Mountain area fire rescue auxiliary robot

Abstract

The invention belongs to the technical field of fire rescue, and particularly relates to a mountain area fire rescue auxiliary robot which comprises a robot dog, a crawling mechanism is arranged on the abdomen of the robot dog, a temporary storage water tank is arranged on the back of the robot dog, one end of the temporary storage water tank communicates with a fire water bag, and the other end of the temporary storage water tank communicates with the fire water bag. The other end of the buffer water tank communicates with a fire-fighting lance, an angle adjusting mechanism is arranged on the buffer water tank and used for adjusting the inclination angle of the fire-fighting lance, the fire-fighting lance comprises a lance body and a plurality of lance heads, a lance head switching mechanism is arranged on the lance body, and the lance head switching mechanism is used for switching between the lance heads and the lance body; a connecting assembly and a sealing assembly are arranged between the gun head and the water gun body, and the gun head is hermetically connected with the water gun body through the connecting assembly and the sealing assembly. The fire rescue robot can efficiently and stably operate in the mountain area fire rescue work, and the reliability and success rate of the rescue work are improved.

Description

Technical Field

[0001] This invention belongs to the field of fire rescue technology, and in particular relates to an auxiliary robot for fire rescue in mountainous areas. Background Technology

[0002] Currently, firefighting robots have been used to some extent in the field of fire rescue. However, fire rescue auxiliary robots specifically designed for the special environment of mountainous areas are relatively scarce. Furthermore, the fire hoses currently mounted on firefighting robots generally have limited functionality, typically equipped only with fixed types of nozzles, such as direct current nozzles or spray nozzles.

[0003] Fire conditions in mountainous areas are complex and unpredictable, and single-function nozzles are simply insufficient to meet diverse firefighting requirements. Specifically, when extinguishing large-area fires, high-flow-rate, long-range direct-jet sprays are most effective; while for concealed fires or when covering a large area, spray nozzles are more suitable. However, in reality, the fire hoses equipped with existing fire rescue auxiliary robots cannot quickly switch between different nozzles based on actual needs at the rescue site. This forces rescuers to frequently change entire hoses during firefighting operations, significantly wasting valuable rescue time and reducing rescue efficiency.

[0004] Therefore, it is urgent to design a fire rescue auxiliary robot that can adapt to the special environment of mountainous areas in order to effectively solve this problem. Summary of the Invention

[0005] The purpose of this invention is to provide a fire rescue auxiliary robot for mountainous areas to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides a mountain area fire rescue auxiliary robot, including a robot dog. The robot dog has a crawling mechanism on its abdomen and a buffer water tank on its back. One end of the buffer water tank is connected to a fire hose, and the other end of the buffer water tank is connected to a fire hose nozzle. The buffer water tank is equipped with an angle adjustment mechanism for adjusting the tilt angle of the fire hose nozzle. The fire hose nozzle includes a nozzle body and multiple nozzle heads. The nozzle body is equipped with a nozzle head switching mechanism for switching between the multiple nozzle heads and the nozzle body. A connecting component and a sealing component are provided between the nozzle heads and the nozzle body, and the nozzle heads are sealed to the nozzle body through the connecting component and the sealing component.

[0007] Preferably, the buffer water tank is connected to a water outlet pipe, the water gun body is hinged to the water outlet pipe, and the water gun body is connected to the water outlet pipe through a connecting pipe.

[0008] Preferably, the angle adjustment mechanism includes a first electric actuator, one end of which is hinged to a mounting bracket, the mounting bracket being connected to the outer wall of the buffer water tank, and the telescopic end of the first electric actuator being hinged to the water gun body.

[0009] Preferably, the nozzle switching mechanism includes a bracket fixedly connected to the outer wall of the water gun body, a rotating rod rotatably connected to the bracket, a turntable connected to one end of the rotating rod near the water outlet of the water gun body, a plurality of nozzles being equally spaced on the turntable along the circumference of the rotating rod, a drive motor being installed on the water gun body, a drive gear being connected to the output end of the drive motor, and a second gear being connected to the other end of the rotating rod, the second gear meshing with the drive gear.

[0010] Preferably, the connecting assembly includes a connecting ring, a first annular cavity is formed on the end face of the nozzle, the connecting ring is slidably disposed in the first annular cavity, a second annular cavity is formed on the outlet end face of the water gun body corresponding to the connecting ring, a sealing assembly is disposed in the second annular cavity, a control assembly is disposed in the first annular cavity, and the connecting ring enters the second annular cavity through the control assembly and contacts the sealing assembly.

