Mooring type quadruped robot automatic fire extinguishing device
Through the tethered quadruped structure and advanced sensor system, the problems of the fire-fighting robot's ability to pass through complex terrain and harsh environments and its fire-fighting efficiency have been solved, and stable walking and efficient fire-fighting in a variety of environments have been achieved, ensuring the safety of the equipment.
Patent Information
- Application Number
- CN202510853350.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-24
- Publication Date
- 2025-09-12
AI Technical Summary
Existing firefighting robots have insufficient ability to navigate complex terrain, are prone to getting into trouble, have limited endurance, insufficient fire extinguishing agents and water, inaccurate fire detection and positioning, and lack effective fire protection, resulting in inefficient firefighting and equipment damage.
It adopts a tethered four-legged structure, equipped with thermal imaging sensors, smoke sensors and gas sensors, uses conductive slip rings and planetary reduction gear sets to drive the mechanical legs, is equipped with thermal insulation and cooling systems, and uses tethered belts to supply power and fire extinguishing agents to achieve continuous power supply and fire extinguishing. It has the ability to adapt to complex terrain and highly efficient fire extinguishing.
It achieves stable movement in complex terrain and harsh environments, quickly and accurately locates the fire source, extinguishes fires efficiently for a long time, ensures equipment safety, and improves firefighting efficiency and safety.
Smart Images
Figure CN120617889A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of fire-fighting equipment, and in particular to a tethered quadruped robot automatic fire-extinguishing device. Background Art
[0002] In today's fire rescue work, traditional fire-fighting methods face many severe challenges. In complex terrains such as narrow passages, stairwells, ruins, and dangerous environments filled with high temperatures, toxic smoke, and unstable building structures, firefighters find it difficult to reach the fire source quickly and safely, and the development of fire-fighting work is greatly restricted. The fire-fighting robot is a special robot, mainly used for fire-fighting and emergency rescue work. Through advanced technology and powerful functions, it greatly improves the efficiency and safety of fire-fighting and emergency rescue.
[0003] Most of the existing fire-fighting robots adopt wheeled or tracked structures, and their ability to pass through complex terrain is seriously insufficient. They are very likely to get trapped and unable to move forward. Most of these robots rely on batteries for power supply and have limited endurance. The amount of fire extinguishing agents and water they carry is difficult to meet the long-term, high-intensity needs of large-scale fire extinguishing. The performance of existing fire-fighting robots in fire detection and positioning is unsatisfactory, and the accuracy and timeliness need to be improved. They are unable to quickly and accurately determine the location of the fire source, which directly leads to low fire-fighting efficiency. Most fire-fighting robots themselves lack effective fire protection measures. When operating near the fire source, they are very susceptible to high temperature and flames, causing equipment damage, which in turn affects the continuity of the fire-fighting task. Therefore, those skilled in the art provide a tethered quadruped robot automatic fire-fighting device to solve the problems raised in the above background technology. Summary of the Invention
[0004] (1) Technical problems solved
[0005] In response to the shortcomings of the existing technology, the present invention provides a tethered quadruped robot automatic fire extinguishing device, which solves the problems of existing fire extinguishing robots, most of which adopt wheeled or crawler structures, and have serious inadequate ability to pass through complex terrain, and are very likely to get trapped and unable to move forward. Most of these robots rely on batteries for power supply, and have limited endurance. The amount of fire extinguishing agents and water they carry cannot meet the long-term, high-intensity needs of large-scale fire extinguishing. The performance of existing fire extinguishing robots in fire detection and positioning is unsatisfactory, and the accuracy and timeliness need to be improved. The location of the fire source cannot be determined quickly and accurately, which directly leads to low fire extinguishing efficiency. Most fire extinguishing robots themselves lack effective fire protection measures. When operating near the fire source, they are very susceptible to high temperature and flames, causing equipment damage, which in turn affects the continuity of the fire extinguishing task.
