Four-wheel-drive crawler-type elevating robot

Abstract

The invention relates to the technical field of fire-fighting elevating equipment, and discloses a four-wheel-drive crawler-type elevating robot which comprises a robot body, hydraulic telescopic supporting legs are arranged on the two sides of the front face and the two sides of the back face of the robot body correspondingly, a walking device is arranged at the bottom of the robot body, a folding arm is arranged on one side of a telescopic arm assembly, and a driving mechanism is arranged on one side of the folding arm. And the driving mechanism is used for driving the folding arm to rotate around the telescopic arm assembly. The crawler-type walking device is matched with the hydraulic telescopic supporting leg system to be unfolded, the crawler-type walking device is unfolded at the target position to form a stable supporting platform, the working bucket drives the hydraulic forcible entry assembly to move and drives the first search mechanism to act, the position of the hydraulic forcible entry assembly is roughly and accurately adjusted, and forcible entry operation is conducted on a building structure at the fire point position; and a hole is formed and is matched with a fire water monitor to perform internal attack fire extinguishing operation, so that the forcible entry and fire extinguishing operation efficiency of the elevating robot is improved, and the fire extinguishing operation depth is increased.

Description

Technical Field

[0001] This application relates to the field of fire-fighting aerial ladder equipment technology, and in particular to a four-wheel drive tracked aerial ladder robot. Background Technology

[0002] Firefighting aerial ladders are capable of high-altitude firefighting, obstacle breaching, and rescuing trapped personnel. They are commonly used in rescue operations for complex disasters such as high-rise building fires, earthquake collapses, and hazardous chemical leaks.

[0003] Currently, common fire-fighting aerial ladder equipment mainly includes ladder trucks and traditional aerial work platforms. Ladder trucks have a high lifting height, but they are bulky and have strict requirements for driving and operating sites, making them difficult to operate in narrow streets, ruins, or rugged terrain. At the same time, their functions are relatively limited, usually mainly for carrying people to the height and sending water to extinguish fires, lacking the ability to actively break through building exterior walls or obstacles. When facing buildings that have deformed or collapsed due to fire, it is difficult to quickly open up rescue channels.

[0004] On the other hand, while some existing firefighting robots possess a certain degree of mobility or single-task capability, such as fire extinguishing robots and demolition robots, they generally suffer from low functional integration and limited lifting height. For example, wheeled or simple tracked chassis lack terrain adaptability and are prone to instability on slopes and rubble piles. Robots equipped only with fire monitors cannot perform demolition tasks, while demolition robots equipped only with robotic arms lack platforms for high-altitude operations and manned rescue. Rescue sites often require multiple single-function devices to work together, which not only occupies valuable manpower and access resources but also affects the overall rescue efficiency due to difficulties in coordination, making it difficult to meet the diverse needs of modern complex disaster relief. Summary of the Invention

[0005] This application proposes a four-wheel drive tracked aerial robot that has the advantages of improving the efficiency of demolition, fire fighting, and safe rescue and transfer while achieving maneuverability in complex terrain, in order to solve the problem that existing fire aerial equipment is difficult to adapt to complex disaster rescue.

[0006] To achieve the above objectives, this application adopts the following technical solution: a four-wheel drive tracked aerial robot, comprising a body, with hydraulic telescopic outriggers provided on both sides of the front and back of the body, a walking device provided at the bottom of the body, a folding arm provided on one side of the telescopic arm assembly, a drive mechanism provided on one side of the folding arm, the drive mechanism being used to drive the folding arm to rotate around the telescopic arm assembly, a working bucket provided at one end of the folding arm, a fire monitor provided on one side of the working bucket, and a hydraulic demolition assembly provided on one side of the working bucket.

[0007] The work bucket is equipped with an infrared thermal imager assembly. The movement of the work bucket can drive the hydraulic demolition assembly and the fire monitor to move. The hydraulic demolition assembly performs demolition operations at the target location and forms a hole. The fire monitor then uses the hole to extinguish fires inside the building.

[0008] Furthermore, the hydraulic telescopic outrigger includes a support, which is fixedly mounted on the side wall of the machine body. An adjustable outrigger is hinged to one side of the support, and a telescopic outrigger is hinged to one side of the adjustable outrigger. A support foot is fixedly mounted at the bottom of the telescopic outrigger. A second hydraulic cylinder is hinged to one side of the top of the support, and the output end of the second hydraulic cylinder is hinged to the adjustable outrigger.

