Self-propelled wind power fire extinguishing robot with wind speed adjusting function

Abstract

The utility model discloses a self-propelled wind power fire extinguishing robot with a wind speed adjusting function, and relates to the technical field of forest fire control. The chassis rack carries a crawler walking mechanism, an air duct adjusting mechanism, a centrifugal fan system, a power system, a hydraulic system and a control system, the power system provides power for the centrifugal fan system and the hydraulic system, and the centrifugal fan system is provided with a fire extinguishing air duct and performs lifting and deflection actions through the air duct adjusting mechanism; the fire extinguishing air duct is provided with an air speed adjusting mechanism, the hydraulic system controls the crawler walking mechanism and the air duct adjusting mechanism, and the control system is connected with the computer control end to achieve remote operation control. The fire extinguishing robot advances under complex forest terrains through remote control operation and replaces manpower to generate wind power through a centrifugal fan system to conduct fire extinguishing operation, the position and angle of a wind power outlet and the wind speed can be adjusted, the intelligent degree and the fire extinguishing efficiency are high, and physical output of manual fire extinguishing and dangerous factors are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of forest fire fighting, in particular to a self-propelled wind-powered fire-fighting robot with a wind speed regulating function. Background Art

[0002] Forest fires pose a huge threat to human life and property safety and the earth's ecological environment. With the frequent occurrence of forest fires in recent years, there is an urgent need for timely and effective fire-fighting equipment for forest fires. my country currently has a variety of forest fire-fighting equipment, such as forest fire-fighting bombs and aviation fire-fighting equipment, but they have not been widely used due to high costs and technical limitations. For conventional large-scale fire trucks, not only is the cost of fire-fighting high, but it is also difficult to quickly reach the fire scene for fire-fighting operations due to the complex terrain in the forest.

[0003] In addition, traditional hydraulic firefighting is limited by forest terrain and cannot fully obtain water supply. With the development of fire extinguishing technology, wind-powered firefighting has gradually become the main development direction of forest fire fighting. At present, portable wind-powered fire extinguishers carried by manpower are commonly used. They have the advantages of light weight, environmental protection and energy saving. However, due to the long-term vibration and high noise of the machine, the physical exertion of the operator will increase and it cannot be used for a long time. Therefore, it is necessary to design a robot with wind-powered firefighting as the core and capable of moving easily in forest terrain, so as to avoid the burden of portable wind-powered fire extinguishers on manpower and improve the intelligence and efficiency of forest firefighting. Utility Model Content

[0004] In order to overcome the shortcomings of the background technology, the utility model provides a self-propelled wind-powered fire-fighting robot with a wind speed adjustment function, which can move in complex forest terrain through remote control, and replace manpower to generate wind power through a centrifugal fan system to perform fire-fighting operations. The position and angle of the wind outlet and the wind speed are adjustable, and the robot has a high degree of intelligence and fire-fighting efficiency, thereby reducing the physical exertion and risk factors of manual fire-fighting.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a self-propelled wind-powered fire-fighting robot with a wind speed adjustment function, comprising a crawler walking mechanism, a chassis frame, a centrifugal fan system, a wind tube adjustment mechanism, a wind speed adjustment mechanism, a power system, a hydraulic system and a control system, wherein the crawler walking mechanism is installed at the bottom of the chassis frame, the top of the chassis frame is equipped with a fixed centrifugal fan system, a power system, a hydraulic system and a control system, the front end of the chassis frame is equipped with a wind tube adjustment mechanism, the power system is arranged at the middle position of the top of the chassis frame to provide power for the centrifugal fan system and the hydraulic system, the centrifugal fan system includes two sets of centrifugal fan boxes and are respectively provided with On both sides of the top of the chassis frame, the two sets of centrifugal fan boxes are connected to set two fire extinguishing air cylinders and extend to the front of the chassis frame. Wind speed adjustment mechanisms are respectively installed on the two fire extinguishing air cylinders. The wind speed adjustment mechanism can adjust the tightness of the corresponding fire extinguishing air cylinders to control the wind speed. The air cylinder adjustment mechanism carries and positions the ends of the two fire extinguishing air cylinders and can perform lifting and deflection actions. The hydraulic system controls the crawler walking mechanism and the air cylinder adjustment mechanism. The control system is provided with a control main board and is connected to the computer control end through the onboard signal transceiver module to realize remote control operation to control the power system, the hydraulic system and the two wind speed adjustment mechanisms.

