Fire-fighting robot for unattended place

Abstract

The utility model relates to the technical field of fire-fighting robots, and discloses a fire-fighting robot for unattended places, which comprises a chassis, tires are arranged at the bottom of the chassis, a mounting rack is arranged at the top of the chassis, a front camera is arranged at the front part of the mounting rack, and a rear camera is arranged at the rear part of the mounting rack. A gas sensor, an audible and visual alarm and a holder are arranged on the front portion of the top face of the mounting frame, an infrared camera and a fire extinguishing agent spray gun are arranged on the two sides of the holder, a fire extinguishing agent storage tank is arranged in the mounting frame, and the top of the fire extinguishing agent storage tank is connected to the fire extinguishing agent spray gun through a first conveying pipe; a second conveying pipe is arranged on the rear portion of the fire extinguishing agent storage tank. According to the utility model, a four-wheel four-drive structure, laser and structured light fusion slam, depth camera environment reconstruction and other technologies are adopted, so that the problems of inaccurate fire response and poor alarm reliability caused by dependence of a fixed fire extinguishing device in a traditional fire extinguishing system on preset conditions are solved.

Description

Technical Field

[0001] This utility model relates to the field of fire-fighting robot technology, and in particular to a fire-fighting robot for unattended locations. Background Technology

[0002] With the comprehensive advancement of industrial automation and intelligentization, modern industrial production and data storage are undergoing profound changes, with many locations gradually moving towards unmanned operation. Warehouses, as core hubs for material storage, are filled with massive amounts of goods and numerous flammable packaging materials. Coupled with the extensive use of automated warehousing equipment and complex electrical wiring, they are highly susceptible to fires caused by electrical faults or spontaneous combustion of goods. Substations bear the critical function of power conversion and transmission; transformers, switchgear, and other equipment operate under high loads for extended periods, and issues such as localized overheating and insulation aging can lead to fires. Once a fire spreads, it will directly affect the stability of the regional power supply. Data centers, as the "brains" of the information age, have servers and storage devices operating 24 / 7. The dense concentration of electronic components means that potential fires caused by malfunctions in cooling systems or short circuits can result in the loss of massive amounts of data, causing incalculable economic losses and social impact. Petrochemical facilities, involving flammable and explosive hazardous chemicals, are highly susceptible to fires at every stage, from raw material storage and processing to product transportation. Slight negligence, such as pipeline leaks or uncontrolled reactions, can lead to violent combustion or even explosions with extremely destructive power.

[0003] Traditional fire protection systems rely on fixed fire extinguishing devices that depend on preset conditions, making it difficult to accurately extinguish fires in complex situations. Furthermore, fire alarm systems lack active fire extinguishing capabilities and are prone to false alarms and missed alarms, resulting in inaccurate responses to fires and poor alarm reliability. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a fire-fighting robot for unattended locations. It aims to solve the problems of fixed fire extinguishing devices in traditional fire protection systems relying on preset conditions, making it difficult to accurately extinguish fires in complex situations, and fire alarm systems lacking active fire extinguishing capabilities and prone to false alarms and missed alarms, thus resulting in inaccurate response to fire situations and poor alarm reliability.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a fire-fighting robot for unmanned locations, comprising a chassis, tires at the bottom of the chassis, a mounting frame at the top of the chassis, a front camera at the front of the mounting frame, a gas sensor, an audible and visual alarm, and a pan-tilt unit at the front top of the mounting frame, infrared cameras and fire extinguishing agent spray guns on both sides of the pan-tilt unit, a fire extinguishing agent storage tank inside the mounting frame, the top of the fire extinguishing agent storage tank being connected to the fire extinguishing agent spray gun via a first delivery pipe, a second delivery pipe at the rear of the fire extinguishing agent storage tank, a sealing cap at the end of the second delivery pipe away from the fire extinguishing agent storage tank, a battery pack and a processor inside the chassis, the processor being electrically connected to the battery pack, the front camera, the audible and visual alarm, the gas sensor, the fire extinguishing agent spray gun, the infrared camera, the pan-tilt unit, and a drive mechanism, the drive mechanism being used to control the rotation of the tires.

