An extremely early fire prevention robot executive mechanism

Abstract

The application relates to the technical field of fire prevention and control equipment, in particular to an extremely early fire prevention and prediction body robot execution mechanism, which comprises a mobile chassis, a first-stage lifting assembly is arranged at the middle part of the upper end of the mobile chassis, a second-stage lifting assembly is slidably arranged on the side wall of the first-stage lifting assembly, a probe module is fixedly arranged on the side wall of the second-stage lifting assembly through a supporting rack, an extension assembly is fixedly connected to the side of the supporting rack, and an execution assembly is slidably arranged on the side wall of the extension assembly. Through the combination of the mobile chassis and the multi-stage lifting, the monitoring limitation of the fixed position is broken, full-range monitoring coverage from the ground to the high altitude is realized, the accurate positioning of the temperature abnormal area is facilitated, the spraying range of the atomization area can be adjusted according to the size of the temperature abnormal area, and the redundant medium can be recycled, so that the efficiency of the temperature reduction operation is improved, and the stability and safety of the mechanism operation are improved.

Description

Technical Field

[0001] This invention relates to the field of fire prevention and control equipment technology, specifically to a robotic actuator for very early fire prevention. Background Technology

[0002] In the field of very early fire prevention, the core is "early detection, early location, and early response". In the early stage of a fire, there is no obvious open flame, only a local temperature rise and a small amount of smoke, and it often occurs in the blind spots of conventional monitoring such as around power equipment. Therefore, it is necessary to monitor these blind spots.

[0003] Currently, most existing early fire prevention and monitoring equipment is fixedly installed, such as wall-mounted temperature probes or ceiling-mounted smoke detectors. These lack flexible movement and height adjustment mechanisms, making it impossible to adjust the monitoring position according to monitoring needs. This results in limited coverage, enabling only single-area monitoring and failing to accurately locate abnormal areas, easily leading to missed early-stage signals and potentially causing fires. Furthermore, some monitoring robots, upon detecting early-stage temperature anomalies, often resort to remote atomization spraying. This causes the medium to spread outwards upon contact with the equipment surface, making the atomization spray area uncontrollable. For some electrical equipment, the atomized medium can easily splash into its interior, affecting normal operation. This deficiency often causes significant problems for early-stage atomization robots, resulting in low efficiency and poor accuracy when performing cooling operations. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a robotic actuator for early fire prevention. By combining a mobile chassis with multi-stage lifting, it overcomes the limitations of fixed-position monitoring, achieving full-range monitoring coverage from the ground to high altitudes. This facilitates precise location of areas with abnormal temperatures. Furthermore, it can adjust the spray range of the atomization area according to the size of the abnormal temperature area and recover excess media, thereby improving the efficiency of cooling operations and enhancing the stability and safety of the mechanism's operation.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a robot actuator for very early fire prevention. The robot actuator for very early fire prevention includes a mobile chassis, a lifting mechanism on the mobile chassis, the lifting mechanism including a primary lifting assembly and a secondary lifting assembly that can be lifted and lowered thereon, the secondary lifting assembly being connected to a support frame; a probe module and an extension assembly are provided on the support frame, and a retractable actuator assembly is provided on the extension assembly. The actuation assembly includes a rectangular housing, an actuation unit disposed within the rectangular housing, a fire extinguishing atomizing mechanism connected to the actuation unit, a spray range adjustment unit disposed at the end of the fire extinguishing atomizing mechanism, and a buffer unit disposed at the end of the adjustment unit; The actuator includes an electric push rod and a limit frame connected to its telescopic end; The adjustment unit includes a base ring, multiple grooves arranged circumferentially along the base ring, an adjustment plate slidably disposed within the groove, a helical spring disposed between the adjustment plate and the inner wall of the groove, and a steel wire rope connecting the adjustment plate and the limiting frame. An arc-shaped elastic diaphragm is provided between adjacent adjustment plates. When the electric push rod drives the limiting frame to move, the limiting frame pulls the adjustment plate along the groove through the steel wire rope and is reset by the helical spring, thereby changing the diameter of the spray action area formed by the multiple adjustment plates and the arc-shaped elastic diaphragm. The buffer unit is used to buffer and insulate heat when the actuator is close to the surface of the equipment to be treated.

[0006] Specifically, the primary lifting assembly is mounted on a mobile chassis. The primary lifting assembly includes a lifting motor, a support frame is mounted on the outside of the lifting motor, a rectangular protective plate is fixedly mounted on the upper end of the support frame, the driving shaft of the lifting motor passes through the support frame and is fixedly connected to an internal threaded sleeve, a lifting screw is screwed into the internal threaded sleeve, and the upper end of the lifting screw passes through the top of the rectangular protective plate and is fixedly connected to a top plate.