[0006] (2) Technical solution
[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a tethered quadruped robot automatic fire extinguishing device, comprising a body, a thermal imaging sensor fixedly connected to the upper center of the front end of the body, smoke sensors fixedly connected to the front and rear ends of both side walls of the body, a gas sensor fixedly connected to the center of both side walls of the body, and four mechanical legs arranged in a rectangular shape on the lower end surface of the body;
[0008] The mechanical foot includes a first driving module, a second driving module is provided at the output end of the first driving module, the output end of the second driving module is fixedly connected to the first supporting leg, a third driving module is fixedly connected to the end of a side wall of the first supporting leg, the output end of the third driving module passes through one end surface of the first supporting leg and passes to the other end surface of the first supporting leg, and the end is fixedly connected to the second supporting leg, the other end of the second supporting leg is fixedly connected to the supporting foot, and a flexible pad is fixedly connected to the lower end surface of the supporting foot;
[0009] The first drive module includes an insulating shell, a brushless DC motor is fixedly connected to the inside of the insulating shell, an output end of the brushless DC motor is fixedly connected to a planetary reduction gear set, a reduction output end of the planetary reduction gear set is fixedly connected to a rotary joint, and a conductive slip ring is fixedly sleeved on the outer side wall of the rotating end of the rotary joint.
[0010] Preferably, the fixed end of the conductive slip ring is fixedly connected to the fixed end of the rotary joint, the rotating end of the conductive slip ring is fixedly connected to the rotating end of the rotary joint, the reduction output end of the planetary reduction gear set is connected to the rotating end of the rotary joint, and the rotating end of the conductive slip ring is the output end of the first drive module, which is convenient for driving the conductive slip ring and the rotating end of the rotary joint to rotate through the DC brushless motor, thereby driving the second drive module to rotate.
[0011] Preferably, a partition is fixedly connected to the rear of the fuselage, and a mooring belt is fixedly connected to the rear end of the partition. The mooring belt includes a support plate, and the support plate is arranged in an L shape. Three slots are arranged horizontally at the center of the upper end face of the support plate. A four-way solenoid valve is fixedly connected to the front end face of the partition. Both input ends of the four-way solenoid valve pass through the front end face of the partition and pass to the rear end of the partition, and the ends are threaded with two connecting joints. The two input ends of the connecting joints are respectively provided with a water pipe and a delivery pipe. A wiring joint is fixedly connected to the center of the rear end face of the partition. The head, the rear end of the wiring connector is threaded with a connecting wire, and the outer walls of the connecting wire, water pipe and delivery pipe are fixedly sleeved with clamping rings, and the three clamping rings are respectively arranged in the three card slots. By connecting the two connecting connectors with the two four-way solenoid valve input ends, and then connecting the connecting wires to the wiring connectors, during use, the four-way solenoid valve, delivery pipe and connecting wire are dragged and connected to the three card slots through the three clamping rings to prevent them from falling off, thereby achieving continuous power supply, supply of fire extinguishing agent and water, solving the problems of battery life and carrying capacity, and ensuring long-term and efficient fire extinguishing.
