Multifunctional fire-fighting and fire-extinguishing rescue robot

Abstract

The invention relates to the technical field of fire-fighting robots, and discloses a multifunctional fire-fighting rescue robot which comprises a robot body, the robot body comprises a protective shell, the protective shell comprises a lower shell and an upper shell, an anti-toppling assembly is arranged in the protective shell, and a stabilizing assembly is arranged below the anti-toppling assembly. The annular cavity is divided into four areas through multiple sets of isolation plates below the annular sliding ring, the two areas on the opposite sides of the mechanical arm are filled with magnetic liquid, when the mechanical arm needs to be aligned with a dangerous object, the driving motor is in meshing transmission with the annular rack through a gear to drive the annular sliding strip and the isolation plates to rotate synchronously, and meanwhile in the rotating process of the mechanical arm, the mechanical arm is driven to rotate synchronously. The isolation plate always pushes the magnetic liquid to the opposite side of the isolation plate to form a dynamic flexible balance weight, a lower stabilizing assembly is matched, the magnetic liquid magnetically attracts a corresponding permanent magnet plate when moving, a stabilizing shaft on the side of the mechanical arm is driven to fall to the ground through lever linkage, and the operation flexibility and the overall stability are improved.

Description

Technical Field

[0001] This invention relates to the field of firefighting robot technology, and in particular to a multifunctional firefighting and rescue robot. Background Technology

[0002] In emergency rescue scenarios such as building fires, traffic accidents, building collapses, and hazardous chemical leaks, there are extremely high safety risks such as high temperatures and dense smoke, toxic and harmful gases, secondary collapses, and explosions. Traditional manual close-range operations pose a great risk of personnel casualties, and the efficiency of operations is severely constrained by the environment. With the development of emergency equipment technology, various fire-fighting and rescue robots have emerged. These robots can replace human labor to enter the core of dangerous sites and complete tasks such as fire extinguishing, demolition, bomb disposal, and personnel assistance rescue. They have become the core equipment of the modern fire emergency rescue system.

[0003] In firefighting and rescue robot operations, the robotic arm is the core execution component for achieving multi-functional rescue and ensuring personnel safety. These robots are mainly used in flammable and explosive hazardous locations to perform auxiliary operations such as demolition, cutting, emergency valve closure, tunnel valve handling, expansion, jacking, and dragging. They also possess fire-fighting capabilities and have the ability to detect, automatically follow, and automatically identify and track flames in various toxic, hazardous, flammable, and explosive environments. Their robotic arms can accurately grasp and transfer explosives to safe areas in bomb disposal scenarios, and work with equipment such as water jet cutting to dismantle or assist in the destruction of explosives, avoiding the risk of direct contact with personnel. Furthermore, they can be adapted to complex environments. In rescue scenarios, it can perform high-intensity and dangerous operations such as breaking down security doors / fire doors at fire scenes, shearing and expanding reinforced concrete components and steel structures after building collapses, dismantling deformed vehicle bodies in traffic accidents, dragging and relocating heavy obstacles, and providing temporary support for rescue channels. It can accurately close various valves in hazardous chemical explosion scenarios and tunnels, and can flexibly adjust the position of fire hoses and fire extinguishing equipment. Relying on the automatic flame recognition and tracking capability, it helps the extinguishing agent to accurately act on the fire source. At the same time, it can carry out on-site investigation, sample collection, and reconnaissance of toxic and harmful environments. Through the automatic following function, it adapts to the pace of rescue operations and comprehensively replaces personnel in performing high-risk operations.

[0004] Existing multi-functional firefighting and rescue robots have significant limitations in their robotic arm layout and functional integration, often exhibiting the following defects: 1. The robotic arms are mostly installed at fixed points, requiring the entire robot to turn and move to align with the target during operation. This is severely constrained by limited spaces such as narrow alleys, collapsed ruins, and gaps between accident vehicles, resulting in cumbersome operation procedures, long operation times, and a high risk of missing the golden rescue window; 2. During high-intensity operations such as demolition, shearing, and dragging, the robotic arms generate instantaneous impact loads and continuous overturning moments. At the same time, the strong recoil generated by the high-pressure spray of fire extinguishing water cannons further exacerbates the risk of instability. Existing rigid counterweight solutions cannot respond to dynamic load changes in real time, easily leading to tilting and tipping problems. Adding more robotic arm joints to improve operational flexibility leads to a significant decrease in end-effector load capacity. Adding multiple robotic arms sacrifices the robot's ability to navigate narrow spaces and its maneuverability. It is impossible to achieve an effective balance between operational flexibility, high-load operation capacity, overall stability, and ease of passage. Summary of the Invention

[0005] The technical problem to be solved by this invention is that the existing technology has the disadvantages of limited layout and function of robotic arms, being restricted by the site, and being cumbersome and time-consuming to operate. To this end, we propose a multi-functional fire fighting and rescue robot.

