Indoor inspection fire extinguishing robot

Abstract

The invention discloses an indoor inspection fire extinguishing robot, and relates to the field of fire extinguishing robots, the indoor inspection fire extinguishing robot comprises a walking base and walking wheels rotatably assembled at the bottom of the walking base, a power driving part is arranged in the walking base, a photovoltaic panel is assembled on the front end face of the walking base, and an energy storage power supply is arranged in the walking base; the top of the walking base is provided with a lifting main body, the back of the lifting main body is provided with a fire extinguisher, the outer side of the lifting main body is provided with an adjusting support, and a spray pipe of the fire extinguisher is erected on the adjusting support. And the structure of the lifting unit is located in a narrow space and is inconvenient to wipe and clean, so that the fire extinguishing materials and dust and impurities generated by combustion can be prevented from being attached to the surface of the structure of the lifting unit under the action of the protection unit, and the cleaning work of a user is relieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fire extinguishing robots, in particular to an indoor inspection fire extinguishing robot. BACKGROUND

[0002] The fire extinguishing robot can cooperate with the indoor smoke alarm according to the internal control system, the camera module, the walking module, the fire extinguishing module, the fire source identification module and the like, so that the fire extinguishing robot can receive the fire signal in time and automatically move to the fire point according to the position of the fire signal to extinguish the fire source.

[0003] However, the fire extinguishing structure of the fire extinguishing robot can only swing at one height, so when the fire point is on a platform such as a counter, a cabinet or a stove, the fire extinguishing structure of the fire extinguishing robot cannot directly extinguish the fire source, resulting in poor fire extinguishing effect. SUMMARY

[0004] The present application aims to provide an indoor inspection fire extinguishing robot to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an indoor inspection fire extinguishing robot, comprising: a walking base and a walking wheel rotatably assembled at the bottom of the walking base, a power driving component is arranged in the walking base, a photovoltaic panel is arranged on the front end face of the walking base, an energy storage power supply is arranged in the walking base, a lifting main body is arranged on the top of the walking base, a fire extinguisher is arranged on the back of the lifting main body, an adjusting bracket is arranged on the outer side of the lifting main body, a spray pipe of the fire extinguisher is arranged on the adjusting bracket, a camera is arranged on the top of the lifting main body, a lifting unit is arranged between the walking base and the lifting main body, and the lifting unit is used to adjust the height position of the lifting main body. Further comprising: a protection unit for avoiding the surface of the lifting unit from adhering a large amount of fire extinguishing material and burning dust, the protection unit is arranged outside the lifting main body, and the outer wall of the protection unit is further provided with a cleaning unit for wiping the fire extinguishing material and burning dust isolated by the protection unit.

[0006] Preferably, the lifting unit comprises a cavity formed in the inner side of the bottom of the lifting body, and the inner side of the cavity is provided with at least two lifting discs vertically and equidistantly distributed, a plurality of support arms are arranged between two adjacent lifting discs and are circumferentially and equidistantly distributed, the two ends of the support arms are hingedly connected with rotating bases, and the two rotating bases are rotatably connected inside the lifting discs vertically distributed, the distances between the two ends of the support arms and the axis of the lifting disc are inconsistent, the top of the walking base is fixedly provided with a first motor, the output shaft of the first motor is coaxial with the axis of the lifting disc, the two lifting discs at the top and the bottom are fixed with the lifting body and the output end of the first motor, and the inner side of the cavity is further provided with at least two telescopic rods, and the movable end and the fixed end of the telescopic rod are fixed with the walking base and the lifting body respectively.

[0007] Preferably, the protection unit comprises at least two protection sleeve frames distributed on the outer side of the bottom of the lifting body, the plurality of protection sleeve frames are sleeved with each other, the innermost protection sleeve frame is fixed with the outer wall of the lifting body, the inner side and the bottom of each protection sleeve frame are fixedly provided with a counterweight, the top outer wall of each protection sleeve frame is further fixedly embedded with a magnetic block, and the adjacent two magnetic blocks do not have magnetic influence on each other.

[0008] Preferably, the inner side of the walking base is further provided with a rectangular groove for accommodating the protection sleeve frame, the protection sleeve frame is made of non-magnetic hard material, and the counterweight is made of carbon alloy material and can be magnetically adsorbed by the magnetic block.