[0011] Preferably, the control component includes a plurality of springs and a plurality of electromagnets arranged at equal intervals within the first annular cavity, one end of each spring being fixedly connected to the connecting ring, and the other end of each spring abutting against the electromagnet.

[0012] Preferably, a sealing ring is provided between the connecting ring and the first annular cavity.

[0013] Preferably, the sealing assembly includes an annular membrane connected within the second annular cavity. The annular membrane has a U-shaped cross-section. The connecting ring is inserted into the U-shaped opening of the annular membrane, and the contact surface between the connecting ring and the annular membrane has an annular concave surface. The second annular cavity and the annular membrane enclose each other to form a sealing cavity. The sealing cavity is connected to a pressure regulating assembly, and the annular membrane is sealed and fitted to the connecting ring through the pressure regulating assembly.

[0014] Preferably, the pressure regulating assembly includes a bypass pipe and multiple drain valves. The sealing cavity is connected to the high-pressure water cavity of the water gun body through the bypass pipe. An electric valve is provided on the bypass pipe, and the drain valve is connected to the sealing cavity.

[0015] Preferably, the crawling mechanism includes a toothed disc rotatably connected to the abdomen of the robot dog, a motor mounted on the robot dog, a first gear connected to the output end of the motor, the first gear meshing with the toothed disc, a second electric push rod coaxially connected to the toothed disc, a support frame connected to the output end of the second electric push rod, a drive wheel and two driven wheels rotatably connected to the support frame, a drive component being driven to the drive wheel, and a track being fitted together on the drive wheel and the two driven wheels.

[0016] Compared with the prior art, the present invention has the following advantages and technical effects: This invention provides a fire rescue auxiliary robot for mountainous areas. Through a crawling mechanism located on the robot's abdomen, it can move stably on complex mountainous terrain, adapting to different terrain environments and improving the flexibility of fire rescue. An angle-adjusting mechanism allows for precise adjustment of the water gun's tilt angle, thereby changing the direction of the fire water spray to meet the needs of fire rescue at different locations and angles. A nozzle-switching mechanism allows for quick replacement of appropriate nozzles according to different fire scenarios and firefighting requirements, improving firefighting efficiency.

[0017] By setting up connection and sealing components, a stable sealing connection is re-established between the switched nozzle and the water gun body.

[0018] From the stable operation of the water supply system to the flexible adjustment and switching of the water gun angle and nozzle, and the reliable movement of the mobile mechanism, the various parts of this invention work together to ensure the efficient and stable operation of the robot in fire rescue work in mountainous areas, thereby improving the reliability and success rate of rescue work. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the overall structure of a fire rescue auxiliary robot for mountainous areas proposed in this invention; Figure 2 This is a schematic diagram of the sealing connection structure between the water gun body and the gun head in this invention; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a schematic diagram of the arrangement of the gun head on the turntable in this invention; The components are as follows: 1. First gear; 2. Protective housing; 3. Robot dog; 4. Radar; 5. Water outlet pipe; 6. Connecting pipe; 7. Water gun body; 8. Second gear; 9. Support; 10. Turntable; 11. Gun head; 12. Rotating rod; 13. Drive motor; 14. Drive gear; 15. First electric actuator; 16. Mounting bracket; 17. Camera; 18. Antenna; 19. Buffer water tank; 20. Water pipe connector; 21. Gear disc; 22. Second electric actuator; 23. Support frame; 24. Drive wheel; 25. Track; 26. Driven wheel; 27. Electric valve; 28. Bypass pipe; 29. ​​Drain valve; 30. Electromagnet; 31. Spring; 32. First annular cavity; 33. Connecting ring; 34. Sealing ring; 35. Annular diaphragm; 36. Annular concave surface; 37. Second annular cavity. Detailed Implementation

[0020] 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.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The technical terms used in the embodiments are explained as follows: The robot dog uses four mechanical legs to mimic animal walking. Each leg consists of a thigh, calf, and foot, connected by multiple joints to achieve flexible movement. Employing a hydraulic joint system, it can intelligently adjust its gait to adapt to all terrains, including icy surfaces, muddy terrain, and oily roads. Its dynamic balance algorithm corrects its posture hundreds of times per second, maintaining stability even when one leg is suspended in the air.