[0006] To achieve the above objectives, this application adopts the following technical solution: a multi-functional fire-fighting and rescue robot, comprising a robot body, a robotic arm rotatably mounted on the upper end of the robot body, and a quick-change attachment device at the end of the robotic arm for quickly changing rescue attachments such as demolition, expansion, shearing, clamping, and support. A fire-fighting water cannon is fixedly mounted on the upper end of the robot body. The robot body includes a protective shell; the protective shell includes a lower shell and an upper shell, an anti-tipping component is provided inside the protective shell, and a stabilizing component is provided below the anti-tipping component; the anti-tipping component includes an annular cavity, which is fixedly connected to the inner side of the protective shell, and an annular slip ring is rotatably mounted on the upper end of the annular cavity. The upper end of the annular slip ring penetrates the upper shell and is slidably connected to it, and the upper end of the annular slip ring is fixedly connected to the robotic arm; the annular slip ring... Four sets of isolation plates are fixedly installed at the lower end. All four sets of isolation plates are located inside the annular cavity and are slidably connected to it. The interior of the annular cavity is divided into four parts by the four sets of isolation plates. An annular connecting plate is fixedly installed on the inner wall of the lower shell. The annular connecting plate is located directly below the annular cavity. A limiting groove is opened at the upper end of the annular connecting plate. At least two sets of drive motors are slidably arranged inside the limiting groove. The lower end of the drive motor is limited to sliding inside the limiting groove by a limiting block. A rotating gear is fixedly installed at the drive end of the drive motor. An annular groove is opened at the lower end of the annular cavity. An annular slide bar is slidably arranged inside the annular groove. The upper end of the annular slide bar is fixedly connected to multiple sets of isolation plates. The lower end of the annular slide bar is fixedly connected to the drive end of multiple sets of drive motors. An annular rack is fixedly installed at the lower end of the annular cavity. The annular rack meshes with the rotating gear.

[0007] Preferably, a connecting shaft is provided on the outer side of the lower housing, and the connecting shaft is used to connect the drive source.

[0008] Preferably, the protective shell has a water pipe inside, with the input end of the water pipe located at the tail of the upper shell and the output end of the water pipe connected to the fire extinguishing water cannon.

[0009] Preferably, multiple sets of balls are rotatably mounted on the outer side of the lower end of the annular slip ring. The balls are in close contact with and rotatably connected to the upper end of the inner wall of the annular cavity. A heat insulation ring is fixedly mounted on the upper end of the annular slip ring. The upper end of the heat insulation ring is fixedly connected to the robotic arm. The heat insulation ring is located on the upper surface of the upper housing and is slidably connected to it.

[0010] Preferably, the fire monitor is fixedly connected to the annular cavity via a connector.

[0011] Preferably, the four sets of insulating plates divide the internal cavity of the annular cavity into four regions, namely cavity one, cavity two, cavity three and cavity four. The robotic arm is set at the upper end of cavity one and cavity two. Cavities three and four are filled with magnetic liquid, while cavities one and cavity two are cavities.

[0012] Preferably, the stabilizing component includes a dual-axis telescopic rod, with an electromagnetic rod fixedly installed at the drive end of the dual-axis telescopic rod. Two sets of supporting rotating shafts are fixedly installed at the lower end of the inner wall of the lower housing. The electromagnetic rod can be inserted into the axial position of the supporting rotating shaft. A connecting rod is fixedly installed at the upper end of the supporting rotating shaft. Fixed rods are rotatably installed at both ends of the connecting rod. A permanent magnet plate is fixedly installed at the upper end of the fixed rod. The permanent magnet plate is magnetically attracted to the magnetic liquid.

[0013] Preferably, the lower end of the fixing rod passes through the bottom of the lower housing and is fixedly installed with a stabilizing shaft, and the stabilizing shaft is initially at the same level as the bottom of the lower housing.

