The flat plate 6 drives the telescopic column 15 to move synchronously, and the telescopic column 15 drives the monitoring assembly 16 to move synchronously. When the monitoring assembly 16 transmits the fire situation picture to the staff's monitoring screen, the staff selects a reasonable fire extinguishing material, namely water or carbon dioxide. At this time, the transfer assembly 9 blocks and seals one of the unselected fire extinguishing materials, namely the water tank 7 or the carbon dioxide tank 8, through the switching module. The selected fire extinguishing material is conveyed to the inside of the water delivery pipe 10 through the transfer assembly 9. The water delivery pipe 10 conveys the fire extinguishing material to the inside of the storage tank 11, and then sprays the fire extinguishing material to the fire source through the telescopic pipe 12 and sprays it out through the grid of the outer shell. Through the above cooperation, it enables the staff to select different fire extinguishing schemes according to different fire sources. At the same time, the telescopic pipe 12 can rotate back and forth to spray the fire extinguishing material at the fire source, expanding its coverage of the fire source. At the same time, relying on the crawler assembly 2, it can approach or move away from the fire source and always maintain a safe distance; start the electric push rod 13. When the telescopic end of the electric push rod 13 rises, the hinge shaft between it and the collar starts to rotate to generate a sliding force for the collar. The collar slides along the outer wall of the telescopic pipe 12, and the telescopic end of the electric push rod 13 causes the hinge shaft between the telescopic pipe 12 and the storage tank 11 to start to rotate. At this time, the telescopic pipe 12 moves upward in an arc shape to adjust its spraying angle. At the same time, the telescopic end of the electric push rod 13 drives the L-shaped plate 14 to move synchronously, the L-shaped plate 14 drives the telescopic column 15 to move synchronously, and the telescopic end of the telescopic column 15 drives the monitoring assembly 16 and the laser assembly 17 to move synchronously. Through the above cooperation, it enables the monitoring assembly 16 to move synchronously with the fire extinguishing direction of the telescopic pipe 12, enabling the staff to monitor the fire source in real time, understand the size and cause of the fire in the first time, and timely understand whether the assistance of the fire department is needed to extinguish the fire and protect personal safety; at the same time, the laser assembly 17 can emit light points to provide guidance when the device body 1 rescues and guides trapped people; the inclined plate 103 inside the water delivery pipe 10 is distributed relatively obliquely, so that when the water flow passes through, it causes the inclined plate 103 to generate a rotational force and start to rotate. The inclined plate 103 drives the rotating column 102 to rotate, and at the same time, the inclined plate 103 scrapes the filter plate 101. Through the above cooperation, the cleanliness of the surface of the filter plate 101 is ensured, and the blockage of the filter plate 101 caused by the accumulation of water scale is avoided, thereby reducing the output volume.

[0029] Please refer to Figures 1-12 , on the basis of the above-mentioned embodiments, in another embodiment of the present invention, a damage prevention device 4 is further included; The damage prevention device 4 includes a return plate 41, a plurality of cylinders 42, a plurality of cross plates 43 and an arc groove column 44. The left side of the return plate 41 is fixedly installed on the right side of the device main body 1. The outer walls of the plurality of cylinders 42 are all penetrated and rotatably installed inside one end of the return plate 41 away from the device main body 1 through torsion springs. The plurality of cylinders 42 are equidistantly distributed. Chutes are opened on one side of the plurality of cross plates 43 close to the top and bottom of the return plate 41. The upper and lower ends of the cylinder 42 are slidably installed inside the chutes on one side of the cross plate 43 close to the return plate 41, and springs are arranged between the chutes of the cross plate 43 and the cylinder 42. The upper and lower ends of the arc groove column 44 are rotatably installed inside the right cross plate 43.

[0030] The damage prevention device 4 further includes a semi-circular plate 45 and a contact block 46. The upper and lower ends of the semi-circular plate 45 are fixedly installed inside the left side of the cross plate 43. The left side of the contact block 46 is fixedly installed on the inner wall of the left side of the return plate 41. The contact block 46 is located on the movement track of the semi-circular plate 45. A poisoning prevention device 5 for absorbing harmful gases generated during the burning of the factory building during a fire to prevent trapped personnel from inhaling and suffocating is arranged above the return plate 41. Through the above cooperation, the arc groove column 44 can buffer and contact obstacles to avoid excessive vibration force causing the monitoring screen to shake. Moreover, the arc groove column 44 and the cross plate 43 can shift the force of the obstacles in close contact and swinging through friction, avoiding the obstacles from blocking the path of the device main body 1 and thus reducing the detection range of the fire, and timely understanding whether there are dangerous goods at the fire source location.