[0012] Preferably, a heat insulation box is fixedly connected to the center of the lower inner wall of the fuselage, and a fireproof cooling module is provided at the rear of one side of the lower inner wall of the heat insulation box. The fireproof cooling module includes a storage tank, and four micro-delivery pumps are provided inside the heat insulation box on one side of the storage tank. The output ends of the four micro-delivery pumps are respectively provided with output pipes, and the output ends of the four output pipes respectively pass through the four heat-insulating shells and pass into the interior of the four heat-insulating shells, and the ends are fixedly connected with heat-conducting pipes, and the four heat-conducting pipes are respectively sleeved on the outer walls of the four brushless DC motors, and the output ends are respectively connected to the input ends of the rotating ends of the four rotary joints, and the output ends of the four rotating ends of the rotary joints are fixedly connected with return pipes, and the four return pipes are respectively sleeved on the outer walls of the four brushless DC motors, and the output ends are respectively connected to the input ends of the rotating ends of the four rotary joints. The flow pipes pass through the inner wall of the insulation shell and extend to the outside of the insulation shell, and the ends are fixedly connected to the front and rear end surfaces of the storage tank respectively. By controlling the start-up of four micro-delivery pumps, the four micro-delivery pumps deliver the coolant to the inside of the heat-conducting pipe through four output pipes, so as to cool down the four DC brushless motors inside the four insulation shells. The coolant is then delivered to the heat-conducting pipe inside the second drive module through the four rotary joints inside the insulation shell to cool down the four DC brushless motors inside the second drive module. Similarly, the DC brushless motor inside the third drive module is cooled and then transferred back to the storage tank through the return pipe to form a circulation, thereby preventing the high temperature inside the fire scene from affecting the operation of the equipment.
[0013] Preferably, the output end of the rotating end of the rotary joint is connected to the inside of the second driving module through the first supporting leg, and the second driving module, the third driving module and the first driving module are configured in the same manner, which is convenient for connecting with the second driving module through the rotary joint.
[0014] Preferably, a battery module is fixedly connected to the front side of the interior of the heat insulation box, an integrated chip board is fixedly connected to the upper end face of the battery module, and an insulating top cover is fixedly connected to the upper end face of the heat insulation box. The battery module is used to provide initial power to the integrated chip board, and then the heat insulation box and the insulating top cover are used to prevent the fire from affecting the use of the integrated chip board.
[0015] Preferably, one of the output ends of the four-way solenoid valve is fixedly connected to a high-performance plunger fire extinguishing pump, and the output end of the high-performance plunger fire extinguishing pump is fixedly connected to a nozzle. Water enters the high-performance plunger fire extinguishing pump through a water pipe, and is pressurized by the high-performance plunger fire extinguishing pump and then sprayed out from the nozzle to extinguish the fire.
[0016] (3) Beneficial effects
[0017] The present invention provides a tethered quadruped robot automatic fire extinguishing device. It has the following beneficial effects:
[0018] 1. In the present invention, by connecting two connecting joints to the two four-way solenoid valve input ends, and then connecting the connecting wires to the wiring joints, the four-way solenoid valve, the delivery pipe and the connecting wire are dragged during use, and are clamped in the three card slots through three clamping rings to prevent them from falling off, thereby achieving continuous power supply, supply of fire extinguishing agent and water, solving the problems of endurance and carrying capacity, and ensuring long-term and efficient fire extinguishing.
[0019] 2. In the present invention, during use, by controlling the start-up of the DC brushless motor, the DC brushless motor drives the planetary reduction gear set to decelerate and rotate, and then the planetary reduction gear set drives the rotating end of the rotary joint to rotate, and the rotating end of the rotary joint and the rotating end of the conductive slip ring then drive the second drive module to rotate, and the DC brushless motor inside the second drive module is controlled to start and drive the first support leg to rotate, and then the DC brushless motor inside the third drive module is started and drives the second support leg to rotate, thereby realizing the use of a single mechanical foot, and the four mechanical feet move in coordination, thereby giving the robot excellent adaptability to complex terrains and being able to walk stably in a variety of harsh environments.
[0020] 3. In the present invention, by controlling the start-up of four micro-delivery pumps, the four micro-delivery pumps deliver the coolant to the inside of the heat pipe through four output pipes, thereby cooling the four DC brushless motors inside the four heat-insulating shells. The coolant is then delivered to the heat pipe inside the second drive module through four rotary joints inside the heat-insulating shells to cool the four DC brushless motors inside the second drive module. Similarly, the DC brushless motor inside the third drive module is cooled and then transferred back to the storage tank through the return pipe to form a circulation, thereby preventing the high temperature inside the fire scene from affecting the operation of the equipment.