[0014] Preferably, the permanent magnet plate is located inside the annular cavity.

[0015] Preferably, a distance sensor is provided at the lower end of the inner wall of the lower housing, and a controller is provided inside the protective housing.

[0016] The technical effects and advantages of this invention are as follows: In this invention, the robotic arm is connected to an annular slip ring via a heat insulation ring. The annular slip ring is adapted to the annular cavity, and its lower end achieves low-friction rotation via ball bearings. Multiple sets of insulating plates below the annular slip ring divide the annular cavity into four regions. The two regions opposite the robotic arm are filled with magnetic liquid. When alignment with the target is required, the drive motor drives the annular slip ring and insulating plates to rotate synchronously via gears meshing with an annular rack. This, in turn, drives the annular slip ring and the robotic arm to rotate 360° around the annular cavity to adjust their position. This eliminates the need for the entire robot to move or turn, significantly simplifying the operation in narrow spaces. The operating procedures for confined spaces are adapted to the operational needs of complex rescue scenarios such as rubble gaps and narrow alleyways. Simultaneously, the robotic arm is equipped with a quick-change attachment device at its end, allowing for rapid switching between attachments such as hydraulic shears, spreaders, breakers, and support mounts according to the rescue scenario. This enables rapid switching between multiple functions including demolition, expansion, shearing, dragging, auxiliary support, and bomb disposal, covering various rescue needs without replacing the entire machine, significantly improving rescue efficiency. During the robotic arm's rotation and operation, an isolation plate continuously pushes magnetic fluid to its opposite side, forming a dynamic, flexible counterweight. Utilizing the magnetic adsorption and high fluidity of the magnetic fluid, it can... The robotic arm provides millisecond-level response to instantaneous impact loads and continuous overturning moments during demolition, shearing, and dragging operations. Simultaneously, it can counteract the continuous recoil force generated by high-pressure water jets from fire monitors in real time. Through dynamic adaptive adjustment of the center of gravity, it significantly reduces the impact of overturning moments during operations. Compared to traditional rigid counterweights, this solution's magnetic liquid dynamic counterweight can offset more than 80% of the instantaneous demolition impact moment and the recoil impact of fire monitors. Even if there are sudden changes in the load at the end of the robotic arm and the spray pressure of the fire monitor, the center of gravity can be quickly rebalanced through minute liquid flow, preventing the machine from tilting or swaying. The system ensures the precision of demolition operations and the accuracy of fire spray. In conjunction with the stabilizing components below, the magnetic liquid attracts the permanent magnet plate at the corresponding position when it moves. Through lever linkage, the stabilizing shaft on the working side of the robotic arm is grounded to form rigid support. The dual-axis telescopic rod drives the electromagnetic rod to lock the support structure, forming a dual anti-tipping system of dynamic balance of the center of gravity and rigid support on the ground. This system can simultaneously offset the overturning moment of the robotic arm's high-intensity operation and the recoil of the high-pressure spray from the fire extinguishing water cannon. Even in the combined working conditions of full-load demolition of the robotic arm and full-pressure spraying of the fire extinguishing water cannon in a narrow space, the absolute stability of the machine body can be guaranteed. Attached Figure Description

[0017] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the main structure of the robot of the present invention; Figure 4 This is a schematic diagram of the internal structure of the robot body of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the internal structure of the robot body of the present invention. Figure 2 ; Figure 6 This is a schematic diagram of the internal structure of the robot body of the present invention. Figure 3 ; Figure 7 This is a schematic diagram of the internal structure of the anti-tipping component of the present invention. Figure 1 ; Figure 8 This is a schematic diagram of the internal structure of the anti-tipping component of the present invention. Figure 2 ; Figure 9 This is a schematic diagram of the annular cavity and annular slip ring planar structure of the present invention; Figure 10 This is a schematic diagram of the internal structure of the lower housing of the present invention; Figure 11 Figure A is an enlarged structural schematic diagram of the present invention; Figure 12 This is a schematic diagram of the overall structure of the stabilizing component of the present invention.