[0009] Preferably, the cleaning unit comprises a flexible ring belt distributed on the outer side of the lifting body, and the outer wall of the flexible ring belt is fixedly provided with two transmission tooth belts vertically distributed, the connection between each transmission tooth belt and the flexible ring belt is in H shape, the outer wall of the flexible ring belt is provided with a first limiting plate, the upper side and the lower side of the first limiting plate are provided with second limiting plates, the first limiting plate and the two second limiting plates are slidingly embedded in the connection between the transmission tooth belt and the flexible ring belt, a plurality of support frames are fixedly arranged between the second limiting plates and the first limiting plate, and the support frames are fixed with the walking base, a plurality of brush strips are fixedly arranged on the inner wall of the flexible ring belt, the brush strips are cotton strips or nylon strips, a driving component is further arranged between the walking base and the transmission tooth belt, and the flexible ring belt is distributed on the outer side of the plurality of protection sleeve frames.

[0010] Preferably, the driving component includes a rotating shaft mounted on the outside of the flexible ring belt, and the rotating shaft is vertical. A transmission gear that meshes with the transmission toothed belt is fixedly sleeved on the outer surface of the rotating shaft. A gear differential and a second motor are also fixedly installed at the upper end of the traveling base. A bevel gear is fixedly installed between the output end of the gear differential and the outer surface of the rotating shaft, and the two bevel gears mesh with each other. A synchronous gear is fixedly sleeved on the input end of the gear differential and the output end of the second motor, and a synchronous toothed belt is connected between the two synchronous gears. The gear differential is a reduction gearbox.

[0011] Preferably, the output end of the second motor is provided with a slag suction component. The slag suction component includes a limiting frame that is rotatably sleeved on the outer surface of the output end of the second motor and is fixed to the traveling base. A vortex impeller is fixedly sleeved on the outer surface of the output end of the second motor and is distributed inside the limiting frame. A right-angle bend is fixedly connected to one end of the limiting frame away from the second motor, and the other end of the right-angle bend extends to the inner side of the flexible ring belt. The brush strip slides in contact with the outer surface of the right-angle bend. A plurality of through holes are opened on the outer wall of the vertical part of the right-angle bend, and a plurality of air holes are opened on the end face of the limiting frame away from the right-angle bend.

[0012] Preferably, a filter bag is slidably inserted into the top of the limiting frame, and a limiting cover plate is fixedly provided on the top of the filter bag to cover the upper part of the limiting frame. A docking hole is opened at the end of the filter bag away from the second motor, and the docking hole is docked with the end of the right-angle bend. The outer diameter of the docking hole is larger than the inner diameter of the right-angle bend.

[0013] Preferably, the outer surface of the vertical part of the right-angle bend is provided with a plurality of annular grooves that are equidistantly distributed in a straight line, and the air holes are distributed inside the annular grooves, and each annular groove is provided with a chamfered edge.

[0014] Preferably, each of the annular grooves has a number of conical protrusions that are circumferentially distributed at equal intervals on its upper and lower end faces.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a lifting unit to raise the lifting body, thereby increasing the overall height of the fire extinguisher and the adjustable bracket. This facilitates precise spraying of extinguishing materials onto the fire point on the platform. The lifting unit is located in a confined space, making wiping and cleaning inconvenient. Therefore, the protective unit helps prevent extinguishing materials and dust and impurities generated during combustion from adhering to the surface of the lifting unit, reducing the user's cleaning workload. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a schematic diagram of the protective frame position distribution structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the lifting body of the present invention; Figure 5 This is a schematic diagram of the rotating base and support arm structure of the present invention; Figure 6 This is a schematic diagram showing the position distribution of the gear differential and the second motor of the present invention; Figure 7 This is a schematic diagram of the brush strip structure of the present invention; Figure 8 This is a schematic diagram of the connection between the flexible ring belt and the transmission gear in this invention. Figure 9 This is a schematic diagram of the chamfered portion and pore structure of the present invention; Figure 10 This is a schematic diagram of the conical protrusion structure of the present invention.