[0021] 4. In the present invention, the thermal imaging sensor can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of the fire source. Four smoke sensors are evenly distributed around the fuselage and use a photoelectric principle. When the smoke concentration reaches a set threshold, a signal is sent to the control system to trigger a fire alarm, assisting the thermal imaging sensor in locating the fire source. The two gas sensors can detect the concentrations of toxic and harmful gases such as carbon monoxide, carbon dioxide, and hydrogen sulfide in real time, providing a decision-making basis for the robot's actions and ensuring personnel safety.
[0022] 5. In the present invention, the best fire extinguishing strategy is selected from the preset strategy library according to the fire type. Foam fire extinguishing agent is used for oil fire, and carbon dioxide or dry powder fire extinguishing agent is used for electrical fire. During the fire extinguishing process, the fire intensity is monitored in real time. According to the data of the thermal imaging sensor and the smoke sensor, the power and flow of the high-performance plunger fire extinguishing pump are dynamically adjusted. Water enters the high-performance plunger fire extinguishing pump through the water pipe, and is pressurized by the high-performance plunger fire extinguishing pump and sprayed out from the nozzle to extinguish the fire. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 A perspective view of the present invention;
[0024] Figure 2 is a three-dimensional cross-sectional view of the present invention;
[0025] Figure 3 is a three-dimensional diagram of the mechanical foot of the present invention;
[0026] Figure 4 is a side sectional view of the first driving module of the present invention;
[0027] Figure 5 This is a three-dimensional exploded view of the first driving module of the present invention;
[0028] Figure 6 This is a three-dimensional diagram of the tie-down belt of the present invention from another perspective.
[0029] Among them, 1. fuselage; 2. mechanical foot; 201. first drive module; 2011. thermal insulation shell; 2012. DC brushless motor; 2013. planetary reduction gear set; 2014. rotary joint; 2015. conductive slip ring; 202. second drive module; 203. first support leg; 204. third drive module; 205. second support leg; 206. support foot; 207. flexible pad; 3. tie belt; 301. support plate; 302. water pipe; 303. four-way solenoid valve; 304. connection Head; 305, delivery pipe; 306, clamp ring; 307, slot; 308, connecting wire; 309, wiring connector; 4, thermal imaging sensor; 5, smoke sensor; 6, heat insulation box; 7, heat insulation top cover; 8, battery module; 9, integrated chip board; 10, fireproof cooling module; 1001, storage tank; 1002, micro delivery pump; 1003, output pipe; 1004, return pipe; 1005, heat pipe; 11, high-performance plunger fire extinguishing pump; 12, nozzle; 13, partition; 14, gas sensor. DETAILED DESCRIPTION
[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0031] Example 1:
[0032] like Figure 1-6 As shown, an embodiment of the present invention provides a tethered quadruped robot automatic fire extinguishing device, including a fuselage 1, a thermal imaging sensor 4 is fixedly connected to the upper center of the front end surface of the fuselage 1, smoke sensors 5 are fixedly connected at the front and rear ends of both side walls of the fuselage 1, and gas sensors 14 are fixedly connected at the center of both side walls of the fuselage 1. The lower end surface of the fuselage 1 is provided with four mechanical feet 2 arranged in a rectangular shape. The thermal imaging sensor 4 can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of the fire source. The four smoke sensors 5 are evenly distributed around the fuselage 1 and adopt a photoelectric principle. When the smoke concentration reaches a set threshold, a signal is sent to the control system to trigger a fire alarm to assist the thermal imaging sensor 4 in locating the fire source. The two gas sensors 14 can detect the concentrations of toxic and harmful gases such as carbon monoxide, carbon dioxide and hydrogen sulfide in real time, providing a decision basis for the robot's actions and ensuring personnel safety.