[0009] Furthermore, the drive mechanism includes a connecting rod, which is hinged to the output arm of the telescopic arm assembly. A hydraulic cylinder is hinged to the bottom of the connecting rod, and the output end of the hydraulic cylinder is hinged to the folding arm. The folding arm is hinged to the output arm of the telescopic arm assembly.

[0010] Furthermore, an adjustment seat is slidably provided on one side of the bottom of the working bucket, and an adjustment plate is provided on the side of the adjustment seat near the top. The fire monitor and hydraulic demolition assembly are fixedly connected to the adjustment plate. A sliding seat is slidably provided on the bottom of the inner side of the working bucket, and a telescopic mechanism is fixedly provided on one side of the bottom of the working bucket.

[0011] Furthermore, the output end of the first telescopic mechanism is fixedly connected to a first moving plate, and a switching mechanism is provided on the top of the sliding seat. The first telescopic mechanism is used to cooperate with the switching mechanism to drive the sliding seat to move. The sliding seat is fixedly connected to the adjusting seat.

[0012] Furthermore, a rotating shaft is rotatably mounted on one side of the top of the adjusting seat. One end of the rotating shaft is fixedly sleeved with the adjusting plate, and a connecting plate is fixedly sleeved on the other end of the rotating shaft. A transmission gear ring is fixedly connected to one side of the connecting plate. A toothed plate is slidably mounted on one side of the sliding seat. A second telescopic mechanism is fixedly mounted on one side of the sliding seat. A second moving plate is fixedly connected to the output end of the second telescopic mechanism. The number of switching mechanisms is set to two.

[0013] Furthermore, the switching mechanism includes a limiting plate, a sliding rod slidably sleeved on one side of the limiting plate, a spring sleeved on the outer side of the sliding rod, and a moving mechanism for driving the limiting plate to move.

[0014] Furthermore, the moving mechanism includes a fixed base and an adjusting arm. The adjusting arm is slidably sleeved with the working bucket. The fixed base is fixedly connected to the working bucket. A third telescopic mechanism is fixedly installed on the top surface of the fixed base. The output end of the third telescopic mechanism is fixedly connected to the adjusting arm. The adjusting arm has a stepped surface. A rolling bearing is fixedly installed on one side of the top of the limiting plate.

[0015] Furthermore, the first moving plate and the sliding seat are slidably sleeved with the corresponding limiting plate, the first moving plate and the second moving plate are fixedly connected with the corresponding sliding rod, and the second moving plate and the toothed plate are slidably sleeved with the corresponding limiting plate.

[0016] Furthermore, the toothed plate and the transmission toothed ring mesh with each other, and the transmission toothed ring is configured as an incomplete toothed ring.

[0017] The beneficial effects of this invention are as follows:

[0018] This application provides a four-wheel drive tracked aerial robot that uses four independently driven tracked walking devices, combined with a hydraulic telescopic outrigger system, to form a stable support platform in unstructured terrain such as slopes and ruins. This improves the aerial robot's off-road mobility and enhances its operational stability. Furthermore, by moving the hydraulic demolition components through the working bucket, structural demolition operations can be carried out at locations where fire points still exist within the building structure, creating holes of a certain size to open up internal fire-fighting channels for subsequent fire monitors, thus solving the problem of external walls of high-rise buildings hindering internal fire-fighting efforts.

[0019] Furthermore, the No. 1 telescopic mechanism drives the No. 1 moving plate to move the sliding seat relative to the working bucket, thereby precisely adjusting the position of the hydraulic demolition component while avoiding the movement of the telescopic arm assembly and the folding arm assembly. The switching mechanism switches the transmission connection state between the No. 1 moving plate and the sliding seat, allowing the hydraulic demolition component to move within a certain range when performing operations such as shearing and hole enlarging. This reduces the magnitude of the reaction force between the hydraulic demolition component and the working bucket and its structure, reduces damage to the transmission structure such as the slewing support of the lifting robot, and extends its service life. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort:

[0021] Figure 1 This is a schematic diagram of the body structure of this application;

[0022] Figure 2 This is a side view of the body structure of this application;

[0023] Figure 3 This is a schematic diagram of the working bucket structure in Embodiment 2 of this application;

[0024] Figure 4 This is a cross-sectional schematic diagram of the structural portion at the connecting plate of this application;

[0025] Figure 5 This is a schematic diagram of the structure at the toothed plate of this application;

[0026] Figure 6 This is a schematic cross-sectional view of the switching mechanism in this application.