[0007] Specifically, the top plate sidewall is fixedly connected to a primary lifting plate, and the primary lifting plate sidewall is slidably connected to the rectangular protective plate sidewall via a primary lifting guide rail.

[0008] Specifically, a secondary lifting slide rail is symmetrically installed on the side wall of the primary lifting plate, and a secondary lifting slider is slidably installed on the secondary lifting slide rail. The secondary lifting slider is fixedly connected to the support frame.

[0009] Specifically, the secondary lifting assembly includes pulleys located at the upper and lower ends near the primary lifting plate. The pulleys are fixedly connected to the primary lifting plate via a first pulley mounting bracket. The upper and lower pulleys are connected by an anti-slip belt. A secondary connecting block is fixedly installed on the anti-slip belt. The secondary connecting block is fixedly connected to the support frame. A servo motor is fixedly installed on the side of the lower first pulley mounting bracket. The output shaft of the servo motor is fixedly connected to the lower pulley.

[0010] Specifically, the probe module includes a mounting base, on one side of the upper end of the mounting base a temperature sensor is fixedly mounted, and on the other side of the upper end of the mounting base a camera probe is fixedly mounted.

[0011] Specifically, the extension assembly includes a side plate fixedly connected to the side wall of the support frame. A synchronous pulley is provided on the side plate via a second pulley mounting bracket. A synchronous belt is wound between the two synchronous pulleys. A drive block is fixedly installed on the synchronous belt. The drive block is fixedly connected to the rectangular housing. An extension motor is fixedly installed on the side wall of the second pulley mounting bracket on one side. The output shaft of the extension motor is fixedly connected to the synchronous pulley on that side.

[0012] Specifically, the execution unit includes an electric push rod fixedly installed inside the rectangular housing, a limit frame abutting against the side wall of the limit plate, the limit plate being fixedly installed at the end of the rectangular housing, and a fire extinguishing atomizing mechanism being fixedly connected to the side wall of the limit plate.

[0013] Specifically, the fire extinguishing atomizing mechanism has a through groove in the middle of its inner side, and a medium conveying interface for conveying the atomizing medium is provided in the middle of the upper end of the fire extinguishing atomizing mechanism.

[0014] Specifically, the adjustment unit includes a base ring fixedly installed on the side wall of the end baffle, and a wire rope passing through the central axis of the helical spring, the side wall of the slide groove, the through groove and the limiting plate in sequence and being fixedly connected to the limiting frame.

[0015] Specifically, a reflux hole is provided in the middle of the adjustment plate located below, and a medium reflux pipe is installed at the reflux hole.

[0016] Specifically, the buffer unit includes a concentric rubber ring plate fixedly installed at the end of the adjusting plate, a heat insulation pad fixedly installed at the end of the concentric rubber ring plate away from the adjusting plate, and a buffer spring provided between the heat insulation pad and the adjusting plate; and / or The buffer springs are evenly arranged along the circumference inside the concentric rubber ring plate.

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

[0018] 1. The mobile chassis of this invention enables the entire mechanism to move flexibly, breaking through the limitations of fixed monitoring positions. The first-stage lifting assembly achieves initial overall height adjustment, while the second-stage lifting assembly achieves precise fine-tuning. The two-stage lifting is linked, and with the guidance and limit of the first-stage lifting guide rail and the second-stage lifting slide rail, the lifting process is ensured to be smooth and without shaking. The probe module integrates a temperature sensor and a camera probe, which can achieve full height coverage from the ground to the sky, and simultaneously realize temperature acquisition and visual confirmation. Data is fed back in real time through the signal transmission module, which can accurately locate abnormal areas, effectively eliminating blind spots that conventional monitoring equipment cannot cover, and avoiding the missed detection of very early fire signals.

[0019] 2. The execution assembly integrates three functions: atomization, range adjustment, and buffer protection. The fire extinguishing atomization mechanism can spray atomized media in a targeted manner, adapting to minimally invasive treatment of localized minor anomalies. The adjustment unit, through the cooperation of helical springs, steel wire ropes, and adjustment plates, can flexibly adjust the atomization range to avoid wasting atomized media. The buffer unit, through the cooperation of concentric rubber ring plates, buffer springs, and heat insulation pads, can effectively buffer collisions between the execution assembly and the carrier equipment surface, preventing damage to its own components or the carrier equipment. At the same time, the heat insulation pads can insulate against high temperatures, protecting the normal operation of the execution assembly. The extension assembly can be flexibly extended, allowing the execution assembly to be delivered to areas that are difficult for conventional equipment to reach, further improving adaptability. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 In this invention Figure 1 A three-dimensional structural diagram after removing the support frame, probe module, extension assembly, and execution assembly;