[0006] The above technical solution utilizes a 4-wheel drive structure, laser-structured light fusion SLAM, and depth camera environmental reconstruction technologies to construct a site map and autonomously plan the optimal path for inspection according to a set route and time. Real-time monitoring of temperature, smoke concentration, and gas composition is achieved through front cameras, audible and visual alarms, gas sensors, fire extinguishing agent spray guns, and infrared cameras to promptly detect fire hazards. The processor employs lightweight neural network technology to accurately identify early fire signs, such as faint flames, abnormal temperature changes, and changes in ambient gas concentration, using gas sensors and infrared cameras. The system quickly identifies a fire and issues an alarm via sound and light. Upon locating the fire source, it rapidly arrives at the fire location and activates the extinguishing device by adjusting the spray angle of the extinguishing agent spray gun mounted on a pan-tilt unit. It then sprays dry powder, foam, water, or other extinguishing agents to extinguish the fire. After extinguishing the fire, it continuously monitors the ambient temperature via an infrared camera and performs secondary extinguishing if the temperature exceeds a threshold. This solves the problems of traditional fire protection systems where fixed extinguishing devices rely on preset conditions, making it difficult to accurately extinguish complex fires. Furthermore, traditional fire alarm systems often lack active extinguishing capabilities and are prone to false alarms and missed alarms, resulting in inaccurate fire response and poor alarm reliability.

[0007] As a further description of the above technical solution:

[0008] The drive mechanism includes a motor, the bottom of which is fixedly connected to the bottom surface of the chassis. A fourth shaft is rotatably mounted on the output end of the motor. A third gear is fixedly connected to the outer wall of the fourth shaft. A first shaft is rotatably connected to the side wall of the chassis. A first gear is mounted on the outer wall of the first shaft. The tooth ends of the first gear and the tooth ends of the third gear can mesh with each other. Tires are fixedly connected to both ends of the first shaft.

[0009] The above technical solution enables the fourth rotating shaft to rotate by the output power of the motor; the fourth rotating shaft drives the third gear to rotate; the teeth of the first gear and the teeth of the third gear mesh with each other, thus transmitting the rotational power from the fourth rotating shaft to the first gear; the first gear is provided on the outer wall of the first rotating shaft, thereby transmitting the rotational power transmitted to the first gear to the first rotating shaft; tires are fixedly connected to both ends of the first rotating shaft, thereby transmitting the rotational power transmitted to the first rotating shaft to the tires, thereby driving the robot to move.

[0010] As a further description of the above technical solution:

[0011] The first gear includes a first connecting groove, a first shaft hole, and a first wheel. The first wheel has a first shaft hole in its center, a first connecting groove in its side wall, and a first guide groove in its interior. The first guide groove is located in the side wall of the first shaft hole. A first rack is fixedly connected to the outer wall of the first shaft. The tooth end of the first rack meshes with the first guide groove. A third limiting block is fixedly connected to the inner bottom surface of the chassis. A third electric actuator is provided on the top of the third limiting block. A third enlarged head is fixedly connected to the output end of the third electric actuator. A first limiting tooth is provided on the top surface of the third electric actuator. The groove of the first limiting tooth meshes with the tooth end of the first wheel. The third enlarged head is located inside the first connecting groove.

[0012] Through the above technical solution: the teeth of the first rack mesh with the first guide groove, thereby transmitting the rotational power of the first wheel to the first rotating shaft. The first wheel can slide on the outer wall of the first rack while transmitting rotational power. The third electric push rod can drive the third enlarged head to move, and the third enlarged head can drive the first wheel to move on the outer wall of the first rack through the first connecting groove, thereby controlling the meshing state of the teeth of the first wheel and the teeth of the third gear. The first limiting tooth can mesh with the teeth of the first wheel. When the third electric push rod pulls the first wheel towards the third limiting block, the teeth of the first wheel and the teeth of the third gear are not meshed, and the teeth of the first wheel mesh with the first limiting tooth, thereby preventing the first wheel from rotating and controlling the robot to stop moving.

[0013] As a further description of the above technical solution:

[0014] The fourth rotating shaft is fixedly connected to the side away from the motor with a first worm gear. The inner bottom surface of the chassis is rotatably provided with a second rotating shaft. The outer wall of the second rotating shaft is fixedly connected with a second worm wheel. The tooth end of the second worm wheel meshes with the tooth end of the first worm gear. The upper outer wall of the second rotating shaft is provided with a second gear. The top of the second gear is provided with a drive block. The top of the drive block is fixedly connected to the bottom of the gimbal.