[0017] In the diagram: 1. Walking base; 2. Lifting main body; 3. First motor; 4. Lifting plate; 5. Support arm; 6. Telescopic rod; 7. Protective frame; 8. Counterweight; 9. Magnetic block; 10. Support frame; 11. First limiting plate; 12. Second limiting plate; 13. Flexible ring belt; 14. Transmission toothed belt; 15. Rotating shaft; 16. Transmission gear; 17. Gear differential; 18. Bevel gear; 19. Second motor; 20. Limiting frame; 21. Vortex impeller; 22. Filter bag; 23. Right angle bend; 24. Rotating base; 25. Ring groove; 26. Chamfered part; 27. Through hole; 28. Conical protrusion; 29. ​​Brush strip; 30. Limiting cover plate; 31. Synchronous gear; 32. Synchronous toothed belt; 33. Air hole. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: Please refer to Figures 1-8The illustration shows an indoor inspection and fire extinguishing robot, including: a walking base 1 and rotatable wheels mounted on the bottom of the walking base 1. The walking base 1 has a power drive component inside, which drives the walking wheels to move the walking base 1. The front end of the walking base 1 is equipped with a photovoltaic panel, and the walking base 1 has an energy storage power source inside. The photovoltaic panel converts solar energy into electrical energy and stores the electrical energy inside the energy storage power source to provide power for the robot. The top of the walking base 1 is equipped with a lifting body 2, and the back of the lifting body 2 is equipped with a fire extinguisher. The outside of the lifting body 2 is equipped with an adjustment bracket, and the nozzle of the fire extinguisher is mounted on the adjustment bracket. The top of the lifting body 2 is also equipped with a camera, which can monitor the indoor environment in real time. A lifting unit is provided between the walking base 1 and the lifting body 2, and the lifting unit is used to adjust the height position of the lifting body 2. It also includes a protective unit to prevent a large amount of fire extinguishing material and burning dust from adhering to the surface of the lifting unit. The protective unit is installed on the outside of the lifting body 2.

[0020] The lifting unit includes a cavity formed inside the bottom of the lifting body 2, and at least two vertically equidistant lifting plates 4 are distributed inside the cavity. Several circumferentially equidistant support arms 5 are arranged between each pair of adjacent lifting plates 4. Rotating bases 24 are hinged to both ends of each support arm 5, and the two rotating bases 24 are rotatably mounted inside the vertically distributed lifting plates 4. The distance between the ends of the support arms 5 and the axes of the lifting plates 4 is inconsistent. A first motor 3 is fixedly mounted on the top of the traveling base 1, and the output axis of the first motor 3 coincides with the axis of the lifting plate 4, located at the top. The two lifting plates 4 located at the bottom are fixed to the lifting body 2 and the output end of the first motor 3, respectively. At least two telescopic rods 6 are also provided inside the cavity. The two ends of the telescopic rods 6 can extend and retract, and the movable end and the fixed end of the telescopic rods 6 are fixed to the walking base 1 and the lifting body 2, respectively. The at least two telescopic rods 6 play a limiting role on the walking base 1 and the lifting body 2, allowing the lifting body 2 to move axially above the walking base 1. When the first motor 3 rotates with the lowermost lifting plate 4, the support arm 5 can be unfolded or folded, thereby allowing the lifting body 2 to rise or fall.

[0021] The protective unit includes at least two protective frames 7 distributed on the outer side of the bottom of the lifting body 2, and multiple protective frames 7 are nested together. The innermost protective frame 7 is fixed to the outer wall of the lifting body 2, and a counterweight 8 is fixedly installed on the bottom inner side of each protective frame 7. A magnetic block 9 is also fixedly installed on the top outer wall of each protective frame 7. There is no magnetic influence between two adjacent magnetic blocks 9. When the lifting body 2 moves upward, it will move the innermost protective frame 7 upward. When the bottom counterweight 8 is attracted by the magnetic block 9 on the outer protective frame 7, it will move the other protective frame 7 upward. This prevents external fire extinguishing materials and burning dust from adhering to the surface of the lifting unit.

[0022] The interior of the walking base 1 is also provided with a rectangular groove for accommodating the protective frame 7. The protective frame 7 is made of non-magnetic hard material, and the counterweight 8 is made of carbon alloy material and can be magnetically attracted by the magnetic block 9.