[0019] Legend: 1. Robot body; 11. Protective shell; 111. Lower shell; 112. Upper shell; 12. Connecting shaft; 13. Anti-tipping assembly; 131. Annular cavity; 1311. Annular groove; 1312. Annular rack; 1313. Cavity 1; 1314. Cavity 2; 1315. Cavity 3; 1316. Cavity 4; 1317. Connector; 132. Annular slip ring; 1321. Ball bearing; 1322. Heat insulation ring; 1323. Insulation ring 1. Plate; 133. Annular connecting plate; 1331. Limiting groove; 1332. Drive motor; 1333. Rotating gear; 1334. Annular slide bar; 14. Stabilizing component; 141. Dual-axis telescopic rod; 142. Electromagnetic rod; 143. Supporting shaft; 144. Connecting rod; 145. Fixing rod; 146. Permanent magnet plate; 147. Stabilizing shaft; 15. Connecting water pipe; 16. Distance sensor; 17. Controller; 2. Robotic arm; 3. Fire extinguishing water cannon. Detailed Implementation

[0020] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0021] Reference Figure 1-2As shown, the present invention provides a technical solution: a multi-functional fire-fighting and rescue robot, including a robot body 1, a robotic arm 2 rotatably mounted on the upper end of the robot body 1, and a quick-change attachment device at the end of the robotic arm 2. The end of the robotic arm 2 can be quickly adapted to different rescue attachments through the quick-change attachment device, and can complete auxiliary operations for grasping, transferring and destroying flammable and explosive materials in bomb disposal scenarios. At the same time, it can be adapted to hydraulic breakers, hydraulic shears and spreaders to complete the demolition of anti-theft doors and fire doors at fire scenes, the shearing and expansion of reinforced concrete components and steel structures after building collapse, and the dismantling of deformed vehicle bodies in traffic accidents. It can be adapted to grippers to complete the dragging and displacement of heavy obstacles, the docking and installation of fire hoses, the support top to complete the temporary auxiliary support of rescue channels, and the water cutting joint to complete the safe dismantling of explosives, realizing full coverage of multi-scenario rescue operations; a fire-fighting water cannon 3 is fixedly mounted on the upper end of the robot body 1.

[0022] Reference Figure 1-6 As shown in this embodiment: the robot body 1 includes a protective shell 11, the protective shell 11 includes a lower shell 111 and an upper shell 112, a connecting shaft 12 is provided on the outside of the lower shell 111, the connecting shaft 12 is used to connect the drive source, an anti-tipping component 13 is provided inside the protective shell 11, a stabilizing component 14 is provided below the anti-tipping component 13, in the initial state, the lower end of the stabilizing component 14 is not in contact with the ground, a connecting water pipe 15 is provided inside the protective shell 11, the input end of the connecting water pipe 15 is located at the tail of the upper shell 112, and the output end of the connecting water pipe 15 is connected to the fire extinguishing water cannon 3. When using this device, firstly, according to the needs of on-site rescue, the corresponding rescue attachments are changed for the robotic arm 2 through the attachment quick-change device. The water hose is connected to the inlet of the fire extinguishing water cannon 3. The robot body 1 is moved by the drive source to move the robot body 1 to the vicinity of the work site. During the operation of the robotic arm 2, such as demolition, cutting, and clamping, since the initial state of the robotic arm 2 is retracted, it is necessary to adjust the circumferential position of the robotic arm 2 on the protective shell 11 to move the robotic arm 2 to the work target and unfold it to complete the corresponding rescue operation. During this process, the overall stability of the robotic arm 2 during high-intensity operation is improved through the synergistic effect of the stabilizing component 14 and the anti-tipping component 13, eliminating the safety risk of the robot body 1 tipping over.