[0023] Power source: Battery powered, some models support quick battery replacement. Battery life reaches 4-6 hours, maximum static load capacity is 120 kg; Extreme environment adaptability: IP67 protective shell withstands high-pressure water jet impact and dust intrusion; wide temperature range battery maintains continuous operation in extreme cold of -20℃ to high temperature of 55℃; positive pressure chamber design isolates toxic fumes, allowing continuous operation in oxygen-deficient environments.

[0024] Multimodal perception: Combining vision, LiDAR, and infrared data, the robot dog dynamically plans safe paths. Equipped with a 360° panoramic camera, dual-light gimbal, and gas sensors, it transmits high-definition images in real time, penetrates smoke to track heat sources, and accurately detects the concentration of toxic gases.

[0025] Life detection: Thermal imaging technology penetrates dense smoke to locate trapped individuals, while lidar generates 3D models of building structural damage to assist in developing risk mitigation plans.

[0026] Supply delivery: Transporting small equipment such as gas masks and first aid kits to trapped people, or carrying dry powder fire extinguishing bombs into dangerous areas for targeted delivery.

[0027] Remote and precise fire suppression: The fire hose is connected to the mechanical arm interface and, together with the angle adjustment mechanism (the first electric push rod 15 extends and retracts to adjust the tilt angle) and the nozzle switching mechanism (the drive motor 13 drives the turntable 10 to rotate and switch nozzles 11) of the hose body 7, it can adapt to the needs of different fire scenarios.

[0028] Using lidar to generate 3D models of building structural damage can help in developing risk mitigation plans.

[0029] Autonomous obstacle avoidance algorithm: Maintains over 80% navigation accuracy in dense smoke environments, avoiding dangerous areas such as traps and collapsed shelters.

[0030] Voice command interaction: Firefighters can control the system directly via wireless headset.

[0031] Cluster collaboration: Multiple robot dogs can be networked together to cover a larger area.

[0032] Expandable functionality: In the future, it can be equipped with modules such as fire extinguishing bombs and robotic arms to achieve full-chain automation of "reconnaissance-disposal-rescue".

[0033] Quick battery replacement: The robot dog body and battery are designed separately, supporting quick replacement without tools and extending operating time.

[0034] The robotic dog carried heavy supplies up a winding road, adapting to more than 80% of road conditions. It successfully completed a test transporting garbage with a heavy load and is expected to replace most manual garbage collection.

[0035] Reference Figures 1 to 4 As shown, the present invention provides a mountain area fire rescue auxiliary robot, including a robot dog 3. The robot dog 3 has a crawling mechanism on its abdomen and a buffer water tank 19 on its back. One end of the buffer water tank 19 is connected to a fire water bag, and the other end of the buffer water tank 19 is connected to a fire hose. The buffer water tank 19 is equipped with an angle adjustment mechanism for adjusting the tilt angle of the fire hose. The fire hose includes a hose body 7 and multiple nozzles 11. The hose body 7 is equipped with a nozzle switching mechanism for switching between the multiple nozzles 11 and the hose body 7. A connecting component and a sealing component are provided between the nozzles 11 and the hose body 7. The nozzles 11 are sealed to the hose body 7 through the connecting component and the sealing component.

[0036] In this embodiment, the buffer water tank 19 is connected to a water pipe connector 20, which is connected to the fire water bag.

[0037] The crawling mechanism on the abdomen of the robot dog 3 enables stable movement on complex mountainous terrain, adapting to different terrain environments and improving the flexibility of fire rescue; the angle adjustment mechanism allows for precise adjustment of the tilt angle of the water gun body 7, thereby changing the direction of the fire water spray to meet the needs of fire rescue at different locations and angles; the nozzle switching mechanism allows for quick replacement of the appropriate nozzle 11 according to different fire scenarios and fire extinguishing needs, improving fire extinguishing efficiency.

[0038] By setting up connection and sealing components, the switched nozzle 11 can re-establish a stable sealed connection with the water gun body 7.

[0039] Furthermore, a water outlet pipe 5 is connected to the buffer water tank 19, and the water gun body 7 is hinged to the water outlet pipe 5. The water gun body 7 is connected to the water outlet pipe 5 through a connecting pipe 6.

[0040] Furthermore, the angle adjustment mechanism includes a first electric actuator 15, one end of which is hinged to a mounting bracket 16, which is connected to the outer wall of the buffer water tank 19, and the telescopic end of the first electric actuator 15 is hinged to the water gun body 7.