[0023] Figure 3 In this invention Figure 2 A magnified structural diagram at point A;

[0024] Figure 4 This is a schematic diagram of the three-dimensional connection structure between the mobile chassis and the first-stage lifting assembly in this invention;

[0025] Figure 5 In this invention Figure 4 A magnified structural diagram at point B;

[0026] Figure 6 In this invention Figure 1 A three-dimensional structural diagram after removing the extension assembly and the execution assembly;

[0027] Figure 7 In this invention Figure 6 A magnified structural diagram at point C;

[0028] Figure 8 This is a schematic diagram of the three-dimensional connection structure between the extension assembly and the execution assembly in this invention;

[0029] Figure 9 This is a schematic diagram of the three-dimensional connection structure of the assembly of the present invention after removing the rectangular housing;

[0030] Figure 10 This is a schematic diagram of the three-dimensional connection structure of the end baffle and the adjustment unit in this invention;

[0031] Figure 11 In this invention Figure 10 A magnified structural diagram at point D;

[0032] Figure 12 In this invention Figure 10 A magnified structural diagram at point E.

[0033] In the picture:

[0034] 1. Mobile chassis; 2. Primary lifting assembly; 21. Lifting motor; 22. Support frame; 23. Rectangular protective plate; 24. Internal threaded sleeve; 25. Lifting screw; 26. Top plate; 27. Primary lifting plate; 28. Primary lifting guide rail; 29. ​​Secondary lifting slide rail; 210. Secondary lifting slider;

[0035] 3. Secondary lifting assembly; 31. Pulley; 32. First pulley mounting bracket; 33. Anti-slip belt; 34. Secondary connecting block; 35. Servo motor;

[0036] 4. Support frame; 5. Probe module; 51. Mounting base; 52. Temperature sensor; 53. Camera probe;

[0037] 6. Extension assembly; 61. Side plate; 62. Second pulley mounting bracket; 63. Synchronous pulley; 64. Synchronous belt; 65. Drive block; 66. Extension motor;

[0038] 7. Actuation assembly; 71. Rectangular housing; 72. Actuation unit; 721. Electric push rod; 722. Limiting bracket; 723. Limiting plate; 73. Fire extinguishing atomizing mechanism; 731. Media delivery interface; 74. End baffle;

[0039] 75. Adjusting unit; 751. Base ring; 752. Slide groove; 753. Adjusting plate; 7531. Arc-shaped elastic diaphragm; 7532. Medium return pipe; 754. Helical spring; 755. Steel wire rope;

[0040] 76. Buffer unit; 761. Concentric rubber ring plate; 762. Buffer spring; 763. Heat insulation pad. Detailed Implementation

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is 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. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0042] Example 1:

[0043] like Figures 1 to 7 As shown, a robotic actuator for early fire prevention includes a mobile chassis 1. A primary lifting assembly 2 is provided at the upper middle part of the mobile chassis 1. A secondary lifting assembly 3 is slidably installed on the side wall of the primary lifting assembly 2. A probe module 5 is fixedly installed on the side wall of the secondary lifting assembly 3 through a support frame 4.

[0044] The first-stage lifting assembly 2 includes a lifting motor 21 installed in the middle of the upper part of the mobile chassis 1. A support frame 22 is provided on the outside of the lifting motor 21. A rectangular protective plate 23 is fixedly installed on the upper end of the support frame 22. The drive shaft of the lifting motor 21 passes through the support frame 22 and is fixedly connected to an internal threaded sleeve 24. A lifting screw 25 is screwed into the internal threaded sleeve 24. The upper end of the lifting screw 25 passes through the top of the rectangular protective plate 23 and is fixedly connected to a top plate 26.

[0045] The top plate 26 is fixedly connected to a first-stage lifting plate 27 on its side wall. The side wall of the first-stage lifting plate 27 is slidably connected to the side wall of the rectangular protective plate 23 via a first-stage lifting guide rail 28.

[0046] The primary lifting plate 27 is symmetrically equipped with secondary lifting slide rails 29 on its side wall. Secondary lifting sliders 210 are slidably installed on the secondary lifting slide rails 29. The secondary lifting sliders 210 are fixedly connected to the support frame 4.