[0027] In the diagram: 1. Body; 2. Walking device; 3. Telescopic arm assembly; 4. Drive mechanism; 401. Hydraulic cylinder No. 1; 402. Connecting rod; 5. Hydraulic telescopic outrigger; 501. Support; 502. Hydraulic cylinder No. 2; 503. Adjustable outrigger; 504. Telescopic outrigger; 505. Support foot; 6. Working bucket; 7. Folding arm; 8. Fire monitor; 9. Switching mechanism; 901. Limit plate; 902. Sliding rod; 903. Spring; 10. Adjusting plate; 11. Adjusting seat; 12. Rotating shaft; 13. Connecting plate; 14. Transmission gear ring; 15. Hydraulic demolition assembly; 16. Gear plate; 17. Moving plate No. 1; 18. Moving plate No. 2; 19. Adjustable arm; 20. Fixed seat; 21. Telescopic mechanism No. 1; 22. Telescopic mechanism No. 2; 23. Telescopic mechanism No. 3; 24. Sliding seat; 25. Rolling bearing; 26. Stepped surface. Detailed Implementation

[0028] 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.

[0029] Example 1, as Figures 1-3 A four-wheel drive tracked lifting robot includes a body 1. Hydraulic telescopic legs 5 are provided on both the front and back sides of the body 1. Several hydraulic telescopic legs 5 are arranged horizontally and symmetrically at even intervals. The hydraulic telescopic legs 5 are used to switch between retracted and extended states to facilitate the movement of the body 1 and provide operational support. Specifically, each hydraulic telescopic leg 5 includes a support 501, which is fixedly mounted on the side wall of the body 1. An adjustable leg 503 is hinged to one side of the support 501, and a telescopic leg 504 is hinged to one side of the adjustable leg 503. A support foot 505 for contacting the ground is fixedly provided at the bottom of the telescopic leg 504. A second hydraulic cylinder 502 is hinged to one side of the top of the support 501. The output end of the second hydraulic cylinder 502 is hinged to the adjustable leg 503 to drive the adjustable leg 503 to rotate around the support 501.

[0030] A walking device 2 is provided at the bottom of the body 1. Preferably, the walking device 2 is a four-wheel drive tracked walking device. A telescopic arm assembly 3 is provided on one side of the top of the body 1. A folding arm 7 is provided on one side of the telescopic arm assembly 3. Specifically, the folding arm 7 is hinged to the output arm of the telescopic arm assembly 3. The telescopic arm assembly 3 adjusts the height and pitch angle of the folding arm 7 by pitching and rotating relative to the body 1 and by extending and retracting. A drive mechanism 4 is provided on one side of the folding arm 7. Specifically, the drive mechanism 4 includes a connecting rod 402. The connecting rod 402 is hinged to the output arm of the telescopic arm assembly 3. A first hydraulic cylinder 401 is hinged to the bottom of the connecting rod 402. The output end of the first hydraulic cylinder 401 is hinged to the folding arm 7. The drive mechanism 4 drives the folding arm 7 to rotate around the telescopic arm assembly 3 through the first hydraulic cylinder 401. The movement of the telescopic arm assembly 3 is coordinated with the movement of the telescopic arm assembly 3 to adjust the posture of the end straight-moving mechanism.