[0041] Furthermore, the nozzle switching mechanism includes a bracket 9 fixedly connected to the outer wall of the water gun body 7. A rotating rod 12 is rotatably connected to the bracket 9. A turntable 10 is connected to one end of the rotating rod 12 near the water outlet of the water gun body 7. Multiple nozzles 11 are evenly spaced on the turntable 10 along the circumference of the rotating rod 12. A drive motor 13 is installed on the water gun body 7. A drive gear 14 is connected to the output end of the drive motor 13. A second gear 8 is connected to the other end of the rotating rod 12. The second gear 8 meshes with the drive gear 14.

[0042] In this embodiment, the turntable 10 is equipped with various nozzles 11, including DC spray nozzles, horizontal plane spray nozzles, Class A foam nozzles, low-expansion foam nozzles, medium-expansion foam nozzles, and self-priming foam nozzles.

[0043] The drive motor 13 drives the rotating rod 12 to rotate through the drive gear 14 and the second gear 8, thereby causing the multiple nozzles 11 on the turntable 10 to rotate and switch. The appropriate nozzle 11 can be quickly replaced according to different fire scenarios and fire extinguishing needs, thereby improving fire extinguishing efficiency.

[0044] Furthermore, the connecting assembly includes a connecting ring 33, a first annular cavity 32 is formed on the end face of the nozzle 11, the connecting ring 33 is slidably disposed in the first annular cavity 32, a second annular cavity 37 is formed on the outlet end face of the water gun body 7 corresponding to the connecting ring 33, a sealing assembly is disposed in the second annular cavity 37, a control assembly is disposed in the first annular cavity 32, and the connecting ring 33 enters the second annular cavity 37 through the control assembly and contacts the sealing assembly.

[0045] This structure provides a reliable connection between the nozzle 11 and the water gun body 7. The control component allows the connecting ring 33 to enter the second annular cavity 37 and contact the sealing component, achieving stability and sealing of the connection. Furthermore, the control component includes a plurality of springs 31 and a plurality of electromagnets 30 arranged at equal intervals within the first annular cavity 32. One end of the spring 31 is fixedly connected to the connecting ring 33, and the other end of the spring 31 abuts against the electromagnet 30.

[0046] The extension and retraction of the spring 31 are controlled by the on and off state of the electromagnet 30, which in turn drives the connecting ring 33 to slide in the first annular cavity 32, thereby realizing the connection and separation of the connecting ring 33 and the second annular cavity 37. The operation is convenient and the control is precise.

[0047] Furthermore, a sealing ring 34 is provided between the connecting ring 33 and the first annular cavity 32.

[0048] The sealing ring 34 enhances the sealing between the connecting ring 33 and the first annular cavity 32, preventing fire water leakage and ensuring the normal operation of fire fighting.

[0049] Furthermore, the sealing assembly includes an annular diaphragm 35 connected within the second annular cavity 37. The annular diaphragm 35 has a U-shaped cross-section. A connecting ring 33 is inserted into the U-shaped opening of the annular diaphragm 35, and an annular concave surface 36 is provided on the contact surface between the connecting ring 33 and the annular diaphragm 35. The second annular cavity 37 and the annular diaphragm 35 enclose each other to form a sealing cavity. The sealing cavity is connected to a pressure regulating assembly, and the annular diaphragm 35 is sealed and fitted to the connecting ring 33 through the pressure regulating assembly.

[0050] The U-shaped structure of the annular diaphragm 35 and the design of the annular concave surface 36, together with the pressure regulating component, enable the annular diaphragm 35 to fit tightly with the connecting ring 33, forming a good sealing effect, effectively preventing fire water leakage and improving the reliability of the seal.

[0051] Furthermore, the pressure regulating assembly includes a bypass pipe 28 and multiple drain valves 29. The sealing cavity is connected to the high-pressure water cavity of the water gun body 7 through the bypass pipe 28. An electric valve 27 is installed on the bypass pipe 28, and the drain valves 29 are connected to the sealing cavity.

[0052] The bypass pipe 28 is controlled by the electric valve 27 to adjust the pressure in the sealing cavity, so that the annular diaphragm 35 and the connecting ring 33 maintain a suitable sealing pressure; the drain valve 29 can drain the water in the sealing cavity, which facilitates the switching of the nozzle 11.