[0023] Reference Figure 5-8As shown, in this embodiment: the anti-tipping component 13 includes an annular cavity 131, which is fixedly connected to the inner side of the protective shell 11. An annular slip ring 132 is rotatably mounted on the upper end of the annular cavity 131. The annular slip ring 132 is made of carbon fiber / glass fiber reinforced polyetheretherketone material. The annular slip ring 132 can slide slowly inside the annular cavity 131. The upper end of the annular slip ring 132 penetrates through the upper shell 112 and is slidably connected to it. Multiple sets of ball bearings 1321 are rotatably mounted on the outer side of the lower end of the annular slip ring 132. The ball bearings 1321 are tightly attached to the upper end of the inner wall of the annular cavity 131 and are rotatably connected to it. A heat insulation ring 1322 is fixedly mounted on the upper end of the annular slip ring 132. The upper end of the heat insulation ring 1322 is fixedly connected to the robotic arm 2. The heat insulation ring 1322 is made of glass fiber modified polytetrafluoroethylene material. 2 is located on the upper surface of the upper housing 112 and is slidably connected to it. The heat insulation ring 1322 and the annular slip ring 132 are connected by a connecting strip made of carbon fiber reinforced thermoplastic polyurethane. The annular slip ring 132 is made of carbon fiber / glass fiber reinforced polyetheretherketone material, and its tensile strength can reach 200MPa. With the rolling friction of multiple sets of balls 1321 at the lower end replacing the sliding friction design, the rotational friction coefficient of the annular slip ring 132 in the annular cavity 131 is reduced to below 0.05. This not only reduces component wear, but also improves the rotational operation accuracy of the robotic arm 2, meeting the millimeter-level alignment requirements of hazardous materials in bomb disposal operations. At the same time, the tight fit between the balls 1321 and the inner wall of the annular cavity 131 forms a radial support point, which can offset the lateral force generated during the operation of the robotic arm 2 and prevent the annular slip ring 132 from being stuck due to force offset.

[0024] Reference Figure 5-9 As shown in this embodiment: four sets of isolation plates 1323 are fixedly installed at the lower end of the annular slip ring 132. The four sets of isolation plates 1323 are all located inside the annular cavity 131 and are slidably connected to it. The four sets of isolation plates 1323 divide the internal cavity of the annular cavity 131 into four regions, namely cavity one 1313, cavity two 1314, cavity three 1315 and cavity four 1316. The robotic arm 2 is set at the upper end of cavity one 1313 and cavity two 1314. Cavities three 1315 and cavity four 1316 are filled with magnetic liquid. The interiors of cavities one 1313 and cavity two 1314 are cavities.

[0025] Reference Figure 5-6 As shown in this embodiment: the fire extinguishing water cannon 3 is fixedly connected to the annular cavity 131 through the connector 1317. Multiple sets of vision sensors are set on both sides of the fire extinguishing water cannon 3. The vision sensors are used to observe the position of the dangerous object and help the staff control the spray angle of the fire extinguishing water cannon 3 and the movement direction of the robot body 1.

[0026] Reference Figure 7-9As shown in this embodiment: an annular connecting plate 133 is fixedly installed on the inner wall of the lower housing 111. The annular connecting plate 133 is located directly below the annular cavity 131. A limiting groove 1331 is opened at the upper end of the annular connecting plate 133. At least two sets of drive motors 1332 are slidably arranged inside the limiting groove 1331. The lower end of the drive motor 1332 is limited to slide inside the limiting groove 1331 by a limiting block. A rotating gear 1333 is fixedly installed on the drive end of the drive motor 1332.

[0027] Reference Figure 1-9 As shown in this embodiment: an annular groove 1311 is provided at the lower end of the annular cavity 131, and an annular slide bar 1334 is slidably arranged inside the annular groove 1311. The annular slide bar 1334 is made of the same material as the annular slide ring 132. The upper end of the annular slide bar 1334 is fixedly connected to multiple sets of isolation plates 1323, and the lower end of the annular slide bar 1334 is fixedly connected to the drive end of multiple sets of drive motors 1332. An annular rack 1312 is fixedly installed at the lower end of the annular cavity 131, and the annular rack 1312 meshes with the rotating gear 1333. After the robotic arm 2 is moved to the vicinity of the work site, it is necessary to adjust the circumferential position of the robotic arm 2 on the protective shell 11 to accurately align the robotic arm 2 with the work target. At this time, by starting multiple sets of drive motors 1332, the drive motors 1332 drive the robotic arm 2 to move the robotic arm 2 to the vicinity of the work site. The rotating gear 1333 rotates, and through the meshing annular rack 1312, it drives the drive motor 1332, the rotating gear 1333, and the annular slide bar 1334 to rotate circumferentially along the annular groove 1311. Since the drive motor 1332 is restricted by the limit block to prevent it from rotating on its own, the drive motor 1332 and the rotating gear 1333 as a whole make circular motion along the annular groove 1311. Since the annular slide bar 1334 is fixedly connected to the isolation plate 1323, the annular slide bar 1334 drives multiple sets of isolation plates 1323 to rotate synchronously during the rotation, and at the same time drives the annular slide ring 132 at the upper end of the isolation plate 1323 to rotate, thereby driving the robotic arm 2 to complete a 360° full circumferential position adjustment. It can adapt to the operation requirements of narrow and restricted spaces without the need for the entire machine to move or turn.