[0031] One end of the articulated boom 7 is hinged to a working bucket 6. A fixing mechanism is provided between the working bucket 6 and the articulated boom 7 to fix the posture of the working bucket 6 and the articulated boom 7. The fixing mechanism can be a hydraulic telescopic mechanism, or it can be a detachable fixing component. (See reference...) Figure 4 A fire monitor 8 is installed on one side of the working bucket 6, and a hydraulic demolition assembly 15 is installed on the other side. The hydraulic demolition assembly 15 can be configured as a hydraulic shear, an impact drill, or a piercing needle mechanism for demolishing building structures. For example, the hydraulic shear can be used to cut and widen windows to create irregular openings, or it can be replaced with an impact drill to impact and pierce bevels on the exterior walls of buildings to create irregular openings for the jets sprayed by the fire monitor 8 to pass through. Preferably, the working bucket 6 is equipped with an infrared thermal imager assembly to detect the temperature of the fire source in real time, locate the center point of the fire, and detect life signals in dense smoke environments, providing information support for demolition, firefighting, and personnel search and rescue. Both the fire monitor 8 and the hydraulic demolition assembly 15 are connected to the corresponding liquid supply device via hoses and cable chains.

[0032] During firefighting operations, the aerial work platform robot moves to the target location via its four-wheel drive tracked walking device 2. The second hydraulic cylinder 502 extends, driving the adjustable outrigger 503 to rotate. The adjustable outrigger 503 then moves the telescopic outrigger 504 to descend until the support foot 505 contacts the ground, completing the deployment of the hydraulic telescopic outrigger 5. Several hydraulic telescopic outriggers deploy simultaneously to provide support and leveling, offering a stable working platform foundation when working on uneven ground. The telescopic arm assembly 3 is driven to extend and tilt, while the drive mechanism 4 drives the folding arm 7 to tilt. The folding arm 7 lifts the work bucket 6 carrying the workers to the work point and readjusts the position of the work bucket 6, causing the hydraulic demolition assembly 15 to move to the demolition point. The hydraulic demolition assembly 15 then performs demolition operations, creating a hole through which water can pass.

[0033] Next, the position of the work bucket 6 is adjusted again so that the hydraulic demolition component 15 is disengaged from the hole. The work bucket 6 is moved to adjust the corresponding position of the fire monitor 8 so that the position of the fire monitor 8 corresponds to the position of the hole. Firefighting operations are carried out inside the building through the demolition hole to suppress the fire points that still exist in the building, increase the depth of firefighting operations, and improve the efficiency of operations. Alternatively, the fire monitor can be used directly for high-altitude firefighting, and the work bucket 6 can be used for personnel evacuation and transfer.

[0034] Example 2, as Figures 3-6 Based on Embodiment 1, an adjusting seat 11 is slidably provided on one side of the bottom of the working bucket 6. The adjusting seat 11 can move horizontally relative to the working bucket 6 without detaching from it. An adjusting plate 10 is provided on the side of the adjusting seat 11 near the top. The adjusting seat 11 can drive the adjusting plate 10 to move. The fire monitor 8 and the hydraulic demolition assembly 15 are both fixedly provided on the adjusting plate 10 near the top. A sliding seat 24 is slidably provided on the bottom of the inner side of the working bucket 6. The sliding seat 24 can slide relative to the working bucket 6 in the moving direction of the adjusting seat 11. A first telescopic mechanism 21 is fixedly provided on one side of the bottom of the working bucket 6. A first moving plate 17 is fixedly connected to the output end of the first telescopic mechanism 21. A switching mechanism 9 is provided on the top of the sliding seat 24. The first telescopic mechanism 21 is used to cooperate with the switching mechanism 9 to drive the sliding seat 24 to move.

[0035] Specifically, the switching mechanism 9 includes a limit plate 901, see [link / reference] Figure 6 The first moving plate 17 and the sliding seat 24 are slidably sleeved with the corresponding limiting plate 901. The limiting plate 901 is inverted "L" shape. A sliding rod 902 is slidably sleeved on one side of the limiting plate 901. The cross-sectional shape of the sliding rod 902 is "T". The first moving plate 17 is fixedly connected to the corresponding sliding rod 902. A spring 903 is sleeved on the outside of the sliding rod 902. The two ends of the spring 903 are fixedly connected to the end of the sliding rod 902 and the top surface of the limiting plate 901, respectively. The spring 903 is used to push the limiting plate 901 to move closer to the sliding seat 24, so that the limiting plate 901 is kept in the sleeved state with the sliding seat 24. The sliding seat 24 is fixedly connected to the adjusting seat 11. The first telescopic mechanism 21 is set as an electric push rod.