[0031] The damage prevention device 4 further includes a vertical rod 47, a swing plate 48 and a cold air component 49. The bottom of the vertical rod 47 is fixedly installed on the top of the return plate 41. The swing plate 48 is internally penetrated and hinged on the outer wall surface of the vertical rod 47 through a torsion spring. One side of the swing plate 48 close to the right side of the device main body 1 is hinged to the right side of the flat plate 6. The cold air component 49 is fixedly installed inside the swing plate 48 close to the center of the return plate 41. Through the above cooperation, the blowing range of the cold air component 49 is expanded, and the monitoring component 16 and the laser component 17 are cooled. At the same time, it is avoided that the monitoring component 16 is in the fire source radiation range for a long time, resulting in the distortion of the monitoring transmission screen due to heat waves, and avoiding the blurring of the screen, which makes it difficult for the staff to observe the detailed pictures of the fire source location.

[0032] When in use, the device body 1 moves or rotates, driving the circular plate 41 to move synchronously, the circular plate 41 drives the cylinder 42 to move synchronously, the cylinder 42 drives the horizontal plate 43 to move synchronously, and the horizontal plate 43 drives the arc groove column 44 to move synchronously. When the circular plate 41 encounters a lot of accumulated obstacles in a straight line and cannot turn to avoid them, the arc groove column 44 contacts the side of the obstacle to generate friction, and the arc groove column 44 starts to rotate due to the friction. When the arc groove column 44 contacts the obstacle and rotates until it cannot rotate, a resistance thrust is generated, and the arc groove column 44 prompts the horizontal plate 43 to move along the left and right sides of the cylinder 42. When sliding right, the horizontal plate 43 moves toward the direction of the device body 1, driving the horizontal plate 43 to move synchronously. The horizontal plate 43 drives the semicircular plate 45 to move synchronously. The semicircular plate 45 will contact the arc surface of the resistance block 46. The arc surface of the resistance block 46 guides the semicircular plate 45 to make an arc offset backward. The semicircular plate 45 drives the horizontal plate 43 to move synchronously. The horizontal plate 43 restricts the cylinder 42 through the sliding groove, causing the cylinder 42 to rotate synchronously inside the circular plate 41. The horizontal plate 43 drives the arc groove column 44 to move synchronously, that is, the arc groove column 44 sweeps. After that, the above structure is connected by the torsion spring and the spring. Reset, through the above cooperation, the arc groove column 44 can buffer the obstacle to avoid excessive vibration causing the monitoring image to shake, and the arc groove column 44 and the horizontal plate 43 can displace the obstacle through close contact with friction and the force of swinging, so as to avoid the obstacle blocking the path of the device body 1, thereby reducing the detection range of the fire, and timely understanding whether there are dangerous goods at the fire source; when the flat plate 6 drives the telescopic tube 12 to swing slightly to expand its spraying range, the flat plate 6 drives the swing plate 48 to move synchronously, and the swing plate 48 is affected by the swing force of the flat plate 6 to cause its own hinge axis to start rotating. At this time, the swing plate 48 swings along the outer wall of the vertical rod 47 in the opposite direction to the swing of the flat plate 6, and the swing plate 48 drives the cold air component 49 to swing synchronously. Through the above cooperation, the blowing range of the cold air component 49 is expanded, and the monitoring component 16 and the laser component 17 are cooled. At the same time, it is avoided that the monitoring component 16 is in the radiation range of the fire source for a long time, causing the self-monitoring transmission image to be distorted due to the heat wave, and the image is blurred, which makes it difficult for the staff to observe the details of the fire source.

[0033] See also Figures 1-12 , based on the above embodiment, another embodiment of the present invention further includes an anti-poisoning device 5; The anti-poisoning device 5 includes a U-shaped plate 51, a resistance plate 52 and a spoiler 53. The left side of the back end of the U-shaped plate 51 is hinged to the right side of the swing plate 48 through a torsion spring, and the left side of the front end of the U-shaped plate 51 is in contact with the right side of the swing plate 48. The right side of the resistance plate 52 is fixedly installed on the right side of the inner wall of the U-shaped plate 51. The bottom of the spoiler 53 is hinged to the top of the circular plate 41, and the spoiler 53 is located on the movement trajectory of the resistance plate 52. Through the above cooperation, the spoiler 53 is prompted to accelerate the air circulation speed around the monitoring component 16 when it swings back and forth, that is, the hot air and the cold air blown out by the cold air component 49 are quickly and evenly mixed, further avoiding the heat wave from interfering with the picture clarity of the monitoring component 16, and at the same time avoiding the burning hot dirt from adhering to the surface of electronic equipment such as the monitoring component 16.