[0047] The secondary lifting assembly 3 includes pulleys 31 located at the upper and lower ends near the primary lifting plate 27. The pulleys 31 are fixedly connected to the primary lifting plate 27 via a first pulley mounting bracket 32. The upper and lower pulleys 31 are connected by an anti-slip belt 33. A secondary connecting block 34 is fixedly installed on the anti-slip belt 33. The secondary connecting block 34 is fixedly connected to the support frame 4. A servo motor 35 is fixedly installed on the side of the lower first pulley mounting bracket 32. The output shaft of the servo motor 35 is fixedly connected to the lower pulley 31.

[0048] The probe module 5 includes a mounting base 51 installed on the upper end of the support frame 4. A temperature sensor 52 is fixedly installed on one side of the upper end of the mounting base 51, and a camera probe 53 is fixedly installed on the other side of the upper end of the mounting base 51. Both the temperature sensor 52 and the camera probe 53 have integrated signal transmission modules and are electrically connected to the signal transmission modules.

[0049] In actual operation, in the initial state, the mobile chassis 1 is in the standby position, the first-stage lifting assembly 2 is in the fully retracted state, the lifting screw 25 is retracted into the internal thread sleeve 24, the second-stage lifting assembly 3 is in the retracted state, the probe module 5 is at the initial monitoring height, and the temperature sensor 52 and the camera probe 53 are in the off state.

[0050] When the robot's control system receives the monitoring command, the mobile chassis 1 starts, driving the first-stage lifting assembly 2, the second-stage lifting assembly 3, and the probe module 5 to move as a whole to the preset monitoring area. When the mobile chassis 1 moves to the monitoring area, the probe module 5 starts, the temperature sensor 52 starts to collect temperature data in the area in real time, and the camera probe 53 starts simultaneously to capture image data in the area. The signal transmission module integrated inside both sensors feeds back the collected temperature and image data to the control system in real time, realizing synchronous monitoring.

[0051] Meanwhile, the robot's internal control system analyzes and feeds back data. If an early temperature anomaly is detected in a certain area, the first-stage lifting assembly 2 is immediately activated. At this time, the lifting motor 21 is powered on and rotates, thereby driving the internal threaded sleeve 24 to rotate synchronously. The internal threaded sleeve 24 and the internally threaded lifting screw 25 form a threaded transmission, driving the lifting screw 25 to move upward. At the same time, the top plate 26, the first-stage lifting plate 27, the second-stage lifting assembly 3, the support frame 4, and the probe module 5 slide upward. During the sliding process, the first-stage lifting guide rail 28 guides and limits the first-stage lifting plate 27 to ensure the stable rise of the first-stage lifting plate 27 until the probe module 5 reaches the initial monitoring height.

[0052] Then, the secondary lifting assembly 3 is started. At this time, the servo motor 35 is powered on and rotates, driving the lower pulley 31 to rotate synchronously. The lower pulley 31 drives the upper pulley 31 to rotate synchronously through the anti-slip belt 33. The secondary connecting block 34 fixed on the anti-slip belt 33 moves upward with the anti-slip belt 33. Through the secondary connecting block 34, the support frame 4, the secondary lifting slider 210 and the probe module 5 move upward, thereby making precise fine-tuning of the height of the probe module 5. At the same time, the image data captured by the camera probe 53 is fed back to the control system until the temperature sensor 52 and the camera probe 53 are accurately aligned with the abnormal temperature area, completing the precise positioning of the abnormal area. Subsequently, the temperature sensor 52 and the camera probe 53 provide real-time feedback on the temperature change and image information of the abnormal area.

[0053] After the abnormal area is located, the probe module 5 continues to monitor and provide real-time data feedback. If the potential danger in the abnormal area is eliminated, it moves to the next monitoring area. The servo motor 35 rotates in the opposite direction, driving the support frame 4 and the probe module 5 to reset to the retracted state of the secondary lifting assembly 3. At the same time, the lifting motor 21 rotates in the opposite direction, driving the lifting screw 25 and the primary lifting plate 27 to reset. The primary lifting assembly 2 retracts, and finally the chassis 1 moves to drive the entire mechanism to the next monitoring area.

[0054] Example 2:

[0055] like Figure 1 as well as Figures 8 to 12As shown, Embodiment 2 is basically the same as Embodiment 1, except that: the support frame 4 is fixedly connected to the side of the extension assembly 6, and the execution assembly 7 is slidably installed on the side wall of the extension assembly 6;

[0056] The execution assembly 7 includes a rectangular housing 71. The rectangular housing 71 is slidably mounted on the side wall of the extension assembly 6. An execution unit 72 is disposed inside the rectangular housing 71. A fire extinguishing atomizing mechanism 73 is fixedly connected to the end of the execution unit 72. An end baffle 74 is fixedly mounted on the side wall of the end of the fire extinguishing atomizing mechanism 73. An adjustment unit 75 is disposed on the side wall of the end baffle 74. A buffer unit 76 is disposed at the end of the adjustment unit 75 away from the end baffle 74.