[0015] The above technical solution allows the first worm gear to transmit rotational power to the second worm wheel; the second worm wheel drives the second shaft to rotate, which in turn drives the second gear to rotate; the second gear drives the drive block to rotate; and the drive block's rotation drives the gimbal to rotate, thereby achieving the purpose of driving the gimbal to rotate horizontally.

[0016] As a further description of the above technical solution:

[0017] The second gear includes a second shaft hole, a fourth rack, a second wheel, and a second connecting groove. The fourth rack is fixedly connected to the top surface of the second wheel. The second connecting groove is provided on the side wall of the second wheel. The second shaft hole is located in the middle of the second wheel. A second guide groove is provided in the middle of the second wheel. The second rack is fixedly connected to the outer wall of the second shaft. The second rack meshes with the second guide groove. The bottom surface of the mounting bracket is fixedly connected to the side of the second electric actuator away from the output end. A second enlarged head is fixedly connected to the output end of the second electric actuator. The second enlarged head is located inside the second connecting groove. A second limiting block is fixedly connected to the outer wall of the second electric actuator.

[0018] Through the above technical solution: the fourth rack can mesh with the fifth rack, thereby driving the connecting section to rotate; the second connecting groove can mesh with the second rack, thereby enabling the second gear to move up and down on the outer wall of the second rack, and at the same time, it can transmit the rotational power of the second rotating shaft to the second wheel; the second electric push rod can push the second enlarged head and the second limiting block to move up and down; the second connecting groove can engage the second enlarged head, thereby driving the second wheel to move up and down through the up and down movement of the second enlarged head.

[0019] As a further description of the above technical solution:

[0020] The drive block includes a connecting section, the top of which is fixedly connected to the bottom surface of the gimbal. An annular groove is formed on the middle sidewall of the connecting section, and a limiting groove is formed on the sidewall of the connecting section. The limiting groove is located at the bottom of the annular groove and communicates with it. The second limiting block can engage inside the limiting groove. A fifth rack is provided on the bottom surface of the connecting section, which can mesh with a fourth rack. A through hole is formed in the middle of the connecting section, the diameter of which is larger than the diameter of the second rotating shaft. A third mounting hole is formed at the bottom of the gimbal, the position and diameter of which correspond to the through hole. The second rotating shaft passes through the third mounting hole.

[0021] Through the above technical solution: when the second limit block is moved to the annular groove by the second electric actuator, the second limit block will not hinder the rotation of the connecting section; when the second limit block moves into the limiting groove, it can fix the connecting section and prevent the connecting section from rotating; the diameter of the through hole is larger than the diameter of the second rotating shaft, thereby preventing the rotation of the second rotating shaft from driving the connecting section to rotate; the fifth rack can mesh with the fourth rack, thereby using the second wheel to drive the connecting section to rotate; when the second electric actuator controls the second enlarged head to move upward, the second enlarged head drives the second wheel to move upward, so that the fourth rack and the fifth rack mesh to achieve transmission. At this time, the second limit block is located inside the annular groove and will not restrict the rotation of the connecting section. When the second electric actuator controls the second wheel to move downward, the fourth rack and the fifth rack separate, and at the same time, the second limit block moves into the limiting groove. At this time, the connecting section loses the rotational force and is restricted to rotation by the second limit block, thereby preventing the connecting section from vibrating and rotating when the robot moves; the third mounting hole allows the second rotating shaft to rotate simultaneously, while preventing the second rotating shaft from driving the gimbal to rotate.

[0022] As a further description of the above technical solution:

[0023] The gimbal has a second mounting hole on its side wall, and a third rotating shaft is provided on the upper part of the gimbal. The third rotating shaft is rotatably connected to the inside of the second mounting hole. A first worm gear is provided on the outer wall of the third rotating shaft. A second worm is fixedly connected to the top of the second rotating shaft. The tooth end of the second worm meshes with the tooth end of the first worm gear. An infrared camera is provided at one end of the third rotating shaft, and a fire extinguishing agent spray gun is provided at the other end of the third rotating shaft.

[0024] The above technical solution involves the meshing of the teeth of the second worm gear with the teeth of the first worm wheel, thereby transmitting the rotational power from the second shaft to the second worm gear to the first worm wheel, which in turn drives the third shaft to rotate. This allows the infrared camera and the fire extinguishing agent spray gun to rotate vertically, thereby increasing the angular range for environmental data collection and fire extinguishing.