[0006] Furthermore, the crawler walking mechanism is divided into two track wheel bodies with the same structure and symmetrically arranged on both sides of the bottom of the chassis frame. Each of the track wheel bodies includes a guide wheel, a tensioning device, a supporting wheel group, a wheel frame, a rubber track and a power wheel. The wheel frame is fixedly installed on the bottom of the chassis frame and rotatably installs the supporting wheel group. The supporting wheel group is horizontally arranged in the front and rear directions. The guide wheel is arranged at the front end above the supporting wheel group and is connected to the chassis frame for positioning through the tensioning device. The tensioning device is connected to the hydraulic system to adjust the position of the guide wheel. The power wheel is arranged at the rear end above the guide wheel and is rotatably connected to the top of the chassis frame. The power wheel is connected to the hydraulic system to realize forward and reverse control. The rubber track is mounted on the guide wheel, the supporting wheel group and the power wheel.

[0007] Furthermore, the air cylinder adjustment mechanism includes a steering plate, an adjustment bracket, a longitudinal hydraulic cylinder and a transverse hydraulic cylinder. The adjustment bracket is a U-shaped bracket structure and keeps the open end facing backward and is hinged to the front end of the chassis frame. The bottom center of the steering plate is rotatably installed above the closed end of the adjustment bracket through a switching shaft. At the same time, the steering plate support is arranged below the ends of the two fire extinguishing air cylinders and fixed. The longitudinal hydraulic cylinder is arranged above the support arm of the adjustment bracket and its two ends are respectively hinged to the corresponding positions of the adjustment bracket and the front end of the chassis frame. The transverse hydraulic cylinder is arranged between the support arms on both sides of the adjustment bracket and the bottom end of the cylinder body is hinged to the middle position of one of the side arms. A connecting rod is fixed longitudinally in the middle position behind the steering plate and its end is hinged to the telescopic end of the transverse hydraulic cylinder through a connecting bolt. Both the longitudinal hydraulic cylinder and the transverse hydraulic cylinder are connected to the hydraulic system to realize telescopic control.

[0008] Furthermore, the wind speed adjustment mechanism includes a guide plate, a transmission gear, a drive gear, a base plate, an outer shell and multiple blades. The base plate body is an annular plate and a gear mounting position is arranged on its edge. The base plate is processed with multiple positioning grooves at equal angles along the circumferential direction on the edge of the annular area. The positioning grooves are arranged radially. The multiple blades are respectively slidably connected with the multiple positioning grooves. Cylindrical pins are fixedly arranged on the outer surfaces of the blades. The guide plate is an annular plate that is coaxially rotatably connected to the base plate and abuts against the outer surfaces of the multiple blades. The guide plate is processed with multiple arched grooves at equal angles along the circumferential direction on the edge of the annular area. The multiple arched grooves are arranged one-to-one with the multiple positioning grooves. The multiple blades are respectively extended into the corresponding arched grooves through the cylindrical pins. The drive gear and the transmission gear are meshed and respectively rotatably installed on the edge of the base plate. The drive gear assembly motor is controlled by a control system for forward and reverse rotation. The transmission gear is meshed with prefabricated teeth on the edge of the guide plate along the circumferential direction. The outer shell cover is installed on the outside of the base plate and is through-set with the center holes of the guide plate and the base plate.

[0009] Furthermore, the wind speed adjustment mechanism is provided with a manual control structure, including a handwheel, a spring, a driving rod and a transmission rod. The transmission rod is inserted into a preset hole position inside the shell and is coaxially connected and fixed with the transmission gear. The driving rod is inserted into a preset hole position on the outer wall of the shell and its inner end cooperates with the transmission rod through a claw structure. The spring sleeve is supported on the driving rod so that the claw structure is kept in a separated state in the absence of external force. The handwheel is coaxially fixed to the outer end of the driving rod.