[0053] Furthermore, the crawling mechanism includes a gear 21 rotatably connected to the abdomen of the robot dog 3. A motor is installed on the robot dog 3, and the output end of the motor is connected to a first gear 1. The first gear 1 meshes with the gear 21. A second electric push rod 22 is coaxially connected to the gear 21. The output end of the second electric push rod 22 is connected to a support frame 23. A drive wheel 24 and two driven wheels 26 are rotatably connected to the support frame 23. A drive component is driven to the drive wheel 24. Tracks 25 are mounted on the drive wheel 24 and the two driven wheels 26.

[0054] In this embodiment, the driving component is a stepper motor, and a protective housing 2 is provided outside the crawling mechanism.

[0055] The motor drives the second electric push rod 22 to rotate through the first gear 1 and the gear plate 21, which can adjust the direction of the support frame 23; the second electric push rod 22 can adjust the height of the support frame 23; the drive component drives the drive wheel 24 to rotate, and through the cooperation of the track 25 and the two driven wheels 26, the robot dog 3 can move stably on complex mountainous terrain, adapt to different terrain environments, and improve the flexibility of fire rescue.

[0056] Furthermore, the robot dog 3 is equipped with radar 4, camera 17, antenna 18, and thermal imager (not shown in the figure).

[0057] The robot can perceive real-time information such as temperature, smoke concentration, gas composition, and obstacle structure at the fire scene. The thermal imager can detect the location and temperature distribution of the fire source, providing the robot dog 3 with accurate firefighting targets. Radar 4, preferably a lidar, constructs a 3D map of the surrounding environment by emitting laser beams and measuring reflection time, helping the robot dog 3 plan its path and avoid obstacles. The environmental data and video images collected by the robot dog 3 are transmitted in real-time to the fire control center via antenna 18. Simultaneously, the fire control center can also send control commands to the robot through the communication system, enabling remote control of the robot dog 3. This remote control mode not only improves the safety of firefighters but also allows the robot to perform firefighting tasks in a wider range. In the event of fires in mountainous or remote areas, firefighters can remotely control the robot to carry out firefighting operations through the communication system without having to risk entering the fire scene themselves.

[0058] The working principle of the mountain area fire rescue auxiliary robot provided by this invention is as follows: The robot dog 3 serves as a carrier, with a crawling mechanism on its abdomen to support its movement in mountainous areas. A buffer water tank 19 is installed on its back, one end of which is conveniently and securely connected to a fire hose via a water pipe connector 20, and the other end is connected to a fire hose nozzle, establishing a basic structure from water source to working tools for firefighting operations and ensuring a stable supply of firefighting water. The tilt angle of the fire hose body 7 is precisely adjusted by controlling the extension and retraction of the first electric actuator 15, changing the direction of the fire water spray. When it is necessary to switch nozzles, the electric valve 27 of the remote control bypass pipe 28 is closed, and then the water in the sealed cavity is discharged through the drain valve 29, achieving pressure relief. Then, multiple electromagnets 30 are simultaneously energized to magnetically attract the connecting ring 33. The connecting ring 33 compresses the spring 31, separates from the annular diaphragm 35, and completely enters the first annular cavity 32. Then, the drive motor 13 is started. The drive motor 13 drives the rotating rod 12 to rotate through the drive gear 14 and the second gear 8, thereby causing the other gun head 11 on the turntable 10 to rotate and switch. Then, the electromagnets 30 are de-energized. Under the action of the spring 31, the connecting ring 33 enters the second annular cavity 37 and abuts against the annular diaphragm 35. Then, the drain valve 29 is closed and the electric valve 27 on the bypass pipe 28 is opened, allowing high-pressure water to enter the sealed cavity through the bypass pipe 28. The annular diaphragm 35 is tightly fitted to the two side walls of the connecting ring 33 to prevent leakage.

[0059] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0060] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A mountainous region fire fighting and rescue assisting robot comprising a robot dog (3), characterized in that, The abdomen of the machine dog (3) is provided with a crawling mechanism, the back of the machine dog (3) is provided with a buffer water tank (19), one end of the buffer water tank (19) is communicated with a fire water bag, the other end of the buffer water tank (19) is communicated with a fire water gun, an angle adjusting mechanism is arranged on the buffer water tank (19), the angle adjusting mechanism is used for adjusting the inclination angle of the fire water gun, the fire water gun comprises a water gun body (7) and a plurality of gun heads (11), a gun head switching mechanism is arranged on the water gun body (7), the gun head switching mechanism is used for switching between the plurality of gun heads (11) and the water gun body (7), a connecting assembly and a sealing assembly are arranged between the gun head (11) and the water gun body (7), and the gun head (11) is in sealed connection with the water gun body (7) through the connecting assembly and the sealing assembly.