[0033] The mechanical foot 2 includes a first driving module 201, a second driving module 202 is provided at the output end of the first driving module 201, the output end of the second driving module 202 is fixedly connected to the first supporting leg 203, a third driving module 204 is fixedly connected to the end of one side wall of the first supporting leg 203, the output end of the third driving module 204 passes through one end surface of the first supporting leg 203 to the other end surface of the first supporting leg 203, and the end is fixedly connected to the second supporting leg 205, the other end of the second supporting leg 205 is fixedly connected to the supporting foot 206, and a flexible pad 207 is fixedly connected to the lower end surface of the supporting foot 206.
[0034] The first driving module 201 includes a heat-insulating shell 2011, a brushless DC motor 2012 is fixedly connected to the inside of the heat-insulating shell 2011, an output end of the brushless DC motor 2012 is fixedly connected to a planetary reduction gear set 2013, a reduction output end of the planetary reduction gear set 2013 is fixedly connected to a rotary joint 2014, and a conductive slip ring 2015 is fixedly sleeved on the outer side wall of the rotating end of the rotary joint 2014. By controlling the brushless DC motor 2012 to start, the brushless DC motor 2012 drives the planetary reduction gear set 2013 to reduce its rotation speed, and then the planetary reduction gear set 2013 is driven to rotate at a reduced speed. 13 drives the rotating end of the rotary joint 2014 to rotate, and the rotating end of the rotary joint 2014 and the rotating end of the conductive slip ring 2015 then drive the second driving module 202 to rotate, controlling the DC brushless motor 2012 inside the second driving module 202 to start and drive the first supporting leg 203 to rotate, and then the DC brushless motor 2012 inside the third driving module 204 is started to drive the second supporting leg 205 to rotate, thereby realizing the use of a single mechanical foot 2, and the four mechanical feet 2 move in coordination, thereby giving the robot excellent adaptability to complex terrains and enabling it to walk stably in a variety of harsh environments.
[0035] like Figure 4 As shown, the fixed end of the conductive slip ring 2015 is fixedly connected to the fixed end of the rotary joint 2014, the rotating end of the conductive slip ring 2015 is fixedly connected to the rotating end of the rotary joint 2014, and the reduction output end of the planetary reduction gear set 2013 is connected to the rotating end of the rotary joint 2014. The rotating end of the conductive slip ring 2015 is the output end of the first driving module 201, which is convenient for driving the conductive slip ring 2015 and the rotating end of the rotary joint 2014 to rotate through the DC brushless motor 2012, thereby driving the second driving module 202 to rotate.
[0036] like Figure 1 、 2As shown in Figures 3 and 6, a partition 13 is fixedly connected to the rear of the fuselage 1, and a mooring belt 3 is fixedly connected to the rear end of the partition 13. The mooring belt 3 includes a support plate 301, which is L-shaped. Three slots 307 are arranged horizontally at the center of the upper end surface of the support plate 301. A four-way solenoid valve 303 is fixedly connected to the front end surface of the partition 13. Both input ends of the four-way solenoid valve 303 pass through the front end surface of the partition 13 and pass to the rear end of the partition 13, and two connecting joints 304 are threadedly connected to the ends. The input ends of the two connecting joints 304 are respectively provided with a water pipe 302 and a delivery pipe 305. A wiring joint 309 is fixedly connected to the center of the rear end surface of the partition 13. A connecting line 308 is threadedly sleeved on the rear end of 309, and a clamping ring 306 is fixedly sleeved on the outer wall of the connecting line 308, the water pipe 302 and the delivery pipe 305. The three clamping rings 306 are respectively arranged in the three card slots 307. By connecting the two connecting joints 304 with the input ends of the two four-way solenoid valves 303, and then connecting the connecting line 308 with the wiring joint 309, during use, the four-way solenoid valve 303, the delivery pipe 305 and the connecting line 308 are dragged and clamped in the three card slots 307 through the three clamping rings 306 to prevent them from falling off, thereby achieving continuous power supply, supply of fire extinguishing agent and water, solving the problems of battery life and carrying capacity, and ensuring long-term and efficient fire extinguishing.