[0010] Furthermore, a deep groove ball bearing is installed on the cylindrical pin as a roller confined inside the arcuate groove.

[0011] Furthermore, the driving gear and the transmission gear are driven with a reduction ratio.

[0012] Furthermore, the hydraulic system includes a hydraulic pump, a hydraulic oil tank and a solenoid valve group. The hydraulic oil tank provides hydraulic oil to each hydraulic pipeline. The hydraulic pump is connected to the power system through a gearbox to provide power to each hydraulic pipeline. The solenoid valve group adjusts the on-off of each hydraulic pipeline through a control system, and then controls the crawler walking mechanism and the air cylinder adjustment mechanism.

[0013] Furthermore, the control system is also equipped with an environment recognition module and a smoke recognition module. The environment recognition module integrates a visual perception device, an infrared imaging device and a navigation device for collecting environmental information, and the smoke recognition module is used to recognize smoke generated by a fire.

[0014] Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model robot receives and sends signals through the control system and connects to the computer control end to realize remote control operation to control the power system, hydraulic system and two wind speed adjustment mechanisms. The power system provides power for the centrifugal fan system and the hydraulic system. The centrifugal fan system generates wind through the centrifugal fan box and leads it out through the fire extinguishing wind tube to perform fire extinguishing operations. The hydraulic system controls the crawler walking mechanism and the wind tube adjustment mechanism. The crawler walking mechanism is convenient for moving under complex terrain in the forest. The wind tube adjustment mechanism can adjust the position and angle of the fire extinguishing wind tube, and the fire extinguishing wind tube is provided with a wind speed regulator to control the wind speed through tension adjustment. It can be used to extinguish large-area fires and is also suitable for accurately extinguishing small-scale fire sources. It provides higher operational flexibility and fire extinguishing efficiency, reduces the physical exertion and risk factors of manual fire extinguishing, has a high degree of intelligence, and has good application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an axonometric diagram of the self-propelled wind-powered fire-fighting robot of the utility model;

[0016] Figure 2 yes Figure 1 The main view;

[0017] Figure 3 yes Figure 1 Right view of;

[0018] Figure 4 It is a structural schematic diagram of the stroke cylinder adjustment mechanism of the utility model;

[0019] Figure 5 It is a schematic diagram of the internal structure of the wind speed regulating mechanism in the utility model;

[0020] Figure 6 It is a partial cross-sectional schematic diagram of the wind speed regulating mechanism in the utility model.

[0021] In the figure: 1. crawler walking mechanism; 2. chassis frame; 3. centrifugal fan system; 4. air cylinder adjustment mechanism; 5. wind speed adjustment mechanism; 6. power system; 7. hydraulic system; 8 control system; 11. guide wheel; 12. tensioning device; 13. supporting wheel; 14. gearbox; 15. wheel frame; 16. rubber crawler; 17. power wheel; 31. centrifugal fan box; 32. fire extinguishing air cylinder; 41. steering plate; 42. adjustment bracket; 43. longitudinal hydraulic cylinder; 44. connecting bolt; 45 , horizontal hydraulic cylinder; 51, blade; 52, guide plate; 53, deep groove ball bearing; 54, cylindrical pin; 55, transmission gear; 56, drive gear; 57, base plate; 58, hand wheel; 59, spring; 510, drive rod; 511, transmission rod; 512, positioning groove; 513, housing; 61, engine; 62, power oil tank; 71, hydraulic motor; 72, hydraulic oil tank; 73, solenoid valve group; 81, environment recognition module; 82, smoke recognition module; 83, control box. DETAILED DESCRIPTION

[0022] The technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0023] like Figure 1 to Figure 6 As shown, a self-propelled wind-powered fire-fighting robot with a wind speed adjustment function includes a crawler walking mechanism 1, a chassis frame 2, a centrifugal fan system 3, a wind tube adjustment mechanism 4, a wind speed adjustment mechanism 5, a power system 6, a hydraulic system 7 and a control system 8.