[0057] The extension assembly 6 includes a side plate 61 fixedly connected to the side wall of the support frame 4. A synchronous pulley 63 is provided on the side plate 61 via a second pulley mounting bracket 62. A synchronous belt 64 is wound between the two synchronous pulleys 63. A drive block 65 is fixedly installed on the synchronous belt 64. The drive block 65 is fixedly connected to the rectangular housing 71. An extension motor 66 is fixedly installed on the side wall of the second pulley mounting bracket 62 on one side. The output shaft of the extension motor 66 is fixedly connected to the synchronous pulley 63 on that side.

[0058] The execution unit 72 includes an electric push rod 721 fixedly installed inside the rectangular housing 71. The telescopic end of the electric push rod 721 is fixedly connected to a limit frame 722. The limit frame 722 abuts against the side wall of the limit plate 723. The limit plate 723 is fixedly installed at the end of the rectangular housing 71. A fire extinguishing atomizing mechanism 73 is fixedly connected to the side wall of the limit plate 723.

[0059] The fire extinguishing atomizing mechanism 73 has a through groove in the middle of its inner side, and a medium conveying interface 731 for conveying the atomizing medium is provided in the middle of the upper end of the fire extinguishing atomizing mechanism 73. The fire extinguishing atomizing mechanism 73 is used to atomize and disperse the incoming fire extinguishing medium and spray it outward to form a fine mist fire extinguishing agent, so as to achieve cooling, suffocation and flame suppression operations for very early fires.

[0060] The adjustment unit 75 includes a base ring 751 fixedly installed on the side wall of the end baffle 74. A sliding groove 752 is evenly opened on the base ring 751 along its circumference. An adjustment plate 753 is slidably arranged in the sliding groove 752. A helical spring 754 is installed between the adjustment plate 753 and the inner wall of the sliding groove 752. A steel wire rope 755 is fixedly attached to the inner wall of the adjustment plate 753. The steel wire rope 755 passes through the central axis of the helical spring 754, the side wall of the sliding groove 752, the through groove, and the limiting plate 723 in sequence and is fixedly connected to the limiting frame 722.

[0061] The two adjacent regulating plates 753 are sealed together by an arc-shaped elastic diaphragm 7531. A reflux hole is provided in the middle of the lower regulating plate 753, and a medium reflux pipe 7532 is installed at the reflux hole.

[0062] The buffer unit 76 includes a concentric rubber ring plate 761 fixedly installed at the end of the adjusting plate 753. A heat insulation pad 763 is fixedly installed at the end of the concentric rubber ring plate 761 away from the adjusting plate 753. A buffer spring 762 is provided between the heat insulation pad 763 and the adjusting plate 753. The buffer spring 762 is evenly arranged in the circumferential direction inside the concentric rubber ring plate 761.

[0063] In this embodiment, the heat insulation pad 763 is made of a highly elastic material, specifically high-temperature resistant rubber.

[0064] In actual operation, after locating the abnormal area, the robot's control system activates the extension assembly 6, energizing the extension motor 66 to rotate. This drives the synchronous pulley 63 connected to its output shaft to rotate synchronously. The synchronous pulley 63 drives the other synchronous pulley 63 to rotate via the synchronous belt 64. The drive block 65 fixed on the synchronous belt 64 moves with the synchronous belt 64, thereby causing the rectangular housing 71 and the entire execution assembly 7 to slide along the side plate 61. This extends the execution assembly 7 to the front of the abnormal temperature area, ensuring that the fire extinguishing atomizing mechanism 73 is aligned with the abnormal area. When the heat insulation pad 763 comes into contact with the surface of the equipment in the abnormal area, the buffer spring 762 contracts and the concentric rubber ring plate 761 undergoes elastic deformation, thereby achieving buffer protection and avoiding damage to the equipment surface. After extending into place, the extension motor 66 stops rotating. The medium delivery interface 731 is connected to a delivery pipe, which sends the atomized medium into the fire extinguishing atomizing mechanism 73. The fire extinguishing atomizing mechanism 73 atomizes the atomized medium and sprays it onto the surface area of ​​the equipment, achieving cooling and flame retardant treatment of the abnormal temperature at the very early stage and preventing the escalation of hidden dangers.