[0023] Example 2: Please refer to Figures 6-8 This embodiment is a further explanation of other embodiments. The outer wall of the protective unit is also provided with a cleaning unit. The cleaning unit is used to wipe and treat the fire extinguishing material and combustion dust isolated by the protective unit. The cleaning unit includes a flexible ring belt 13 distributed outside the lifting body 2. Two vertically distributed transmission toothed belts 14 are fixedly provided on the outer wall of the flexible ring belt 13. The connection between each transmission toothed belt 14 and the flexible ring belt 13 is H-shaped. A first limiting plate 11 is distributed on the outer wall of the flexible ring belt 13. A second limiting plate 12 is distributed above and below the first limiting plate 11. The first limiting plate 11 and the two second limiting plates 12 are slidably embedded in the connection between the transmission toothed belt 14 and the flexible ring belt 13. The device is assembled in two H-shaped slots. Several support frames 10 are fixedly arranged between the second limiting plate 12 and the first limiting plate 11, and the support frames 10 are fixed to the walking base 1. Several brush strips 29 are fixedly arranged on the inner wall of the flexible ring belt 13. The brush strips 29 are cotton strips or nylon strips. A driving component is also arranged between the walking base 1 and the transmission toothed belt 14. The flexible ring belt 13 is distributed on the outside of several protective sleeve frames 7. The driving component drives the transmission toothed belt 14 to rotate the flexible ring belt 13 around the outside of the protective sleeve frame 7. During the rotation, the brush strips 29 clean the surface of multiple protective sleeve frames 7, thereby removing the fire extinguishing material and burning dust from the surface of the protective sleeve frame 7.

[0024] The drive component includes a rotating shaft 15 mounted on the outside of the flexible ring belt 13, and the rotating shaft 15 is vertical. A transmission gear 16 that meshes with the transmission toothed belt 14 is fixedly sleeved on the outer surface of the rotating shaft 15. A gear differential 17 and a second motor 19 are also fixedly installed at the upper end of the walking base 1. A bevel gear 18 is fixedly installed between the output end of the gear differential 17 and the outer surface of the rotating shaft 15, and the two bevel gears 18 mesh with each other. A synchronous gear 31 is fixedly sleeved on the input end of the gear differential 17 and the output end of the second motor 19, and a synchronous toothed belt 32 is connected between the two synchronous gears 31. The gear differential 17 is a reduction gearbox, which allows the output end of the gear differential 17 to rotate more slowly and with greater torque. When the second motor 19 starts, the transmission gear 16 can mesh with the transmission toothed belt 14 for transmission.

[0025] Example 3: Please refer to Figures 8-10 This embodiment is a further explanation of other embodiments. The output end of the second motor 19 is provided with a slag-suction component. The slag-suction component includes a limiting frame 20 rotatably sleeved on the outer surface of the output end of the second motor 19, and the limiting frame 20 is fixed to the traveling base 1. A vortex impeller 21 is fixedly sleeved on the outer surface of the output end of the second motor 19, and the vortex impeller 21 is distributed inside the limiting frame 20. A right-angle bend 23 is fixedly connected to one end of the limiting frame 20 away from the second motor 19, and the other end of the right-angle bend 23 extends to the inner side of the flexible ring belt 13. The brush strip 2... 9 slides in contact with the outer surface of the right-angle bend 23. The vertical part of the right-angle bend 23 has several through holes 27 on its outer wall. The end face of the limiting frame 20 away from the right-angle bend 23 has several air holes 33. When the second motor 19 drives the vortex impeller 21 to rotate at high speed, it can draw air from inside the right-angle bend 23, allowing the gas to enter the inside of the right-angle bend 23 through the air holes 33, and finally enter the inside of the limiting frame 20. When the surface of the brush strip 29 contacts the air holes 33, it can draw the impurities adhering to the surface of the brush strip 29 into the inside of the limiting frame 20.

[0026] A filter bag 22 is slidably inserted into the top of the limiting frame 20, and a limiting cover plate 30 is fixedly installed on the top of the filter bag 22, covering the upper part of the limiting frame 20. A docking hole is opened at the end of the filter bag 22 away from the second motor 19, and the docking hole is docked with the end of the right angle bend 23. The outer diameter of the docking hole is larger than the inner diameter of the right angle bend 23. Impurities sucked into the limiting frame 20 through the right angle bend 23 will be collected and isolated by the filter bag 22.