[0024] Combination Figure 1As shown, the crawler walking mechanism 1 is installed at the bottom of the chassis frame 2, the top of the chassis frame 2 is equipped with a fixed centrifugal fan system 3, a power system 6, a hydraulic system 7 and a control system 8, and the front end of the chassis frame 2 is installed with a wind tube adjustment mechanism 4. Among them, the power system 6 is arranged in the middle position of the top of the chassis frame 2 to provide power for the centrifugal fan system 3 and the hydraulic system 7. The centrifugal fan system 3 includes two sets of centrifugal fan boxes 31 and are respectively arranged on both sides of the top of the chassis frame 2. The two sets of centrifugal fan boxes 31 are connected to set two fire extinguishing air cylinders 32 and extend to the front of the chassis frame 2. Wind speed adjustment mechanisms 5 are respectively installed on the two fire extinguishing air cylinders 32. The wind speed adjustment mechanism 5 can adjust the tightness of the corresponding fire extinguishing air cylinders 32 to control the wind speed. The air cylinder adjustment mechanism 4 carries and positions the ends of the two fire extinguishing air cylinders 32 and can perform lifting and deflection actions. The hydraulic system 7 controls the crawler walking mechanism 1 and the air cylinder adjustment mechanism 4. The control system 8 controls the power system 6, the hydraulic system 7 and the two wind speed adjustment mechanisms 5.

[0025] Combination Figure 2 As shown, the crawler walking mechanism 1 is divided into two crawler wheel bodies with the same structure and symmetrically arranged on both sides of the bottom of the chassis frame 2, each of which includes a guide wheel 11, a tensioning device 12, a supporting wheel group 13, a wheel frame 15, a rubber crawler track 16 and a power wheel 17. The wheel frame 15 is fixedly installed at the bottom of the chassis frame 2 and rotatably installs the supporting wheel group 13. The supporting wheel group 13 is horizontally arranged in the front and rear directions. The guide wheel 11 is arranged at the front end above the supporting wheel group 13 and is connected and positioned with the chassis frame 2 through the tensioning device 12. The tensioning device 12 is connected to the hydraulic system 7 to adjust the position of the guide wheel 11. The power wheel 17 is arranged at the rear end above the guide wheel 11 and is rotatably connected to the top of the chassis frame 2. The power wheel 17 is connected to the hydraulic system 7 to realize forward and reverse control. The rubber crawler track 16 is sleeved on the guide wheel 11, the supporting wheel group 13 and the power wheel 17. During the driving process, the crawler walking mechanism 1 drives the rubber crawler 16 to achieve displacement through the power wheels 17 of the two crawler wheel bodies, and realizes forward and backward movement through the forward and reverse adjustment of the power wheels 17. The position of the guide wheel 11 is adjusted by the tensioning device 12 of the two crawler wheel bodies to tension the rubber crawler 16 to different degrees to achieve steering action.

[0026] Combination Figure 2 As shown, the centrifugal fan system 3 includes two centrifugal fan boxes 31 and two fire extinguishing air cylinders 32. The centrifugal fan boxes 31 are connected to the power system 6 to generate wind power, and the fire extinguishing air cylinders 32 guide the generated wind power to the front of the robot for discharge to perform fire extinguishing tasks.

[0027] Combination Figure 4As shown, the air cylinder adjustment mechanism 4 includes a steering plate 41, an adjustment bracket 42, a longitudinal hydraulic cylinder 43 and a transverse hydraulic cylinder 45. The adjustment bracket 42 is a U-shaped bracket structure and is hinged to the front end of the chassis frame 2 with the open end facing backward. The steering plate 41 is arranged horizontally and its bottom center is rotatably installed above the closed end of the adjustment bracket 42 through a transfer shaft. At the same time, the steering plate 41 is supported and fixed below the ends of the two fire extinguishing air cylinders 32. The longitudinal hydraulic cylinder 43 is arranged above the support arm of the adjustment bracket 42 and its two ends are respectively hinged to the corresponding positions of the adjustment bracket 42 and the front end of the chassis frame 2. The hydraulic system 7 controls the extension and contraction of the longitudinal hydraulic cylinder 43 to realize the lifting and lowering action of the adjustment bracket 42. In order to ensure the stability of the action, two longitudinal hydraulic cylinders 43 are preferably arranged above the support arms on both sides of the adjustment bracket 42. The transverse hydraulic cylinder 45 is arranged between the two side arms of the adjustment bracket 42, and the bottom end of the cylinder body is hinged to the middle position of one of the side arms. A connecting rod is fixed longitudinally in the middle position behind the steering plate 41, and its end is hinged to the telescopic end of the transverse hydraulic cylinder 45 through a connecting bolt 44. The hydraulic system 7 controls the telescopic movement of the transverse hydraulic cylinder 45 to realize the deflection action of the steering plate 41.