[0065] As the extension assembly 6 moves the fire extinguishing atomizing mechanism 73 closer to the surface of the equipment in the abnormal area, the probe module 5 feeds back the size of the area of ​​the abnormal temperature zone to the control system. The control system then adjusts the opening size of the heat insulation pad 763 according to the area of ​​the abnormal temperature zone. The specific adjustment process is as follows: the actuator assembly 7 is activated, at which time the electric push rod 721 is energized and retracts, driving the limit frame 722 to move away from the fire extinguishing atomizing mechanism 73. During this process, the limit frame 722 will drive the wire rope 755 to pull the adjusting plate 753 to slide along the slide groove 752. This causes the regulating plate 753 to contract inward, compressing the helical spring 754. Simultaneously, the concentric rubber ring plate 761 adapts to the change. Since the heat insulation pad 763 is made of highly elastic rubber material, it can contract synchronously. In the initial position, the opening of the heat insulation pad 763 is at its maximum. During the atomization cooling process, the atomized medium will adhere to the surface of the equipment to form small droplets and flow back to the bottom of the area formed by the regulating plate 753 and the arc-shaped elastic diaphragm 7531. Finally, it is recycled through the medium return pipe 7532 to avoid medium waste.

[0066] Working principle of the invention:

[0067] When the robot's control system receives the monitoring command, the mobile chassis 1 starts, driving the first-stage lifting assembly 2, the second-stage lifting assembly 3, and the probe module 5 to move as a whole to the preset monitoring area. When the mobile chassis 1 moves to the monitoring area, the probe module 5 starts, the temperature sensor 52 starts to collect temperature data in the area in real time, and the camera probe 53 starts simultaneously to capture image data in the area. The signal transmission module integrated inside both sensors feeds back the collected temperature and image data to the control system in real time, realizing synchronous monitoring.

[0068] Meanwhile, the robot's internal control system analyzes and feeds back data. If an early temperature anomaly is detected in a certain area, the first-stage lifting assembly 2 is immediately activated. At this time, the lifting motor 21 is powered on and rotates, thereby driving the internal threaded sleeve 24 to rotate synchronously. The internal threaded sleeve 24 and the internally threaded lifting screw 25 form a threaded transmission, driving the lifting screw 25 to move upward. At the same time, the top plate 26, the first-stage lifting plate 27, the second-stage lifting assembly 3, the support frame 4, and the probe module 5 slide upward. During the sliding process, the first-stage lifting guide rail 28 guides and limits the first-stage lifting plate 27 to ensure the stable rise of the first-stage lifting plate 27 until the probe module 5 reaches the initial monitoring height.

[0069] Then, the secondary lifting assembly 3 is started. At this time, the servo motor 35 is powered on and rotates, driving the lower pulley 31 to rotate synchronously. The lower pulley 31 drives the upper pulley 31 to rotate synchronously through the anti-slip belt 33. The secondary connecting block 34 fixed on the anti-slip belt 33 moves upward with the anti-slip belt 33. Through the secondary connecting block 34, the support frame 4, the secondary lifting slider 210 and the probe module 5 move upward, thereby making precise fine-tuning of the height of the probe module 5. At the same time, the image data captured by the camera probe 53 is fed back to the control system until the temperature sensor 52 and the camera probe 53 are accurately aligned with the abnormal temperature area, completing the precise positioning of the abnormal area. Subsequently, the temperature sensor 52 and the camera probe 53 provide real-time feedback on the temperature change and image information of the abnormal area.

[0070] After the abnormal area is located, the probe module 5 continues to monitor and provide real-time data feedback. If the hidden danger in the abnormal area is eliminated, it will move to the next monitoring area. The servo motor 35 rotates in the opposite direction, driving the support frame 4 and the probe module 5 to reset to the retracted state of the secondary lifting assembly 3. At the same time, the lifting motor 21 rotates in the opposite direction, driving the lifting screw 25 and the primary lifting plate 27 to reset. The primary lifting assembly 2 retracts, and finally the chassis 1 moves to drive the entire mechanism to the next monitoring area.