[0025] As a further description of the above technical solution:

[0026] The first worm gear includes a third disk, a third connecting groove on the side wall of the third disk, a third shaft hole in the middle of the third disk, a third guide groove in the middle of the third disk, the third guide groove being located on the side wall of the third shaft hole, a third rack fixedly connected to the outer wall of the third rotating shaft, the third rack meshing with the third guide groove, a first limiting block fixedly connected to the inner bottom surface of the gimbal, a first electric push rod provided on the top of the first limiting block, a first enlarged head fixedly connected to the output end of the first electric push rod, the first enlarged head being located inside the third connecting groove, a second limiting tooth provided on the top surface of the first limiting block, the tooth tip of the second limiting tooth being able to mesh with the tooth tip of the third disk.

[0027] Through the above technical solution: the third wheel can transmit rotational power; the third connecting groove can accommodate the third enlarged head; the third shaft can be installed through the third shaft hole; the third rack can transmit rotational power; the third rack meshes with the third guide groove, thereby transmitting the rotational power of the third wheel to the third shaft; the third rack allows the third wheel to transmit rotational power while moving on its surface; the first limit block can install the first electric actuator; the first electric actuator can control the first enlarged head to move back and forth, thereby driving the third wheel to move; the second limit tooth can engage the tooth end of the third wheel, thereby restricting the rotation of the third wheel; when the first electric actuator controls the first enlarged head to pull the third wheel towards the first limit block, the tooth end of the third wheel is disengaged from the tooth end of the second worm gear, and simultaneously engages with the second limit tooth, thereby preventing the third wheel from rotating and thus restricting the rotation of the third shaft.

[0028] As a further description of the above technical solution:

[0029] A fixing hole is provided in the middle of the fire extinguishing agent storage tank, and the second rotating shaft passes through the inside of the fixing hole.

[0030] The above technical solution allows the second rotating shaft to pass through the fixing hole, and the diameter of the fixing hole is larger than the diameter of the second rotating shaft. Therefore, the fire extinguishing agent storage tank will not restrict the rotation of the second rotating shaft, and the second rotating shaft can prevent the fire extinguishing agent storage tank from accidentally falling off.

[0031] As a further description of the above technical solution:

[0032] The mounting bracket has a first mounting hole in the middle, and the connecting section passes through the first mounting hole. The diameter of the first mounting hole is larger than the diameter of the connecting section.

[0033] The above technical solution allows the connecting section to be installed through the first mounting hole; since the diameter of the first mounting hole is larger than the diameter of the connecting section, the mounting bracket can be used to prevent the connecting section from being restricted from rotating.

[0034] This utility model has the following beneficial effects:

[0035] 1. In this utility model, by adopting a 4-wheel, 4-drive structure, and technologies such as laser-structured light fusion SLAM and depth camera environmental reconstruction, a site map is constructed and the optimal path is autonomously planned for inspection according to a set route and time. Real-time monitoring of temperature, smoke concentration, and gas composition is achieved through a front camera, audible and visual alarm, gas sensors, fire extinguishing agent spray gun, and infrared camera to promptly detect fire hazards. The processor employs lightweight neural network technology, and through gas sensors and infrared cameras, accurately identifies early signs of fire, such as weak flames, abnormal temperature changes, and ambient gas concentrations. The system can quickly detect changes in conditions and issue an alarm via sound and light. After locating the fire source, it rapidly arrives at the fire location and adjusts the spray angle using the extinguishing agent spray gun mounted on the pan-tilt unit to activate the extinguishing device, spraying dry powder, foam, water, or other extinguishing agents to put out the fire. After extinguishing the fire, it continuously monitors the ambient temperature using an infrared camera and performs secondary extinguishing if the temperature exceeds a threshold. This solves the problems of traditional fire protection systems where fixed extinguishing devices rely on preset conditions, making it difficult to accurately extinguish fires in complex situations. Furthermore, fire alarm systems often lack active extinguishing capabilities and are prone to false alarms and missed alarms, resulting in inaccurate fire response and poor alarm reliability.

[0036] 2. In this utility model, the rotational power output by the motor drives the first gear and then the tire to rotate via the third gear. At the same time, the rotational power output by the motor is transmitted to the second worm gear via the first worm, which in turn drives the second gear to rotate via the second shaft. This causes the drive block to rotate the gimbal. Simultaneously, the second worm at the top of the second shaft drives the first worm gear to rotate, which in turn drives the third shaft to rotate. This causes the infrared camera and the fire extinguishing agent spray gun to change their vertical angles. Thus, a single motor can drive the robot's movement, while simultaneously causing the gimbal to rotate horizontally and the vertical angles of the infrared camera and the fire extinguishing agent spray gun to change.