[0027] The vertical part of the right-angle bend 23 has several annular grooves 25 that are equidistantly distributed in a straight line on its outer surface, and air holes 33 are distributed inside the annular grooves 25. Each annular groove 25 also has a chamfered part 26 on its edge. The annular grooves 25 can comb the brush strip 29 and make it easier for the air holes 33 to suck up impurities on the surface of the brush strip 29.

[0028] Each annular groove 25 has several conical protrusions 28 fixedly arranged on its upper and lower end faces in a circular pattern. The conical protrusions 28 can squeeze and comb the brush strip 29, loosening the impurities attached to the surface of the brush strip 29.

[0029] Working principle: In this solution, the gear differential 17 and the second motor 19 are both located behind the lifting body 2. When the robot receives a fire alarm through the smoke sensor signal or the whole house monitoring signal, the fire extinguishing robot will automatically drive to the vicinity of the fire point and automatically raise the lifting body 2 according to the height position of the fire point, so that the adjusting bracket can raise the nozzle of the fire extinguisher, and the nozzle can spray fire extinguishing material at the fire point. When the first motor 3 is running, it can rotate the lowest lifting plate 4. The walking base 1 and the lifting body 2 are restricted by two telescopic rods 6, which allows the support arm 5 to unfold and increase the distance between the two adjacent lifting plates 4, thus raising the lifting body 2. Similarly, when the first motor 3 is driven in the opposite direction, it can lower the lifting body 2.

[0030] During the lifting process of the lifting body 2, the innermost protective frame 7 can be raised synchronously. Through the magnetic attraction of the counterweight 8 and the magnetic block 9, the other protective frames 7 can be raised as well, thereby protecting the lifting plate 4 and the support arm 5 and preventing fire extinguishing materials and burning dust from adhering to the lifting plate 4 and the support arm 5, thus reducing the cleaning work of the user.

[0031] When the fire extinguisher begins to spray extinguishing material, the second motor 19 is started at the same time. Through the active meshing of the transmission gear 16 and the transmission belt 14, the flexible ring belt 13 can carry several brush strips 29 to wipe the surface of the protective frame 7. Moreover, after the fire is extinguished, the protective frames 7 begin to move downward to reset, so that the upward-extending surfaces of the protective frames 7 can be wiped. The extinguishing material and burning dust adhering to the surface of the protective frames 7 can be automatically wiped and absorbed. During high-speed driving, the second motor 19 can draw air from inside the right-angle bend 23 through the vortex impeller 21, while the brush strip 29 can comb the annular groove 25. Under the scraping of the surface of the brush strip 29 by the conical protrusion 28, the impurities attached to the surface of the brush strip 29 are loosened, making it easier to draw impurities from the surface of the brush strip 29 through the right-angle bend 23 and the air hole 33, and draw the impurities into the filter bag 22. This ensures that the brush strip 29 can effectively clean the surface of the protective frame 7, while also ensuring the service life of the brush strip 29.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An indoor inspection and firefighting robot, characterized in that, include: The walking base (1) has a lifting body (2) on its top, and a fire extinguisher is mounted on the back of the lifting body (2). An adjustment bracket is provided on the outside of the lifting body (2), and the nozzle of the fire extinguisher is mounted on the adjustment bracket. A lifting unit is provided between the walking base (1) and the lifting body (2), and the lifting unit is used to adjust the height of the lifting body (2). Also includes: The protective unit is used to prevent fire extinguishing materials and burning dust from adhering to the surface of the lifting unit. The protective unit is set outside the lifting body (2). The outer wall of the protective unit is also provided with a cleaning unit, which is used to wipe the fire extinguishing materials and burning dust isolated by the protective unit.

2. The indoor inspection and firefighting robot according to claim 1, characterized in that: The lifting unit includes a cavity opened on the inner side of the bottom of the lifting body (2), and at least two lifting plates (4) are distributed inside the cavity. Several support arms (5) are provided between two adjacent lifting plates (4). The two ends of the support arms (5) are hinged to a rotating base (24), and the two rotating bases (24) are respectively rotatably mounted inside the lifting plates (4) that are distributed vertically. A first motor (3) is fixedly installed on the top of the walking base (1). The two lifting plates (4) located at the top and the bottom are respectively fixed to the output end of the lifting body (2) and the first motor (3). At least two telescopic rods (6) are also provided inside the cavity, and the movable end and the fixed end of the telescopic rod (6) are respectively fixed to the walking base (1) and the lifting body (2).