[0071] After locating the abnormal area, the robot's control system activates the extension assembly 6, energizing the extension motor 66 to rotate. This drives the synchronous pulley 63 connected to its output shaft to rotate synchronously. The synchronous pulley 63 drives the other synchronous pulley 63 to rotate via the synchronous belt 64. The drive block 65 fixed on the synchronous belt 64 moves with the synchronous belt 64, thereby causing the rectangular housing 71 and the entire execution assembly 7 to slide along the side plate 61. This extends the execution assembly 7 to the front of the abnormal temperature area, ensuring that the fire extinguishing atomizing mechanism 73 is aligned with the abnormal area. At the same time, the heat insulation pad 763 contacts the surface of the equipment in the abnormal area. During this process, the buffer spring 762 contracts, and the concentric rubber ring plate 761 undergoes elastic deformation, thereby achieving buffer protection and preventing damage to the equipment surface. After the extension is in place, the extension motor 66 stops rotating. The medium delivery interface 731 is connected to a delivery pipe, which sends the atomized medium into the fire extinguishing atomizing mechanism 73. The fire extinguishing atomizing mechanism 73 atomizes the medium and sprays it onto the surface area of ​​the equipment, achieving early cooling and flame-retardant treatment of abnormal temperatures and preventing the escalation of potential hazards.

[0072] As the extension assembly 6 moves the fire extinguishing atomizing mechanism 73 closer to the surface of the equipment in the abnormal area, the probe module 5 feeds back the size of the area of ​​the abnormal temperature zone to the control system. The control system then adjusts the opening size of the heat insulation pad 763 according to the area of ​​the abnormal temperature zone. The specific adjustment process is as follows: the actuator assembly 7 is activated, at which time the electric push rod 721 is energized and retracts, driving the limit frame 722 to move away from the fire extinguishing atomizing mechanism 73. During this process, the limit frame 722 will drive the wire rope 755 to pull the adjusting plate 753 to slide along the slide groove 752. This causes the regulating plate 753 to contract inward, compressing the helical spring 754. Simultaneously, the concentric rubber ring plate 761 adapts to the change. Since the heat insulation pad 763 is made of highly elastic rubber material, it can contract synchronously. In the initial position, the opening of the heat insulation pad 763 is at its maximum. During the atomization cooling process, the atomized medium will adhere to the surface of the equipment to form small droplets and flow back to the bottom of the area formed by the regulating plate 753 and the arc-shaped elastic diaphragm 7531. Finally, it is recycled through the medium return pipe 7532 to avoid medium waste.

[0073] Once the temperature in the abnormal area returns to normal, the fire extinguishing atomizing mechanism 73 is shut down, the delivery of atomizing medium is stopped, the electric push rod 721 extends in the opposite direction, driving the adjustment unit 75 and the buffer unit 76 to reset. The adjustment plate 753 returns to its initial position under the action of the helical spring 754. The extension motor 66 rotates in the opposite direction, driving the synchronous belt 64, the drive block 65 and the execution assembly 7 to reset. The extension assembly 6 retracts. Subsequently, the secondary lifting assembly 3 and the primary lifting assembly 2 reset in sequence. The probe module 5 is turned off, and the moving chassis 1 drives the entire mechanism back to the standby position, completing one integrated prevention and control process.

[0074] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robotic actuator for early fire prevention, comprising a mobile chassis (1), characterized in that: The mobile chassis (1) is equipped with a lifting mechanism, which includes a primary lifting assembly (2) and a secondary lifting assembly (3) that can be lifted and lowered on it. The secondary lifting assembly (3) is connected to the support frame (4). The support frame (4) is equipped with a probe module (5) and an extension assembly (6). The extension assembly (6) is equipped with a retractable execution assembly (7). The execution assembly (7) includes a rectangular housing (71), an execution unit (72) disposed in the rectangular housing (71), a fire extinguishing atomizing mechanism (73) connected to the execution unit (72), a spray range adjustment unit (75) disposed at the end of the fire extinguishing atomizing mechanism (73), and a buffer unit (76) disposed at the end of the adjustment unit (75). The actuator (72) includes an electric push rod (721) and a limit frame (722) connected to its telescopic end. The adjustment unit (75) includes a base ring (751), multiple grooves (752) arranged circumferentially along the base ring (751), an adjustment plate (753) slidably disposed in the groove (752), a helical spring (754) disposed between the adjustment plate (753) and the inner wall of the groove (752), and a steel wire rope (755) connecting the adjustment plate (753) and the limiting frame (722). An arc-shaped elastic diaphragm (7531) is provided between adjacent adjustment plates (753). When the electric push rod (721) drives the limiting frame (722) to move, the limiting frame (722) pulls the adjustment plate (753) to slide along the groove (752) through the steel wire rope (755) and is reset by the helical spring (754) to change the diameter of the spray action area formed by the multiple adjustment plates (753) and the arc-shaped elastic diaphragm (7531). The buffer unit (76) is used to buffer heat when the execution assembly (7) is close to the surface of the device to be processed.