[0034] The anti-poisoning device 5 also includes an arc plate 54, a runner 55, a wave plate 56, a friction roller 57, an activated carbon plate 58 and a spiral piece 59. The arc plate 54 is hinged at one end near the center of the circular plate 41 to the outer wall of the spoiler 53, and the arc plate 54 has toughness. The bottom of the runner 55 is rotatably mounted on the top of the arc plate 54, and the outer wall of the runner 55 is in contact with the right side of the outer wall of the device body 1. The bottom of the wave plate 56 is fixedly mounted on the top edge of the runner 55, the friction roller 57 is fixedly mounted on the outer wall of the wave plate 56, the bottom of the activated carbon plate 58 is rotatably mounted on the top of the runner 55 through a torsion spring, and the spiral piece 59 The inner wall is rotatably installed on the outer wall surface of the limit rod. Through the above cooperation, the wave plate 56 is prompted to increase the disturbance frequency of the surrounding gas through its own wave surface within the same length of time, thereby improving the absorption effect of the activated carbon plate 58 on the harmful gas generated by the flame burning during the movement of the device body 1, and avoiding the trapped personnel from absorbing excessive harmful substances and causing poisoning when the device body 1 leads the trapped personnel out of the fire scene; at the same time, the spiral sheet 59 rotates to perform secondary disturbance on the harmful gas contacted by the activated carbon plate 58, so that the activated carbon plate 58 can evenly absorb the harmful gas to avoid local saturation.

[0035] A zigzag groove is provided on the outer wall of the activated carbon plate 58 , and a limit rod is fixedly installed inside the zigzag groove of the activated carbon plate 58 . The spiral piece 59 is located inside the zigzag groove of the activated carbon plate 58 , and the outer wall of the spiral piece 59 is located on the movement track of the outer wall of the friction roller 57 .

[0036] When in use, the swing plate 48 at one end of the back side swings and drives the U-shaped plate 51 to swing synchronously. When the U-shaped plate 51 swings, it drives the contact plate 52 to move synchronously. When the contact plate 52 swings, it will resist the spoiler 53 to generate a rotational force. At this time, the hinge axis between the spoiler 53 and the circular plate 41 begins to rotate, and the spoiler 53 begins to swing in an arc shape with its own hinge axis as the center. When the U-shaped plate 51 drives the contact plate 52 to reset, the spoiler 53 automatically resets through the torsion spring, and the reciprocating motion of the spoiler 53 is achieved. Reset, through the above cooperation, the spoiler 53 is prompted to accelerate the air circulation speed around the monitoring component 16 when it swings back and forth, that is, the hot air and the cold air blown out by the cold air component 49 are quickly and evenly mixed, further avoiding the heat wave from interfering with the clarity of the image of the monitoring component 16, and at the same time avoiding the burning hot dirt from adhering to the surface of electronic equipment such as the monitoring component 16; when the spoiler 53 swings, it drives the arc plate 54 to slide synchronously along the top of the circular plate 41, and the arc plate 54 drives the runner 55 to slide and rub synchronously along the right outer wall of the device body 1 When the rotating wheel 55 starts to rotate due to friction, it drives the wave plate 56 to move synchronously, and the wave plate 56 drives the friction roller 57 to rotate. Since the activated carbon plate 58 is mounted for rotation, the activated carbon plate 58 remains relatively stationary. When the activated carbon plate 58 is stationary, the restriction of the spiral plate 59 by the limiting rod causes the spiral plate 59 to stop synchronously. When the friction roller 57 rotates, friction is generated between its own outer wall and the spiral plate 59. The spiral plate 59 rotates along the outer wall of the limiting rod due to friction. Through the above cooperation, the wave plate 56 is prompted to increase the disturbance frequency of the surrounding gas through its own wave surface within the same period of time, thereby improving the absorption effect of the activated carbon plate 58 on the harmful gas generated by the flame combustion during the movement of the device body 1, thereby preventing the trapped personnel from absorbing excessive harmful substances and being poisoned when the device body 1 leads the trapped personnel out of the fire scene; at the same time, the rotation of the spiral plate 59 causes secondary disturbance to the harmful gas contacted by the activated carbon plate 58, so that the activated carbon plate 58 can evenly absorb the harmful gas to avoid local saturation.