[0037] 3. In this utility model, the second rotating shaft can pass through the fixing hole in the middle of the fire extinguishing agent storage tank, thereby allowing the second rotating shaft to smoothly transmit rotational force. At the same time, the second rotating shaft can be used to limit the fire extinguishing agent storage tank from shaking too much, thereby preventing the fire extinguishing agent storage tank from falling accidentally. Attached Figure Description

[0038] Figure 1 This is a front three-dimensional structural diagram of a fire-fighting robot for unattended locations proposed in this utility model;

[0039] Figure 2This is a rear three-dimensional structural diagram of a fire-fighting robot for unattended locations proposed in this utility model;

[0040] Figure 3 This is a front view of the drive device for a fire-fighting robot in an unattended location, as proposed in this utility model.

[0041] Figure 4 This is a three-dimensional structural diagram of a fire-fighting robot drive device for unattended locations proposed in this utility model;

[0042] Figure 5 This is a three-dimensional structural diagram of the first gear of a fire-fighting robot for unattended locations proposed in this utility model;

[0043] Figure 6 This is a three-dimensional structural diagram of the third limiting block of a fire-fighting robot for unattended locations proposed in this utility model;

[0044] Figure 7 This is a partial three-dimensional structural diagram of a fire-fighting robot mounting frame for unattended locations proposed in this utility model;

[0045] Figure 8 This is a three-dimensional structural diagram of the second gear of a fire-fighting robot for unattended locations proposed in this utility model;

[0046] Figure 9 This is a three-dimensional structural diagram of the second electric actuator of a fire-fighting robot for unattended locations proposed in this utility model;

[0047] Figure 10 This is a schematic diagram of the bottom three-dimensional structure of a drive block for a fire-fighting robot used in unattended locations, as proposed in this utility model.

[0048] Figure 11 This is a schematic diagram of the upper three-dimensional structure of the drive block for a fire-fighting robot used in unattended locations, as proposed in this utility model.

[0049] Figure 12 This is a partial three-dimensional structural diagram of the connection between the gimbal and the drive block of a fire-fighting robot for unattended locations, as proposed in this utility model.

[0050] Figure 13 This is a three-dimensional structural diagram of the first worm gear of a fire-fighting robot for unattended locations proposed in this utility model;

[0051] Figure 14 This is a three-dimensional structural diagram of the first limiting block of a fire-fighting robot for unattended locations proposed in this utility model;

[0052] Figure 15This utility model proposes a fire-fighting robot for unattended locations. Figure 4 Enlarged structural diagram at point A;

[0053] Figure 16 This is a three-dimensional structural diagram of the fire extinguishing agent storage tank of a fire-fighting robot for unattended locations, as proposed in this utility model.

[0054] Legend:

[0055] 1. Pan-tilt unit; 2. Infrared camera; 3. Extinguishing agent spray gun; 4. Gas sensor; 5. Audible and visual alarm; 6. Mounting bracket; 7. Front camera; 8. Chassis; 9. Tires; 10. First delivery pipe; 11. Extinguishing agent storage tank; 12. Second delivery pipe; 13. Motor; 14. First gear; 141. First connecting groove; 142. First shaft hole; 143. First wheel; 15. First rack; 16. First shaft; 17. First worm gear; 18. Second shaft; 19. Second rack; 20. Second gear; 201. Second shaft hole; 202. Fourth rack; 203. Second wheel; 204. Second connecting groove; 21. Drive block; 211. Connecting section; 212. Annular groove; 2 13. Limiting groove; 214. Through hole; 215. Fifth rack; 22. Third shaft; 23. Third rack; 24. Second worm; 25. First worm wheel; 251. Third connecting groove; 252. Third wheel; 253. Third shaft hole; 26. Third gear; 27. Fourth shaft; 28. Second worm wheel; 29. ​​First electric actuator; 30. First enlarged head; 31. First limiting block; 32. First limiting tooth; 33. First mounting hole; 34. Second electric actuator; 35. Second limiting block; 36. Second enlarged head; 37. Second mounting hole; 38. Third mounting hole; 39. Second limiting tooth; 40. Fixing hole; 41. Third enlarged head; 42. Third limiting block; 43. Third electric actuator. Detailed Implementation