[0028] Combination Figures 5-6As shown, the wind speed adjustment mechanism 5 includes blades 51, a guide plate 52, a deep groove ball bearing 53, a cylindrical pin 54, a transmission gear 55, a drive gear 56, a base plate 57, a hand wheel 58, a spring 59, a drive rod 510, a transmission rod 511, a positioning groove 512 and a housing 513. The main body of the base plate 57 is an annular plate and a gear mounting position is arranged on its edge. The base plate 57 is processed with a plurality of positioning grooves 512 at equal angles along the circumferential direction on the edge of the annular area. The positioning grooves 512 are arranged radially. The plurality of positioning grooves 512 are respectively slidably mounted on the blades 51. A cylindrical pin 54 is fixedly arranged on the outer surface of the blade 51. The guide plate 52 is an annular plate coaxially rotatably connected to the base plate 57 and abuts against the outer surfaces of the plurality of blades 51. The guide plate 52 is processed with a plurality of arched grooves at equal angles along the circumferential direction on the edge of the annular area. The plurality of arched grooves are arranged one by one with the plurality of positioning grooves 512. The plurality of blades 51 are respectively extended into the corresponding arched grooves through the cylindrical pin 54. In order to reduce the friction between the cylindrical pin 54 and the arched groove, a deep groove ball bearing 53 is preferably installed on the cylindrical pin 54 as a roller confined inside the arched groove. The driving gear 56 and the transmission gear 55 are meshed and respectively rotatably mounted on the edge of the bottom plate 57. The driving gear 56 and the transmission gear 55 are preferably driven by a reduction ratio, and the transmission gear 55 is meshed with the prefabricated teeth along the circumferential direction of the edge of the guide plate 52. The housing 513 is mounted on the outside of the bottom plate 57 to protect the blades 51, the guide plate 52, the transmission gear 55 and the driving gear 56, and the housing 513 is connected with the central hole of the guide plate 52 and the bottom plate 57 to allow the fire extinguishing air cylinder 32 to be inserted. Among them, the driving gear 56 is equipped with a motor to control the forward and reverse rotation through the control system 8. The driving gear 56 rotates through the transmission gear 55 to drive the guide plate 52 to rotate. Under the guidance of the multiple arched grooves, the multiple blades 51 move along the corresponding positioning grooves 512 to achieve the opening and closing action.

[0029] In addition, a manual control structure can be provided for the wind speed adjustment mechanism 5, so that when the motor and control system 8 of the driving gear 56 fail, the fire extinguishing air cylinder 32 can be pre-tightened and set by human intervention before the robot performs the task. The manual control structure adds a hand wheel 58, a spring 59, a driving rod 510 and a transmission rod 511 on the basis of the above-mentioned wind speed adjustment mechanism 5. The transmission rod 511 is inserted into a hole preset inside the housing 513 and is coaxially connected and fixed with the transmission gear 55. The driving rod 510 is inserted into a hole preset on the outer wall of the housing 513 and its inner side end cooperates with the transmission rod 511 through a claw structure. The spring 59 is set and supported on the driving rod 510 so that it keeps the claw structure in a separated state without external force. The hand wheel 58 is coaxially fixed to the outer side end of the driving rod 510. Manually pressing down the hand wheel 58 can make the claw structure of the driving rod 510 and the transmission rod 511 in a bite state, thereby rotating the transmission gear 55. The advantage of such a design is that it avoids the situation where the hand wheel 58 is driven to rotate while the motor controls the driving gear 56 to rotate. In the absence of external force, the driving rod 510 and the transmission rod 511 are separated and cut off by the elastic force of the spring 59. When the motor fails, the elastic force of the spring 59 can be overcome by manpower to press down the hand wheel 58, so that the driving rod 510 and the transmission rod 511 can be connected and transmitted, thereby manually controlling the opening and closing of multiple blades 51.