[0036] During operation, the height of the working bucket 6 is adjusted to move it near the demolition point, completing a rough adjustment of its position. Then, the first telescopic mechanism 21 is driven, which in turn moves the first moving plate 17. The first moving plate 17 moves the limit plate 901, which in turn moves the sliding seat 24. The sliding seat 24 moves the adjusting seat 11, which in turn moves the hydraulic demolition assembly 15. This precisely adjusts the position of the hydraulic demolition assembly 15, allowing it to quickly move to the demolition point. This avoids the need for operators to repeatedly adjust the position of the working bucket 6 using the telescopic arm assembly 3 and the folding arm 7 to achieve precise positioning, reducing energy consumption and improving positioning efficiency, thereby further improving the efficiency of high-altitude demolition and firefighting operations.

[0037] It also includes a moving mechanism, which is used to move the limiting plate 901. In this embodiment, the moving mechanism includes a pin, and the sliding rod 902 has a pin hole on its body.

[0038] When hydraulic shears are used for demolition operations, the reaction force of shearing and hole enlarging operations is relatively large, which can easily lead to accelerated fatigue damage of the hinge points and slewing support structure of the connecting bucket 6 and the folding arm 7, resulting in the risk of loosening and abnormal noise, and requiring frequent maintenance.

[0039] After the hydraulic demolition component 15 completes precise positioning, it performs shearing or hole enlargement operations. When the hydraulic demolition component 15 moves to a point of contact with the building structure, it overcomes the elastic force of the spring 903 and pulls the limiting plate 901 out of the sliding seat 24 until the limiting plate 901 is at the top of the pin hole. The pin is then inserted into the pin hole to restrict the movement of the limiting plate 901 and reset it. At this time, the sliding seat 24 can move within a certain range, thereby releasing the reaction force between the hydraulic demolition component 15 and the building structure, reducing damage to the rotating support structure of the lifting robot, and extending the service life of the lifting robot.

[0040] After the demolition operation is completed, the pin is pulled out. The first telescopic mechanism 21 drives the first moving plate 17 to move slowly. The first moving plate 17 drives the limit plate 901 to move. When the limit plate 901 moves to the sleeve position corresponding to the sliding seat 24, the spring 903 pushes the limit plate 901 to move, so that the limit plate 901 and the sliding seat 24 are re-sleeved. At this time, according to the servo feedback of the first telescopic mechanism 21, the limit plate 901 is in the reset state. The first telescopic mechanism 21 stops moving. Then, the hydraulic demolition component 15 moves and disengages from the tight state with the building structure.

[0041] Example 3, as Figures 3-6Unlike the moving mechanism in Embodiment 2, in this embodiment, the moving mechanism includes a fixed base 20 and an adjusting arm 19. The adjusting arm 19 is slidably connected to the working bucket 6 and can move up and down relative to the working bucket 6. The fixed base 20 is located on top of the adjusting arm 19 and is fixedly connected to the working bucket 6. A third telescopic mechanism 23 is fixedly installed at the midpoint of the top surface of the fixed base 20. The output end of the third telescopic mechanism 23 is fixedly connected to the adjusting arm 19 and is used to drive the adjusting arm 19 to move up and down. The adjusting arm 19 has a stepped surface 26. The number of stepped surfaces 26 is adapted to the number of switching mechanisms 9. A rolling bearing 25 is fixedly installed on one side of the top of the limiting plate 901. Specifically, the inner ring of the rolling bearing 25 is fixedly connected to the limiting plate 901, and the outer ring of the rolling bearing 25 is in contact with the stepped surface 26.

[0042] While the rolling bearing 25 can slide along the stepped surface 26, the third telescopic mechanism 23 can move the adjusting arm 19, thereby causing the rolling bearing 25 to overcome the elastic force of the corresponding spring 903 and rise vertically relative to the working bucket 6. The movement of the rolling bearing 25 can cause the limiting plate 901 to disengage from the sliding seat 24. When the adjusting arm 19 descends and resets, the spring 903 causes the corresponding limiting plate 901 to move and reset.