[0028] Because the robotic arm 2 is positioned at the upper ends of cavities 1313 and 1314, cavities 1315 and 1316 always move synchronously to the opposite side of the robotic arm 2. The magnetic liquid inside cavities 1315 and 1316 forms a dynamically following flexible counterweight system. This magnetic liquid is not an ordinary counterweight medium; its internal ferromagnetic nanoparticles can form a microscopic magnetic field in the working environment, generating a weak magnetic attraction force with the inner wall of the annular cavity 131. This allows the liquid to adhere more tightly to the cavity wall during the rotation of the isolation plate 1323, preventing the liquid from sloshing and the counterweight center from shifting due to robot movement bumps and operational impacts. At the same time, the high fluidity of the liquid ensures that the counterweight center of gravity can follow the displacement of the robotic arm 2 with a millisecond-level response speed when the isolation plate 1323 rotates. Even if the robotic arm 2 generates instantaneous impact loads during demolition operations or the fire extinguishing water cannon 3 generates continuous recoil force through high-pressure spray, the magnetic liquid can quickly adjust the center of gravity distribution through minute flows, forming a flexible buffer. The dynamic counterweight, compared to traditional rigid counterweights, reduces instantaneous tipping moment impact by more than 80%. Regardless of the position of the robotic arm 2 or the change in end-effector load, this dynamic counterweight always remains on the opposite side of the robotic arm 2, providing a reverse balancing torque for the robotic arm 2. This significantly reduces the risk of the robot body 1 tilting or tipping over due to instantaneous force changes when the robotic arm 2 is breaking, shearing, or dragging heavy objects. At the same time, the fire extinguishing water cannon 3 is fixedly connected to the annular cavity 131 through the connector 1317. The spray reaction force of the fire extinguishing water cannon 3 can be directly transmitted to the anti-tipping component through the annular cavity 131. When the fire extinguishing water cannon 3 sprays high-pressure water, the resulting backward recoil force will cause the robot to tend to tilt forward. At this time, the magnetic liquid counterweight can adjust the center of gravity synchronously, while offsetting the working load torque of the robotic arm and the recoil torque of the spray gun. This dual balance allows the robot to maintain stability when fire extinguishing and demolition rescue are carried out in parallel, ensuring spraying accuracy and operational safety.

[0029] Reference Figure 1-2 , Figure 10-12 As shown in this embodiment: the stabilizing component 14 includes a dual-axis telescopic rod 141, an electromagnetic rod 142 is fixedly installed at the drive end of the dual-axis telescopic rod 141, and two sets of supporting rotating shafts 143 are fixedly installed at the lower end of the inner wall of the lower housing 111. The electromagnetic rod 142 can be inserted into the axial position of the supporting rotating shaft 143. When the electromagnetic rod 142 is energized, it can magnetically attract the supporting rotating shaft 143, restricting its rotation. A connecting rod 144 is fixedly installed at the upper end of the supporting rotating shaft 143. Fixed rods 145 are rotatably installed at both ends of the connecting rod 144. A permanent magnet plate 146 is fixedly installed at the upper end of the fixed rod 145. The permanent magnet plate 146 is located inside the annular cavity 131.