[0037] like Figure 2 、 3As shown in Figure 4, a heat-insulating box 6 is fixedly connected to the center of the lower inner wall of the fuselage 1, and a fire-proof cooling module 10 is provided at the rear of one side of the lower inner wall of the heat-insulating box 6. The fire-proof cooling module 10 includes a storage tank 1001, and four micro-delivery pumps 1002 are provided inside the heat-insulating box 6 on one side of the storage tank 1001. The output ends of the four micro-delivery pumps 1002 are respectively provided with output pipes 1003. The output ends of the four output pipes 1003 respectively pass through the four heat-insulating shells 2011 and pass into the interior of the four heat-insulating shells 2011, and the ends are fixedly connected with heat-conducting pipes 1005. The four heat-conducting pipes 1005 are respectively sleeved on the outer walls of the four DC brushless motors 2012, and the output ends are respectively connected to the input ends of the rotating ends of the four rotary joints 2014. The output ends of the rotating ends of the four rotary joints 2014 are fixedly connected with return pipes 1004. The four return pipes 1004 respectively pass through the heat-insulating shells 2011. The inner wall of 011 leads to the outside of the insulating shell 2011, and the ends are fixedly connected to the front and rear end surfaces of the storage tank 1001 respectively. By controlling the four micro-delivery pumps 1002 to start, the four micro-delivery pumps 1002 deliver the coolant to the inside of the heat pipe 1005 through the four output pipes 1003, cooling the four DC brushless motors 2012 inside the four insulating shells 2011, and then delivering the coolant to the heat pipe 1005 inside the second drive module 202 through the four rotary joints 2014 inside the insulating shell 2011 to cool the DC brushless motors 2012 inside the four second drive modules 202. Similarly, after cooling the DC brushless motor 2012 inside the third drive module 204, it is transferred back to the storage tank 1001 through the return pipe 1004 to form a circulation, thereby preventing the high temperature inside the fire scene from affecting the operation of the equipment.
[0038] The output end of the rotating end of the rotary joint 2014 is connected to the inside of the second driving module 202 through the first supporting leg 203. The second driving module 202, the third driving module 204 and the first driving module 201 are configured in the same manner, which is convenient for connecting to the second driving module 202 through the rotary joint 2014.
[0039] A battery module 8 is fixedly connected to the front side of the inside of the heat insulation box 6, and an integrated chip board 9 is fixedly connected to the upper end face of the battery module 8. An insulating top cover 7 is fixedly connected to the upper end face of the heat insulation box 6. The battery module 8 is used to provide preliminary power to the integrated chip board 9, and then the heat insulation box 6 and the insulating top cover 7 are used to prevent the fire from affecting the use of the integrated chip board 9.
[0040] One of the output ends of the four-way solenoid valve 303 is fixedly connected to a high-performance plunger fire extinguishing pump 11, and the output end of the high-performance plunger fire extinguishing pump 11 is fixedly connected to a nozzle 12. Water enters the high-performance plunger fire extinguishing pump 11 through the water pipe 302, and is pressurized by the high-performance plunger fire extinguishing pump 11 and then sprayed out from the nozzle 12 to extinguish the fire.
[0041] Working principle: When in use, connect the two connecting connectors 304 to the input ends of the two four-way solenoid valves 303, and then connect the connecting line 308 to the wiring connector 309. During use, drag the four-way solenoid valve 303, the delivery pipe 305 and the connecting line 308, and use the three clamping rings 306 to clamp them into the three card slots 307 to prevent them from falling off, thereby achieving continuous power supply, supply of fire extinguishing agent and water, solving the problems of battery life and carrying capacity, and ensuring long-term and efficient fire extinguishing.