[0043] Example 4, as Figures 3-6 Based on Embodiment 3, a rotating shaft 12 is rotatably mounted on one side of the top of the adjusting seat 11. One end of the rotating shaft 12 is fixedly sleeved with the adjusting plate 10, and the other end of the rotating shaft 12 is fixedly sleeved with a connecting plate 13. A transmission gear ring 14 is fixedly connected to one side of the connecting plate 13. A toothed plate 16 is slidably mounted on one side of the sliding seat 24. The toothed plate 16 and the transmission gear ring 14 mesh with each other. The transmission gear ring 14 is set as an incomplete gear ring. A second telescopic mechanism 22 is fixedly mounted on one side of the sliding seat 24. Both the second telescopic mechanism 22 and the third telescopic mechanism 23 are electric push rods. A second moving plate 18 is fixedly connected to the output end of the second telescopic mechanism 22. The number of switching mechanisms 9 is set to two. The second moving plate 18 is fixedly connected to the corresponding sliding rod 902. The second moving plate 18 and the toothed plate 16 are slidably sleeved with the corresponding limiting plate 901.

[0044] During operation, the second telescopic mechanism 22 drives the second moving plate 18 to move. The second moving plate 18 drives the corresponding limit plate 901 to move, which in turn drives the toothed plate 16 to move. The toothed plate 16 drives the transmission gear ring 14 to rotate. The transmission gear ring 14 drives the connecting plate 13 to rotate, which in turn drives the rotating shaft 12 to rotate. The rotation of the rotating shaft 12 drives the adjusting plate 10 to rotate around the axis of the rotating shaft 12, which in turn drives the hydraulic demolition assembly 15 and the fire monitor 8 to rotate, thereby adjusting the angle of the hydraulic demolition assembly 15, thereby further improving the positioning efficiency and flexibility of the demolition operation.

[0045] After the hydraulic demolition assembly 15 completes precise positioning, when the hydraulic demolition assembly 15 performs shearing or hole enlarging operations, the hydraulic demolition mechanism moves to press against the building structure, and the moving mechanism moves, driving the limit plates 901 of the two switching mechanisms 9 to rise, overcoming the elastic force of the springs 903. The two limit plates 901 move and disengage from the sliding seat 24 and the toothed plate 16 respectively. At this time, the sliding seat 24 provides sliding automaticity, and with the adjustment plate 10 rotating around the rotating shaft 12, the hydraulic demolition assembly 15 can move within a certain range in the radial direction of the rotating shaft 12, that is, a compound movement in the horizontal and vertical directions, thereby further reducing the reaction force between the hydraulic demolition assembly 15 and the building structure, reducing the damage to the rotating support structure of the lifting robot, and extending the maintenance cycle of the lifting robot.

[0046] After the demolition operation is completed, the No. 3 telescopic mechanism 23 resets, and the No. 1 telescopic mechanism 21 and the No. 2 telescopic mechanism 22 move until they respectively drive the No. 1 moving plate 17 and the No. 2 moving plate 18 to move. According to their respective servo feedback, it is determined that the toothed plate 16 and the sliding seat 24 are connected to the switching mechanism 9. Then, the hydraulic demolition component 15 moves and disengages from the building structure. The working bucket 6 moves away from the wall, causing the hydraulic demolition component 15 to disengage. The No. 2 telescopic mechanism 22 extends to its rated length, and drives the fire monitor 8 to rotate to the original position of the hydraulic demolition component 15, that is, the position where the hole is opened. This improves the efficiency and accuracy of the secondary positioning of the fire monitor 8, and further improves the efficiency of the demolition and fire extinguishing operations of the aerial robot.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A four-wheel drive tracked lifting robot, comprising a body (1), wherein hydraulic telescopic outriggers (5) are provided on both sides of the front and back of the body (1), a walking device (2) is provided on the bottom of the body (1), and a folding arm (7) is provided on one side of the telescopic arm assembly (3), characterized in that, A drive mechanism (4) is provided on one side of the folding arm (7). The drive mechanism (4) is used to drive the folding arm (7) to rotate around the telescopic arm assembly (3). A working bucket (6) is provided at one end of the folding arm (7). A fire monitor (8) is provided on one side of the working bucket (6). A hydraulic demolition assembly (15) is provided on one side of the working bucket (6). The work bucket (6) is equipped with an infrared thermal imager assembly. The movement of the work bucket (6) can drive the hydraulic demolition assembly (15) and the fire monitor (8) to move. The hydraulic demolition assembly (15) performs demolition work at the target location and forms a hole. The fire monitor (8) performs fire extinguishing work inside the building through the hole.