[0030] Combination Figure 2 As shown, the power system 6 includes an engine 61 and a power oil tank 62. The power oil tank 62 provides fuel for the engine 61, and the engine 61 is respectively connected to the hydraulic pump of the hydraulic system 7 and the two sets of centrifugal fan boxes 31 of the centrifugal fan system 3 to provide power.

[0031] Combination Figure 3 As shown, the hydraulic system 7 includes a hydraulic pump, a hydraulic motor 71, a hydraulic oil tank 72 and a solenoid valve group 73. The hydraulic oil tank 72 provides hydraulic oil for each hydraulic pipeline, the hydraulic pump is connected to the engine 61 through the gearbox 14 to provide power for each hydraulic pipeline, and the solenoid valve group 73 adjusts the on and off of each hydraulic pipeline, thereby controlling the crawler walking mechanism 1 and the air cylinder adjustment mechanism 4. The hydraulic pipeline is divided into hydraulic pipeline 1 where the two power wheels 17 of the crawler walking mechanism 1 are located, hydraulic pipeline 2 where the two tensioning devices 12 of the crawler walking mechanism 1 are located, hydraulic pipeline 3 where the longitudinal hydraulic cylinder 43 of the air cylinder adjustment mechanism 4 is located, and hydraulic pipeline 4 where the transverse hydraulic cylinder 45 of the air cylinder adjustment mechanism 4 is located, wherein the hydraulic pipeline 1 is provided with the hydraulic motor 71 and connected to the transmission power wheel 17.

[0032] Combination Figure 2As shown, the control system 8 includes a control box 83 and a power module. The power module supplies power to various electrical components of the robot. The control box 83 is equipped with a control mainboard to control the start and stop of the engine 61 of the power system 6 and the on and off of the electromagnetic valve group 73 of the hydraulic system 7, so as to adjust the hydraulic system 7 to control the tensioning device 12 and the power wheel 17 of the crawler walking mechanism 1 and the longitudinal hydraulic cylinder 43 and the transverse hydraulic cylinder 45 of the wind tube adjustment mechanism 4. In addition, the control system 8 is also equipped with an environment recognition module 81 and a smoke recognition module 82. The environment recognition module 81 integrates a visual perception device, an infrared imaging device and a navigation device for collecting environmental information, and the smoke recognition module 82 is used to recognize smoke generated by fire. The start and stop of the engine 61, the on and off of the electromagnetic valve group 73, the rotation of the motor assembled with the drive gear 56, the environment recognition module 81 and the smoke recognition module 82 are all controlled by the control mainboard, and the control mainboard is connected to the computer control terminal through the signal transceiver module carried to realize remote control operation. The control main board starts the engine 61 to drive the two sets of centrifugal fan boxes 31 of the centrifugal fan system 3 to work, thereby generating wind power at the end outlets of the two fire extinguishing air cylinders 32 for fire extinguishing. At the same time, the engine 61 drives the hydraulic pump to provide power for the hydraulic pipelines of the hydraulic system 7. The control main board controls the hydraulic pipelines of the hydraulic system 7 by adjusting the on-off of the solenoid valve group 73. Among them, the forward and reverse rotation of the hydraulic motor 71 drives the rubber crawler 16 to move through the power wheel 17, which is manifested as the forward and backward movement of the crawler walking mechanism 1, and the tensioning devices 12 on both sides are tensioned to different degrees, which is manifested as the steering movement of the crawler walking mechanism 1; the shortening and elongation of the longitudinal hydraulic cylinder 43 is manifested as the lifting and lowering movement of the adjustment bracket 42, and the extension and contraction of the transverse hydraulic cylinder 45 is manifested as the deflection movement of the steering plate 41, thereby adjusting the height and orientation angle of the two fire extinguishing wind cylinders 32 positioned by the wind cylinder adjustment mechanism 4; the forward and reverse rotation of the motor assembled with the driving gear 56 drives the guide plate 52 to rotate through the transmission gear 55, which is manifested as the blade 51 adjusting the tightness of the fire extinguishing wind cylinder 32 to change the wind pressure at the end outlet. The environment recognition module 81 and the smoke recognition module 82 collect environmental information and identify the fire location through smoke, and realize the control of the robot's travel trajectory through the algorithm designed by the control main board or manual remote control, and spray wind power at the fire point to perform fire extinguishing operations.