3. The indoor inspection and firefighting robot according to claim 2, characterized in that: The protective unit includes at least two protective frames (7) distributed on the outer side of the bottom of the lifting body (2), and multiple protective frames (7) are nested together. The innermost protective frame (7) is fixed to the outer wall of the lifting body (2), and a counterweight (8) is fixedly provided on the bottom inner side of each protective frame (7). A magnetic block (9) is also fixedly installed on the top outer wall of each protective frame (7).

4. The indoor inspection and firefighting robot according to claim 3, characterized in that: The walking base (1) is also provided with a rectangular groove for accommodating the protective frame (7). The protective frame (7) is made of non-magnetic hard material, and the counterweight (8) is made of carbon alloy material.

5. An indoor inspection and firefighting robot according to claim 3, characterized in that: The cleaning unit includes a flexible ring belt (13) distributed outside the lifting body (2), and two transmission toothed belts (14) are fixedly arranged on the outer wall of the flexible ring belt (13) in an up-down distribution. The connection between each transmission toothed belt (14) and the flexible ring belt (13) is H-shaped. A first limiting plate (11) is distributed on the outer wall of the flexible ring belt (13), and a second limiting plate (12) is distributed above and below the first limiting plate (11). The first limiting plate (11) and the two second limiting plates (12) are slidably fitted into the connection between the transmission toothed belt (14) and the flexible ring belt (13). A number of support frames (10) are fixedly arranged between the second limiting plate (12) and the first limiting plate (11). A number of brush strips (29) are fixedly arranged on the inner wall of the flexible ring belt (13). A driving component is also arranged between the walking base (1) and the transmission toothed belt (14).

6. An indoor inspection and firefighting robot according to claim 5, characterized in that: The driving component includes a rotating shaft (15) rotatably mounted outside the flexible ring belt (13). A transmission gear (16) is fixedly sleeved on the outer surface of the rotating shaft (15) and movably meshes with the transmission toothed belt (14). A gear differential (17) and a second motor (19) are also fixedly mounted on the upper end of the walking base (1). A bevel gear (18) is fixedly mounted between the output end of the gear differential (17) and the outer surface of the rotating shaft (15), and the two bevel gears (18) mesh with each other. The input end of the gear differential (17) and the output end of the second motor (19) are connected by a transmission assembly.

7. An indoor inspection and firefighting robot according to claim 6, characterized in that: The output end of the second motor (19) is provided with a slag suction component. The slag suction component includes a limiting frame (20) that is rotatably sleeved on the outer surface of the output end of the second motor (19). A vortex impeller (21) is fixedly sleeved on the outer surface of the output end of the second motor (19), and the vortex impeller (21) is distributed inside the limiting frame (20). A right-angle bend (23) is fixedly connected to one end of the limiting frame (20) away from the second motor (19), and the other end of the right-angle bend (23) extends to the inner side of the flexible ring belt (13). A number of through holes (27) are opened on the outer wall of the vertical part of the right-angle bend (23), and a number of air holes (33) are opened on one end face of the limiting frame (20) away from the right-angle bend (23).

8. An indoor inspection and firefighting robot according to claim 7, characterized in that: The top of the limiting frame (20) is slidably fitted with a filter bag (22), and the top of the filter bag (22) is fixedly provided with a limiting cover plate (30) covering the upper part of the limiting frame (20). The filter bag (22) has a docking hole at one end away from the second motor (19).

9. An indoor inspection and firefighting robot according to claim 7, characterized in that: The vertical part of the right-angle bend (23) has several annular grooves (25) that are equidistantly distributed in a straight line on its outer surface, and the air holes (33) are distributed inside the annular grooves (25). Each annular groove (25) also has a chamfered part (26) at its edge.

10. An indoor inspection and firefighting robot according to claim 9, characterized in that: Each of the annular grooves (25) has several conical protrusions (28) that are circumferentially distributed at equal intervals on its upper and lower end faces.

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