[0030] Reference Figure 10-12As shown in this embodiment: the lower end of the fixing rod 145 passes through the lower shell 111 and is fixedly installed with a stabilizing shaft 147. The stabilizing shaft is initially at the same level as the bottom of the lower shell. During the process of the robotic arm 2 rotating to align with the hazardous object, under the action of the isolation plate 1323, it will always drive the cavities 1315 and 1316 and the magnetic fluid inside them to move to the opposite side of the robotic arm 2. At this time, if the robotic arm 2 is located at the far end of the robot body 1, the cavities 1315 and 1316 and the magnetic fluid inside them will be located at the far end of the robot body 1. At this time, when the robotic arm 2 picks up the hazardous object, the risk of the robot body 1 tipping over is the greatest. Therefore, when the robotic arm 2 gradually rotates to the far end of the robot body 1, the cavities 1315 and 1316 and the magnetic fluid inside them will gradually move to the far end of the robot body 1. At this time, the cavities 1315 and 1316 and the magnetic fluid inside them will be located at the far end of the robot body 1. The permanent magnet plate 146 at the lower end of cavity 1316 is attracted by the magnetic liquid, which will drive the fixed rod 145 and the stabilizing shaft 147 at its lower end to move upward. At the same time, under the action of the connecting rod 144, the permanent magnet plate 146, fixed rod 145 and stabilizing shaft 147 at the lower end of cavity 1313 and cavity 2 1314 will gradually move downward until they contact the ground, which will provide some support for the robotic arm 2 to lift heavy objects and improve the stability of the robot body 1. At the same time, no matter where the robotic arm 2 moves to at both ends, its lower end always has a supporting force and its opposite side always has a downward pressure of gravity to maintain its balance. When the robotic arm 2 is not gripping a dangerous object, the dual-axis telescopic rod 141 and the electromagnetic rods 142 on both sides are not inserted into the connecting rod 144. When the robotic arm 2 grips a dangerous object and moves, the dual-axis telescopic rod 141 drives the electromagnetic rods 142 on both sides to insert into the connecting rod 144 and fix the connecting rod 144 through electromagnetic effect to restrict its rotation.

[0031] Reference Figure 4-6 , Figure 11 As shown in this implementation scheme: a distance sensor 16 is installed at the lower end of the inner wall of the lower shell 111, and a controller 17 is installed inside the protective shell 11. The vision sensor accurately identifies the type, posture, and 3D environment of the working area of ​​the hazardous object through stereo vision and AI algorithms, and synchronously feeds back the gripping status of the robotic arm and the fire extinguishing coverage effect. The distance sensor monitors the vertical distance between the robot and the ground and the tilt angle of the robot body in real time, and captures the gap change between the lower shell and the ground. The controller 17 performs fusion processing on the data of the two types of sensors. On the one hand, it commands the robotic arm to adjust the gripping angle and the fire extinguishing water cannon to optimize the spray direction according to the hazardous object position command of the vision sensor. On the other hand, it combines the posture data of the distance sensor to predict the risk of tipping over. When the tilt of the robot body exceeds the threshold, it immediately links the drive motor 1332 of the anti-tipping component 13 to adjust the position of the magnetic liquid counterweight, and simultaneously triggers the dual-axis telescopic rod 141 of the stabilizing component 14 to lock the support structure and strengthen the ground support, so as to achieve the dual guarantee of precise operation of hazardous objects and stable protection of the robot.

[0032] Working Principle: Based on on-site rescue needs, the corresponding rescue attachments are quickly changed via the quick-change device at the end of the robotic arm 2. The drive source moves the robot body 1 via the connecting shaft 12. After the visual sensors on both sides of the fire-fighting water cannon 3 locate the hazardous object, they transmit the data to the controller 17. The controller 17 instructs the drive motor 1332 in the limiting groove 1331 of the annular connecting plate 133 in the anti-tipping assembly 13 to start. The drive motor 1332 drives the rotating gear 1333 to rotate. Through meshing with the annular rack 1312, it drives the annular slide bar 1334 to slide along the annular groove 1311 of the annular cavity 131, thereby driving the isolation plate 1323 fixed at the upper end of the annular slide bar 1334 to rotate. The isolation plate 1323 synchronously drives the annular sliding ring 132 fixed at the upper end to rotate through the heat insulation... Ring 1322 drives robotic arm 2 to rotate and align with the hazardous object. During this process, isolation plate 1323 continuously pushes the magnetic liquid in cavities three and four of the annular cavity 131 to the opposite side of robotic arm 2 to form a dynamic counterweight. At the same time, the magnetic liquid attracts the permanent magnet plate 146 in the corresponding position of the stabilizing component 14 to move upward. Through the lever linkage of the support shaft 143 and the connecting rod 144, the fixed rod 145 and the stabilizing shaft 147 on the side of robotic arm 2 are driven to move downward. After touching the ground, they provide support. The dual-axis telescopic rod 141 drives the electromagnetic rod 142 to insert into the support shaft 143 and lock it. The distance sensor 16 monitors the body posture and feeds it back to the controller 17. The controller 17 links and optimizes the counterweight position and support status. The water pipe 15 is connected to deliver water pressure to the fire extinguishing water cannon 3 to extinguish the fire, and finally completes the safe bomb disposal and fire extinguishing operation.