2. The four-wheel drive tracked aerial robot according to claim 1, characterized in that, The hydraulic telescopic outrigger (5) includes a support (501), which is fixedly installed on the side wall of the machine body (1). An adjustable outrigger (503) is hinged to one side of the support (501), and a telescopic outrigger (504) is hinged to one side of the adjustable outrigger (503). A support foot (505) is fixedly installed at the bottom of the telescopic outrigger (504). A second hydraulic cylinder (502) is hinged to one side of the top of the support (501), and the output end of the second hydraulic cylinder (502) is hinged to the adjustable outrigger (503).

3. The four-wheel drive tracked aerial robot according to claim 1, characterized in that, The drive mechanism (4) includes a connecting rod (402), which is hinged to the output arm of the telescopic arm assembly (3). A hydraulic cylinder (401) is hinged to the bottom of the connecting rod (402), and the output end of the hydraulic cylinder (401) is hinged to the folding arm (7). The folding arm (7) is hinged to the output arm of the telescopic arm assembly (3).

4. The four-wheel drive tracked aerial robot according to claim 1, characterized in that, An adjustment seat (11) is slidably provided on one side of the bottom of the working bucket (6). An adjustment plate (10) is provided on the side of the adjustment seat (11) near the top. The fire monitor (8) and the hydraulic demolition assembly (15) are fixedly connected to the adjustment plate (10). A sliding seat (24) is slidably provided on the bottom of the inner side of the working bucket (6). A telescopic mechanism (21) is fixedly provided on one side of the bottom of the working bucket (6).

5. A four-wheel drive tracked aerial robot according to claim 4, characterized in that, The output end of the first telescopic mechanism (21) is fixedly connected to the first moving plate (17). The top of the sliding seat (24) is provided with a switching mechanism (9). The first telescopic mechanism (21) is used to cooperate with the switching mechanism (9) to drive the sliding seat (24) to move. The sliding seat (24) is fixedly connected to the adjusting seat (11).

6. A four-wheel drive tracked aerial robot according to claim 5, characterized in that, A rotating shaft (12) is rotatably provided on one side of the top of the adjusting seat (11). One end of the rotating shaft (12) is fixedly sleeved with the adjusting plate (10). A connecting plate (13) is fixedly sleeved on the other end of the rotating shaft (12). A transmission gear ring (14) is fixedly connected to one side of the connecting plate (13). A toothed plate (16) is slidably provided on one side of the sliding seat (24). A second telescopic mechanism (22) is fixedly provided on one side of the sliding seat (24). A second moving plate (18) is fixedly connected to the output end of the second telescopic mechanism (22). The number of switching mechanisms (9) is set to two.

7. A four-wheel drive tracked aerial robot according to claim 6, characterized in that, The switching mechanism (9) includes a limiting plate (901), a sliding rod (902) is slidably sleeved on one side of the limiting plate (901), a spring (903) is sleeved on the outside of the sliding rod (902), and a moving mechanism is also included, which is used to drive the limiting plate (901) to move.

8. A four-wheel drive tracked aerial robot according to claim 7, characterized in that, The moving mechanism includes a fixed seat (20) and an adjusting arm (19). The adjusting arm (19) is slidably sleeved with the working bucket (6). The fixed seat (20) is fixedly connected to the working bucket (6). A third telescopic mechanism (23) is fixedly installed on the top surface of the fixed seat (20). The output end of the third telescopic mechanism (23) is fixedly connected to the adjusting arm (19). The adjusting arm (19) has a stepped surface (26). A rolling bearing (25) is fixedly installed on one side of the top of the limiting plate (901).

9. A four-wheel drive tracked aerial robot according to claim 8, characterized in that, The first moving plate (17) and the sliding seat (24) are slidably sleeved with the corresponding limiting plate (901). The first moving plate (17) and the second moving plate (18) are fixedly connected with the corresponding sliding rod (902). The second moving plate (18) and the toothed plate (16) are slidably sleeved with the corresponding limiting plate (901).

10. A four-wheel drive tracked aerial robot according to claim 8, characterized in that, The toothed plate (16) meshes with the transmission toothed ring (14), and the transmission toothed ring (14) is configured as an incomplete toothed ring.

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