[0037] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A fire-fighting robot with a crawler walking mechanism, comprising a device main body (1), characterized in that: The bottom of the device main body (1) is provided with a round hole, and the device main body (1) is internally provided with an intelligent module. A protective shell is arranged above the periphery of the device main body (1). An electric manipulator (2) is arranged inside the round hole of the device main body (1). The electric manipulator (2) is composed of a fixed end and a telescopic end. A plurality of support plates (21) are hinged to the bottom of the telescopic end of the electric manipulator (2) through a torsion spring. A motor (3) is arranged inside the device main body (1). A hindrance prevention device (70) is arranged on the periphery of the device main body (1); The hindrance prevention device (70) includes a crawler wheel assembly (701). The crawler wheel assembly (701) is arranged on the periphery of the device main body (1). A reciprocating lead screw (702) is fixedly installed on the outer wall of the left end of the crawler wheel assembly (701) away from the center of the device main body (1). A baffle plate (703) is penetrated and threadedly connected to the outer wall of the reciprocating lead screw (702). A trapezoidal plate (704) is arranged on the outer wall of the crawler wheel assembly (701). A limiting column (705) is fixedly installed on the side of the trapezoidal plate (704) away from the center of the device main body (1). The outer wall of the limiting column (705) is penetrated and movably installed inside the baffle plate (703). A dust reduction net plate (706) is hinged to the bottom edge of the protective shell. The bottom of the dust reduction net plate (706) near the device main body (1) is located on the movement track of the baffle plate (703). A plurality of elastic arc pieces (707) are fixedly installed on the outer wall of the baffle plate (703). Elastic telescopic rods (708) are fixedly installed on the concave surfaces of the plurality of elastic arc pieces (707).

2. The fire extinguishing robot with a crawler travel mechanism according to claim 1, characterized in that: A torsion spring is arranged between the top of the dust reduction net plate (706) and the protective shell. The plurality of elastic arc pieces (707) are equidistantly distributed on the outer wall of the baffle plate (703). The outer wall of the baffle plate (703) is located on the movement track of the telescopic end of the elastic telescopic rod (708).

3. The fire extinguishing robot with a crawler travel mechanism according to claim 2, characterized in that: A flat plate (6) is fixedly installed at the top of the output end of the motor (3). A water tank (7) is fixedly installed at the left side of the top of the flat plate (6). A carbon dioxide tank (8) is fixedly installed at the top of the flat plate (6). The carbon dioxide tank (8) is located at the back of the water tank (7). Transfer components (9) are fixedly installed on the right sides of both the water tank (7) and the carbon dioxide tank (8). A switching module is built in the transfer component (9). A water delivery pipe (10) penetrates through and is fixedly installed on the right side of the transfer component (9). A filter plate (101) is fixedly installed on the left side inside the water delivery pipe (10). A rotating column (102) is rotatably installed on the right side of the filter plate (101). Two inclined plates (103) are fixedly installed on the outer wall of the rotating column (102). The two inclined plates (103) are symmetrically distributed with respect to the axis of the rotating column (102). The water delivery pipe (10) penetrates through and is fixedly installed on the right side of a storage tank (11). A telescopic pipe (12) is hinged to the right side of the storage tank (11). A collar is slidably installed on the outer wall of the telescopic pipe (12). An electric push rod (13) is hinged to the top of the flat plate (6) through a torsion spring. The top of the telescopic end of the electric push rod (13) is hinged to the bottom of the outer wall of the collar. An L-shaped plate (14) is fixedly installed on the right side of the outer wall of the telescopic end of the electric push rod (13). A telescopic column (15) is fixedly installed at the top of the flat plate (6). A monitoring component (16) is fixedly installed at the top of the telescopic end of the telescopic column (15). A laser component (17) is arranged on the right side of the outer wall of the telescopic end of the telescopic column (15).

4. The fire extinguishing robot with a crawler traveling mechanism according to claim 3, characterized in that: The telescopic column (15) is located on the right side of the electric push rod (13), and the left side of the telescopic end of the telescopic column (15) is fixedly installed on the right side of the L-shaped plate (14). A damage prevention device (4) for moving obstacles on the path of the device main body (1) to avoid the device main body (1) from being impacted is arranged on the right side of the flat plate (6).