2. The early-stage fire prevention robot actuator as described in claim 1, characterized in that: The first-stage lifting assembly (2) is mounted on the mobile chassis (1). The first-stage lifting assembly (2) includes a lifting motor (21). A support frame (22) is provided on the outside of the lifting motor (21). A rectangular protective plate (23) is fixedly installed on the upper end of the support frame (22). The drive shaft of the lifting motor (21) passes through the support frame (22) and is fixedly connected to an internal threaded sleeve (24). A lifting screw (25) is screwed inside the internal threaded sleeve (24). The upper end of the lifting screw (25) passes through the top of the rectangular protective plate (23) and is fixedly connected to a top plate (26).

3. The early-stage fire prevention robot actuator as described in claim 2, characterized in that: The top plate (26) is fixedly connected to a first-stage lifting plate (27) on its side wall. The side wall of the first-stage lifting plate (27) is slidably connected to the side wall of the rectangular protective plate (23) via a first-stage lifting guide rail (28).

4. The early-stage fire prevention robot actuator as described in claim 3, characterized in that: The first-stage lifting plate (27) is symmetrically equipped with a second-stage lifting slide rail (29) on its side wall. A second-stage lifting slider (210) is slidably installed on the second-stage lifting slide rail (29). The second-stage lifting slider (210) and the support frame (4) are fixedly connected.

5. The early-stage fire prevention robot actuator as described in claim 4, characterized in that: The secondary lifting assembly (3) includes pulleys (31) located at the upper and lower ends near the primary lifting plate (27). The pulleys (31) are fixedly connected to the primary lifting plate (27) via a first pulley mounting bracket (32). The upper and lower pulleys (31) are connected by an anti-slip belt (33). A secondary connecting block (34) is fixedly installed on the anti-slip belt (33). The secondary connecting block (34) is fixedly connected to the support frame (4). A servo motor (35) is fixedly installed on the side of the lower first pulley mounting bracket (32). The output shaft of the servo motor (35) is fixedly connected to the lower pulley (31).

6. The early-stage fire prevention robot actuator as described in claim 1, characterized in that: The probe module (5) includes a mounting base (51), a temperature sensor (52) is fixedly mounted on one side of the upper end of the mounting base (51), and a camera probe (53) is fixedly mounted on the other side of the upper end of the mounting base (51).

7. The early-stage fire prevention robot actuator as described in claim 1, characterized in that: The extension assembly (6) includes a side plate (61) fixedly connected to the side wall of the support frame (4). A synchronous pulley (63) is provided on the side plate (61) via a second pulley mounting bracket (62). A synchronous belt (64) is wound between the two synchronous pulleys (63). A drive block (65) is fixedly installed on the synchronous belt (64). The drive block (65) is fixedly connected to the rectangular housing (71). An extension motor (66) is fixedly installed on the side wall of the second pulley mounting bracket (62) on one side. The output shaft of the extension motor (66) is fixedly connected to the synchronous pulley (63) on that side.

8. The early-stage fire prevention robot actuator as described in claim 7, characterized in that: The execution unit (72) includes an electric push rod (721) fixedly installed inside the rectangular housing (71), a limiting frame (722) abutting against the side wall of the limiting plate (723), the limiting plate (723) being fixedly installed at the end of the rectangular housing (71), and a fire extinguishing atomizing mechanism (73) being fixedly connected to the side wall of the limiting plate (723).

9. The early-stage fire prevention robot actuator as described in claim 8, characterized in that: The fire extinguishing atomizing mechanism (73) has a through groove in the middle of its inner side, and a medium conveying interface (731) for conveying atomizing medium is provided in the middle of the upper end of the fire extinguishing atomizing mechanism (73).

10. The early-stage fire prevention robot actuator as described in claim 9, characterized in that: The adjustment unit (75) includes a base ring (751) fixedly installed on the side wall of the end baffle (74), and a wire rope (755) passing through the central axis of the helical spring (754), the side wall of the slide groove (752), the through groove and the limiting plate (723) and fixedly connected to the limiting frame (722).

11. The early-stage fire prevention robot actuator as described in claim 10, characterized in that: A reflux hole is provided in the middle of the adjustment plate (753) located below, and a medium reflux pipe (7532) is installed at the reflux hole.

12. The early-stage fire prevention robot actuator as described in claim 11, characterized in that: The buffer unit (76) includes a concentric rubber ring plate (761) fixedly installed at the end of the adjusting plate (753), a heat insulation pad (763) fixedly installed at the end of the concentric rubber ring plate (761) away from the adjusting plate (753), and a buffer spring (762) provided between the heat insulation pad (763) and the adjusting plate (753); and / or The buffer springs (762) are evenly arranged in the circumferential direction inside the concentric rubber ring plate (761).

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