2. The mountain area fire rescue auxiliary robot according to claim 1, characterized by, The buffer water tank (19) is communicated with a water outlet pipe (5), and the water gun body (7) is hinged to the water outlet pipe (5). The water gun body (7) is communicated with the water outlet pipe (5) through a connecting pipe (6).

3. The mountain area fire rescue auxiliary robot according to claim 1, characterized by, The angle adjusting mechanism comprises a first electric push rod (15), one end of the first electric push rod (15) is hinged with a mounting rack (16), the mounting rack (16) is connected to the outer wall of the buffer water tank (19), and the telescopic end of the first electric push rod (15) is hinged to the water gun body (7).

4. The mountain area fire rescue auxiliary robot according to claim 1, characterized by, The gun head switching mechanism comprises a support (9) fixedly connected to the outer wall of the water gun body (7), a rotating rod (12) is rotatably connected to the support (9), one end of the rotating rod (12) close to the water outlet of the water gun body (7) is connected with a rotating disc (10), a plurality of gun heads (11) are equidistantly arranged on the rotating disc (10) along the circumference of the rotating rod (12), a driving motor (13) is installed on the water gun body (7), the output end of the driving motor (13) is connected with a driving gear (14), the other end of the rotating rod (12) is connected with a second gear (8), and the second gear (8) is engaged with the driving gear (14).

5. The mountain area fire rescue auxiliary robot according to claim 1, characterized in that, The connecting assembly comprises a connecting ring (33), the end surface of the gun head (11) is provided with a first annular cavity (32), the connecting ring (33) is slidably arranged in the first annular cavity (32), the water outlet end surface of the water gun body (7) is provided with a second annular cavity (37) corresponding to the connecting ring (33), the sealing assembly is arranged in the second annular cavity (37), and the control assembly is arranged in the first annular cavity (32). The connecting ring (33) enters the second annular cavity (37) through the control assembly and is in contact with the sealing assembly.

6. The mountain area fire rescue auxiliary robot according to claim 5, characterized by, The control assembly comprises a plurality of springs (31) and a plurality of electromagnets (30) arranged equidistantly in the first annular cavity (32), one end of the spring (31) is fixedly connected with the connecting ring (33), and the other end of the spring (31) abuts against the electromagnet (30).

7. The mountain area fire rescue auxiliary robot according to claim 5, characterized by, A sealing ring (34) is arranged between the connecting ring (33) and the first annular cavity (32).

8. The mountain area fire rescue auxiliary robot according to claim 5, characterized by, The sealing assembly comprises an annular skin film (35) connected in the second annular cavity (37), the annular skin film (35) has a U-shaped structure in section, the connecting ring (33) is inserted into the U-shaped opening of the annular skin film (35), and the contact surface of the connecting ring (33) and the annular skin film (35) is provided with an annular concave surface (36), the second annular cavity (37) and the annular skin film (35) form a sealing cavity, the sealing cavity is communicated with a pressure regulating assembly, and the annular skin film (35) is sealed and attached to the connecting ring (33) through the pressure regulating assembly.

9. The mountain area fire rescue auxiliary robot according to claim 8, characterized by, The pressure regulating assembly comprises a bypass pipe (28) and a plurality of drainage valves (29), the sealing cavity is communicated with a high-pressure water cavity of the water gun body (7) through the bypass pipe (28), an electric valve (27) is arranged on the bypass pipe (28), and the drainage valves (29) are communicated with the sealing cavity.

10. The mountain area fire rescue auxiliary robot according to claim 1, characterized by, The crawling mechanism comprises a toothed disc (21) rotationally connected to the abdomen of the robot dog (3), a motor is installed on the robot dog (3), a first gear (1) is connected to the output end of the motor, the first gear (1) is engaged with the toothed disc (21), a second electric push rod (22) is coaxially connected to the toothed disc (21), a support frame (23) is connected to the output end of the second electric push rod (22), a driving wheel (24) and two driven wheels (26) are rotationally connected to the support frame (23), a driving member is drivingly connected to the driving wheel (24), and a common track (25) is sleeved on the driving wheel (24) and the two driven wheels (26).

Images