5. The fire extinguishing robot with a crawler walking mechanism according to claim 4, wherein: The damage prevention device (4) includes a U-shaped plate (41), a plurality of cylinders (42), a plurality of cross plates (43) and an arc groove column (44). The left side of the U-shaped plate (41) is fixedly installed on the right side of the device main body (1). The outer walls of the plurality of cylinders (42) are rotatably installed inside one end of the U-shaped plate (41) far from the device main body (1) through torsion springs. The plurality of cylinders (42) are equidistantly distributed. Sliding grooves are formed on one sides of the plurality of cross plates (43) close to the top and bottom of the U-shaped plate (41). The upper and lower ends of the cylinders (42) are slidably installed inside the sliding grooves on the sides of the cross plates (43) close to the U-shaped plate (41), and springs are arranged between the sliding grooves of the cross plates (43) and the cylinders (42). The upper and lower ends of the arc groove column (44) are rotatably installed inside the right cross plate (43).

6. The fire extinguishing robot with a crawler traveling mechanism according to claim 5, characterized in that: The anti-damage device (4) further comprises a semicircular plate (45) and a resistance block (46), wherein the upper and lower ends of the semicircular plate (45) are fixedly mounted on the left inner side of the horizontal plate (43), and the left side of the resistance block (46) is fixedly mounted on the left inner wall of the circular plate (41), and the resistance block (46) is located on the movement trajectory of the semicircular plate (45). An anti-poisoning device (5) is provided above the circular plate (41) to absorb harmful gases generated when the factory building is on fire and prevent trapped personnel from inhaling and suffocating.

7. The fire extinguishing robot with a crawler travel mechanism according to claim 6, characterized in that: The anti-damage device (4) further comprises a vertical rod (47), a swing plate (48) and a cold air assembly (49), wherein the bottom of the vertical rod (47) is fixedly mounted on the top of the circular plate (41), the interior of the swing plate (48) is penetrated by a torsion spring and is hinged to the outer wall surface of the vertical rod (47), the right side of the swing plate (48) close to the device body (1) is hinged to the right side of the flat plate (6), and the cold air assembly (49) is fixedly mounted on the inner wall of the swing plate (48) close to the center side of the circular plate (41).

8. The fire extinguishing robot with a crawler walking mechanism according to claim 7, characterized in that: The anti-poisoning device (5) comprises a U-shaped plate (51), a contact plate (52) and a spoiler (53), wherein the left side of one end of the back side of the U-shaped plate (51) is hinged to the right side of the swing plate (48) through a torsion spring, and the left side of one end of the front side of the U-shaped plate (51) contacts the right side of the swing plate (48), the right side of the contact plate (52) is fixedly mounted on the right side of the inner wall of the U-shaped plate (51), the bottom of the spoiler (53) is hinged to the top of the circular plate (41), and the spoiler (53) is located on the movement trajectory of the contact plate (52).

9. The fire extinguishing robot with a crawler traveling mechanism according to claim 8, characterized in that: The anti-poisoning device (5) further comprises an arc plate (54), a rotating wheel (55), a wave plate (56), a friction roller (57), an activated carbon plate (58) and a spiral sheet (59), wherein one end of the arc plate (54) close to the center of the circular plate (41) is hinged to the outer wall of the spoiler (53), and the arc plate (54) has toughness, the bottom of the rotating wheel (55) is rotatably mounted on the top of the arc plate (54), and the outer wall of the rotating wheel (55) contacts the right side of the outer wall of the device body (1), the bottom of the wave plate (56) is fixedly mounted on the top edge of the rotating wheel (55), the friction roller (57) is fixedly mounted on the outer wall of the wave plate (56), the bottom of the activated carbon plate (58) is rotatably mounted on the top of the rotating wheel (55) through a torsion spring, and the inner wall of the spiral sheet (59) is rotatably mounted on the outer wall surface of the limit rod.

10. The fire extinguishing robot with a crawler traveling mechanism according to claim 9, characterized in that: The outer wall of the activated carbon plate (58) is provided with a circular groove, and a limiting rod is fixedly installed inside the circular groove of the activated carbon plate (58). The spiral piece (59) is located inside the circular groove of the activated carbon plate (58), and the outer wall of the spiral piece (59) is located on the movement trajectory of the outer wall of the friction roller (57).

Images