[0042] During use, by controlling the start-up of the brushless DC motor 2012, the brushless DC motor 2012 drives the planetary reduction gear set 2013 to rotate at a reduced speed, and then drives the rotating end of the rotary joint 2014 to rotate through the planetary reduction gear set 2013, and the rotating end of the rotary joint 2014 and the rotating end of the conductive slip ring 2015 then drive the second drive module 202 to rotate. The second drive module 202 is configured in the same manner as the first drive module 201. The brushless DC motor 2012 inside the second drive module 202 is controlled to start and drive the first support leg 203 to rotate, and then the brushless DC motor 2012 inside the third drive module 204 is started and drives the second support leg 205 to rotate, thereby realizing the use of a single mechanical foot 2, and the four mechanical feet 2 move in coordination, thereby giving the robot excellent adaptability to complex terrains and being able to walk stably in a variety of harsh environments.
[0043] When the temperature inside the fire scene is high, the four micro-delivery pumps 1002 are controlled to start, and the four micro-delivery pumps 1002 deliver the coolant to the inside of the heat pipe 1005 through the four output pipes 1003, so as to cool down the four DC brushless motors 2012 inside the four heat-insulating shells 2011. Then, the coolant is delivered to the heat pipe 1005 inside the second drive module 202 through the four rotary joints 2014 inside the heat-insulating shell 2011 to cool down the four DC brushless motors 2012 inside the second drive module 202. Similarly, the DC brushless motor 2012 inside the third drive module 204 is cooled and then transferred back to the storage tank 1001 through the return pipe 1004 to form a circulation, thereby preventing the high temperature inside the fire scene from affecting the operation of the equipment.
[0044] The thermal imaging sensor 4 can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of the fire source. The four smoke sensors 5 are evenly distributed around the fuselage 1 and adopt a photoelectric principle. When the smoke concentration reaches the set threshold, a signal is sent to the control system to trigger a fire alarm to assist the thermal imaging sensor 4 in locating the fire source. The two gas sensors 14 can detect the concentrations of toxic and harmful gases such as carbon monoxide, carbon dioxide and hydrogen sulfide in real time, providing a decision-making basis for the robot's actions and ensuring personnel safety.
[0045] The best fire extinguishing strategy is selected from the preset strategy library based on the fire type. Foam fire extinguishing agent is used for oil fires, and carbon dioxide or dry powder fire extinguishing agent is used for electrical fires. During the fire extinguishing process, the fire intensity is monitored in real time. Based on the data from the thermal imaging sensor 4 and the smoke sensor 5, the power and flow of the high-performance plunger fire extinguishing pump 11 are dynamically adjusted. Water enters the high-performance plunger fire extinguishing pump 11 through the water pipe 302, and is pressurized by the high-performance plunger fire extinguishing pump 11 and sprayed out from the nozzle 12 to extinguish the fire.
[0046] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.
Claims
1. A tethered quadruped robot automatic fire extinguishing device, comprising a body (1), characterized in that: A thermal imaging sensor (4) is fixedly connected to the center of the front end of the fuselage (1), smoke sensors (5) are fixedly connected to the front and rear ends of both side walls of the fuselage (1), and gas sensors (14) are fixedly connected to the center of both side walls of the fuselage (1). The lower end surface of the fuselage (1) is provided with four mechanical feet (2) arranged in a rectangular shape. The mechanical foot (2) comprises a first driving module (201), the output end of the first driving module (201) is provided with a second driving module (202), the output end of the second driving module (202) is fixedly connected to a first supporting leg (203), a side wall of the first supporting leg (203) is fixedly connected to a third driving module (204) at the end thereof, the output end of the third driving module (204) passes through one end surface of the first supporting leg (203) and reaches the other end surface of the first supporting leg (203), and the end is fixedly connected to a second supporting leg (205), the other end of the second supporting leg (205) is fixedly connected to a supporting foot (206), and a flexible pad (207) is fixedly connected to the lower end surface of the supporting foot (206); The first driving module (201) comprises a heat-insulating shell (2011), a brushless DC motor (2012) is fixedly connected to the interior of the heat-insulating shell (2011), an output end of the brushless DC motor (2012) is fixedly connected to a planetary reduction gear set (2013), a reduction output end of the planetary reduction gear set (2013) is fixedly connected to a rotary joint (2014), and a conductive slip ring (2015) is fixedly sleeved on the outer side wall of the rotating end of the rotary joint (2014).
2. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: The fixed end of the conductive slip ring (2015) is fixedly connected to the fixed end of the rotary joint (2014); the rotating end of the conductive slip ring (2015) is fixedly connected to the rotating end of the rotary joint (2014); the reduction output end of the planetary reduction gear set (2013) is connected to the rotating end of the rotary joint (2014); and the rotating end of the conductive slip ring (2015) is the output end of the first drive module (201).
3. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: A partition (13) is fixedly connected to the rear of the fuselage (1), and a mooring belt (3) is fixedly connected to the rear end of the partition (13). The mooring belt (3) includes a support plate (301), and the support plate (301) is arranged in an L shape. Three slots (307) are arranged horizontally at the center of the upper end surface of the support plate (301). A four-way solenoid valve (303) is fixedly connected to the front end surface of the partition (13). Both input ends of the four-way solenoid valve (303) pass through the front end surface of the partition (13) and are connected to the rear end of the partition (13), and the end Two connecting joints (304) are threadedly sleeved on the parts, and the input ends of the two connecting joints (304) are respectively provided with a water pipe (302) and a delivery pipe (305). A wiring joint (309) is fixedly connected at the center of the rear end surface of the partition (13), and a connecting wire (308) is threadedly sleeved on the rear end of the wiring joint (309). The outer side walls of the connecting wire (308), the water pipe (302) and the delivery pipe (305) are all fixedly sleeved with a clamping ring (306), and the three clamping rings (306) are respectively arranged inside three clamping grooves (307).
4. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: A heat-insulating box (6) is fixedly connected to the center of the lower inner wall of the fuselage (1), and a fire-proof cooling module (10) is provided at the rear of one side of the lower inner wall of the heat-insulating box (6). The fire-proof cooling module (10) comprises a storage tank (1001), and four micro-delivery pumps (1002) are provided inside the heat-insulating box (6) on one side of the storage tank (1001). Output ends of the four micro-delivery pumps (1002) are respectively provided with output pipes (1003), and the output ends of the four output pipes (1003) respectively pass through four heat-insulating shells (2011) and pass into the interior of the four heat-insulating shells (2011). The ends are all fixedly connected with heat conducting pipes (1005), the four heat conducting pipes (1005) are respectively sleeved on the outer side walls of the four DC brushless motors (2012), and the output ends are respectively connected to the input ends of the rotating ends of the four rotary joints (2014), the output ends of the rotating ends of the four rotary joints (2014) are all fixedly connected with return pipes (1004), the four return pipes (1004) respectively pass through the inner side walls of the heat insulating shell (2011) and pass to the outside of the heat insulating shell (2011), and the ends are respectively fixedly connected to the front and rear end surfaces of the storage tank (1001).
5. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: The output end of the rotating end of the rotary joint (2014) is connected to the interior of the second driving module (202) through the first supporting leg (203); the second driving module (202), the third driving module (204) and the first driving module (201) are configured in the same manner.
6. The tethered quadruped robot automatic fire extinguishing device according to claim 4, characterized in that: A battery module (8) is fixedly connected to the front of one side of the interior of the heat insulation box (6), an integrated chip board (9) is fixedly connected to the upper end surface of the battery module (8), and a heat insulation top cover (7) is fixedly connected to the upper end surface of the heat insulation box (6).
7. The tethered quadruped robot automatic fire extinguishing device according to claim 3, characterized in that: One output end of the four-way solenoid valve (303) is fixedly connected to a high-performance plunger fire extinguishing pump (11), and the output end of the high-performance plunger fire extinguishing pump (11) is fixedly connected to a nozzle (12).