[0033] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A multi-functional firefighting and rescue robot, characterized in that, The system includes a robot body, with a robotic arm rotatably mounted on its upper end and a fire-fighting water cannon fixedly mounted on its upper end. The robot body also includes a protective shell; the protective shell comprises a lower shell and an upper shell, with an anti-tipping component inside and a stabilizing component below it. The anti-tipping component includes an annular cavity fixedly connected to the inner side of the protective shell. An annular slip ring is rotatably mounted on the upper end of the annular cavity, its upper end penetrating the upper shell and slidably connected thereto, and its upper end fixedly connected to the robotic arm. Four sets of isolation plates are fixedly mounted on the lower end of the annular slip ring, all located inside and slidably connected to the annular cavity. The interior of the body is divided into four parts by four sets of the aforementioned insulating plates; an annular connecting plate is fixedly installed on the inner wall of the lower shell, the annular connecting plate is located directly below the annular cavity, a limiting groove is formed at the upper end of the annular connecting plate, at least two sets of drive motors are slidably arranged inside the limiting groove, the lower end of the drive motor is limited to slide inside the limiting groove by a limiting block, a rotating gear is fixedly installed at the drive end of the drive motor, an annular groove is formed at the lower end of the annular cavity, an annular slide bar is slidably arranged inside the annular groove, the upper end of the annular slide bar is fixedly connected to multiple sets of the aforementioned insulating plates, the lower end of the annular slide bar is fixedly connected to the drive ends of multiple sets of the aforementioned drive motors, an annular rack is fixedly installed at the lower end of the annular cavity, and the annular rack meshes with the rotating gear.

2. The multifunctional firefighting and rescue robot according to claim 1, characterized in that: A connecting shaft is provided on the outer side of the lower housing, and the connecting shaft is used to connect the drive source.

3. The multifunctional fire-fighting and rescue robot according to claim 1, characterized in that: The protective shell is equipped with a water pipe inside. The input end of the water pipe is located at the tail of the upper shell, and the output end of the water pipe is connected to the fire extinguishing water cannon.

4. The multifunctional firefighting and rescue robot according to claim 1, characterized in that: Multiple sets of ball bearings are rotatably mounted on the outer side of the lower end of the annular slip ring. The ball bearings are in close contact with and rotatably connected to the upper end of the inner wall of the annular cavity. A heat insulation ring is fixedly mounted on the upper end of the annular slip ring. The upper end of the heat insulation ring is fixedly connected to the robotic arm. The heat insulation ring is located on the upper surface of the upper housing and is slidably connected to it.

5. The multifunctional fire-fighting and rescue robot according to claim 1, characterized in that: The fire-fighting water cannon is fixedly connected to the annular cavity via a connector.

6. The multifunctional fire-fighting and rescue robot according to claim 1, characterized in that: The four sets of insulating plates divide the internal cavity of the annular cavity into four regions: cavity one, cavity two, cavity three, and cavity four. The robotic arm is located at the upper end of cavity one and cavity two. Cavities three and four are filled with magnetic liquid, while cavities one and cavity two are cavities.

7. The multifunctional firefighting and rescue robot according to claim 1, characterized in that: The stabilizing component includes a dual-axis telescopic rod, with an electromagnetic rod fixedly installed at the drive end of the dual-axis telescopic rod. Two sets of supporting rotating shafts are fixedly installed at the lower end of the inner wall of the lower housing. The electromagnetic rod can be inserted into the axial position of the supporting rotating shaft. A connecting rod is fixedly installed at the upper end of the supporting rotating shaft. Fixed rods are rotatably installed at both ends of the connecting rod. A permanent magnet plate is fixedly installed at the upper end of the fixed rod. The permanent magnet plate is magnetically attracted to the magnetic liquid.

8. The multifunctional fire-fighting and rescue robot according to claim 7, characterized in that: The lower end of the fixing rod passes through the bottom of the lower housing and is fixedly installed with a stabilizing shaft.

9. The multifunctional fire-fighting and rescue robot according to claim 7, characterized in that: The permanent magnet plate is located inside the annular cavity.

10. The multifunctional fire-fighting and rescue robot according to claim 2, characterized in that: A distance sensor is provided at the lower end of the inner wall of the lower housing, and a controller is provided inside the protective shell.

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