[0033] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other forms of assembly without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes within the meaning and scope of the equivalents of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0034] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A self-propelled wind-powered fire-fighting robot with wind speed adjustment function, characterized in that: The invention comprises a crawler walking mechanism (1), a chassis frame (2), a centrifugal fan system (3), a wind tube adjustment mechanism (4), a wind speed adjustment mechanism (5), a power system (6), a hydraulic system (7) and a control system (8), wherein the crawler walking mechanism (1) is installed at the bottom of the chassis frame (2), the centrifugal fan system (3), the power system (6), the hydraulic system (7) and the control system (8) are mounted on the top of the chassis frame (2), the wind tube adjustment mechanism (4) is installed at the front end of the chassis frame (2), the power system (6) is arranged at the middle position of the top of the chassis frame (2) to provide power for the centrifugal fan system (3) and the hydraulic system (7), the centrifugal fan system (3) comprises two sets of centrifugal fan boxes (31) which are respectively arranged on both sides of the top of the chassis frame (2), and the Two sets of centrifugal fan boxes (31) are connected to set two fire extinguishing air cylinders (32) and extend to the front of the chassis frame (2). The two fire extinguishing air cylinders (32) are respectively installed with wind speed adjustment mechanisms (5). The wind speed adjustment mechanisms (5) can adjust the tightness of the corresponding fire extinguishing air cylinders (32) to achieve wind speed control. The air cylinder adjustment mechanism (4) carries and positions the ends of the two fire extinguishing air cylinders (32) and can perform lifting and deflection actions. The hydraulic system (7) controls the crawler walking mechanism (1) and the air cylinder adjustment mechanism (4). The control system (8) is provided with a control main board and is connected to the computer control end through the onboard signal transceiver module to achieve remote control operation to control the power system (6), the hydraulic system (7) and the two wind speed adjustment mechanisms (5).

2. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 1, characterized in that: The crawler walking mechanism (1) is divided into two crawler wheel bodies with the same structure and symmetrically arranged on both sides of the bottom of the chassis frame (2), each crawler wheel body comprising a guide wheel (11), a tensioning device (12), a supporting wheel group (13), a wheel frame (15), a rubber crawler track (16) and a power wheel (17), the wheel frame (15) is fixedly mounted on the bottom of the chassis frame (2) and rotatably mounted with the supporting wheel group (13), the supporting wheel group (13) is horizontally arranged in the front-rear direction, the guide wheel (11) is arranged on the supporting wheel group (13) The front end of the wheel group (13) is connected to the chassis frame (2) for positioning through a tensioning device (12); the tensioning device (12) is connected to a hydraulic system (7) to adjust the position of the guide wheel (11); the power wheel (17) is arranged at the rear end of the guide wheel (11) and is rotatably connected to the top of the chassis frame (2); the power wheel (17) is connected to the hydraulic system (7) to realize forward and reverse rotation control; and the rubber crawler (16) is mounted on the guide wheel (11), the supporting wheel group (13) and the power wheel (17).

3. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 1, characterized in that: The wind tube adjustment mechanism (4) comprises a steering plate (41), an adjustment bracket (42), a longitudinal hydraulic cylinder (43) and a transverse hydraulic cylinder (45); the adjustment bracket (42) is a U-shaped bracket structure and is hinged to the front end of the chassis frame (2) with its open end facing backward; the bottom center of the steering plate (41) is rotatably mounted above the closed end of the adjustment bracket (42) via a transfer shaft; the steering plate (41) is supported and fixed below the ends of the two fire extinguishing wind tubes (32); the longitudinal hydraulic cylinder (43) is arranged on the adjustment bracket (4 2) and its two ends are respectively hinged to the corresponding positions of the adjustment bracket (42) and the front end of the chassis frame (2); the transverse hydraulic cylinder (45) is arranged between the two side arms of the adjustment bracket (42) and its cylinder bottom end is hinged to the middle position of one side arm; a connecting rod is fixed in the middle position behind the steering plate (41) along the longitudinal direction and its end is hinged to the telescopic end of the transverse hydraulic cylinder (45) through a connecting bolt (44); the longitudinal hydraulic cylinder (43) and the transverse hydraulic cylinder (45) are both connected to the hydraulic system (7) to realize telescopic control.

4. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 1, characterized in that: The wind speed adjustment mechanism (5) comprises a guide plate (52), a transmission gear (55), a driving gear (56), a bottom plate (57), a housing (513) and a plurality of blades (51); the bottom plate (57) is mainly an annular plate and a gear mounting position is arranged at its edge; the bottom plate (57) is processed with a plurality of positioning grooves (512) at equal angles along the circumference of the edge of the annular region; the positioning grooves (512) are arranged radially; the plurality of blades (51) are respectively slidably connected to the plurality of positioning grooves (512); cylindrical pins (54) are fixedly arranged on the outer surfaces of the blades (51); the guide plate (52) is an annular plate coaxially rotatably connected to the bottom plate (57) and abuts against the outer surfaces of the plurality of blades (51). The guide plate (52) is provided with a plurality of arcuate grooves at equal angles along the circumferential direction on the edge of the annular region. The plurality of arcuate grooves are arranged in one-to-one correspondence with the plurality of positioning grooves (512). The plurality of blades (51) extend into the corresponding arcuate grooves through the cylindrical pins (54), respectively. The driving gear (56) and the transmission gear (55) are meshed and respectively rotatably mounted on the edge of the base plate (57). The driving gear (56) is equipped with a motor to control the forward and reverse rotation through the control system (8). The transmission gear (55) is meshed with the prefabricated teeth along the circumferential direction on the edge of the guide plate (52). The housing (513) is mounted on the outside of the base plate (57) and is connected to the central holes of the guide plate (52) and the base plate (57).

5. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 4, characterized in that: The wind speed adjustment mechanism (5) is provided with a manual control structure, comprising a hand wheel (58), a spring (59), a driving rod (510) and a transmission rod (511); the transmission rod (511) is inserted into a hole preset inside the housing (513) and is coaxially connected and fixed with the transmission gear (55); the driving rod (510) is inserted into a hole preset on the outer wall of the housing (513) and its inner end cooperates with the driving rod (511) via a claw structure; the spring (59) is sleeved and supported on the driving rod (510) so that the claw structure is kept in a separated state when no external force is applied; and the hand wheel (58) is coaxially fixed to the outer end of the driving rod (510).

6. A self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 4 or 5, characterized in that: A deep groove ball bearing (53) is mounted on the cylindrical pin (54) as a roller and is confined inside the arcuate groove.

7. A self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 4 or 5, characterized in that: The driving gear (56) and the transmission gear (55) are driven by a reduction ratio.

8. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 1, characterized in that: The hydraulic system (7) comprises a hydraulic pump, a hydraulic oil tank (72) and a solenoid valve group (73); the hydraulic oil tank (72) provides hydraulic oil for each hydraulic pipeline; the hydraulic pump is connected to the power system (6) via a gearbox (14) to provide power for each hydraulic pipeline; the solenoid valve group (73) adjusts the on / off state of each hydraulic pipeline via a control system (8), thereby controlling the crawler walking mechanism (1) and the air cylinder adjustment mechanism (4).

9. The self-propelled wind-powered fire-fighting robot with wind speed adjustment function according to claim 1, characterized in that: The control system (8) is further equipped with an environment recognition module (81) and a smoke recognition module (82); the environment recognition module (81) is integrated with a visual perception device, an infrared imaging device and a navigation device for collecting environmental information; and the smoke recognition module (82) is used for recognizing smoke generated by a fire.

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