[0056] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0057] Reference Figures 1-2The system includes a chassis 8, with tires 9 mounted on the bottom and a mounting frame 6 mounted on the top. A front camera 7 is mounted on the front of the mounting frame 6. A gas sensor 4, an audible and visual alarm 5, and a pan-tilt unit 1 are mounted on the top front of the mounting frame 6. Infrared cameras 2 and extinguishing agent spray guns 3 are mounted on both sides of the pan-tilt unit 1. An extinguishing agent storage tank 11 is located inside the mounting frame 6. The top of the extinguishing agent storage tank 11 is connected to the extinguishing agent spray gun 3 via a first delivery pipe 10. A second delivery pipe 12 is located at the rear of the extinguishing agent storage tank 11. A sealing cap is located at the end of the second delivery pipe 12 away from the extinguishing agent storage tank 11. A battery pack and a processor are located inside the chassis 8. The processor is electrically connected to the battery pack, the front camera 7, the audible and visual alarm 5, the gas sensor 4, the extinguishing agent spray gun 3, the infrared camera 2, the pan-tilt unit 1, and the drive mechanism. The drive mechanism can control the rotation of the tires 9.

[0058] Specifically, the chassis 8 serves to mount the bottom tires 9, the internal drive mechanism, the upper mounting frame 6, and the fire extinguishing agent storage tank 11; the tires 9 bear the upper load, and their rotation drives the robot's movement; the mounting frame 6 supports and mounts the upper gimbal 1, and also protects the internal fire extinguishing agent storage tank 11; the front camera 7 collects images of the robot's front; the gas sensor 4 collects gas information from the environment; and the audible and visual alarm 5 emits sound and light signals to provide a warning. The device is used to drive the fire extinguishing agent spray gun 3 and the infrared camera 2 to rotate horizontally via the pan-tilt unit 1. The infrared camera 2 emits infrared light to accurately identify early signs of fire, such as weak flames and abnormal temperature changes. The fire extinguishing agent spray gun 3 sprays fire extinguishing agent to carry out fire extinguishing operations. The fire extinguishing agent storage tank 11 stores fire extinguishing agent, thus supporting long-term fire extinguishing operations. The first delivery pipe 10 delivers the fire extinguishing agent from the storage tank 11 to the fire extinguishing agent spray gun 3. The fire extinguishing agent spray gun 3 is equipped with a valve. The internal pressure of the fire extinguishing agent storage tank 11 is higher than the ambient pressure, so the fire extinguishing agent in the storage tank 11 can be released when the valve is opened. The extinguishing agent is sprayed through the fire extinguishing gun 3; the second delivery pipe 12 delivers the extinguishing agent into the fire extinguishing agent storage tank 11; the sealing cap seals the second delivery pipe 12 after the extinguishing agent has been delivered through the second delivery pipe 12, preventing leakage of the extinguishing agent inside the fire extinguishing agent storage tank 11; the battery pack powers the processor; the processor processes the collected environmental information and automatically generates execution commands to control the operation of the front camera 7, the audible and visual alarm 5, the gas sensor 4, the fire extinguishing agent spray gun 3, the infrared camera 2, the pan-tilt unit 1, and the drive mechanism; this unattended field firefighting robot adopts a 4-wheel, 4-drive structure; Using technologies such as laser and structured light fusion SLAM composed of infrared cameras 2 and depth camera environmental reconstruction composed of front cameras 7, a site map is constructed and the optimal path is autonomously planned for inspection according to the set route and time. The front camera 7, audible and visual alarm 5, gas sensor 4, fire extinguishing agent spray gun 3 and infrared camera 2 monitor information such as temperature, smoke concentration and gas composition in real time to detect fire hazards in a timely manner. The processor adopts lightweight neural network technology and other technologies to accurately identify early signs of fire, such as weak flames, abnormal temperature changes and changes in ambient gas concentration, through gas sensor 4 and infrared camera 2. It quickly judges the occurrence of fire and issues an alarm through audible and visual alarm 5 to notify the site manager and relevant personnel.Upon detecting a fire, the robot quickly arrives at the fire location, autonomously selects the extinguishing distance based on the fire intensity, adjusts the spray angle using the extinguishing agent spray gun 3 mounted on the gimbal 1, and activates the extinguishing device, such as spraying dry powder, foam, or water extinguishing agents. After extinguishing the fire, the robot continuously monitors the ambient temperature using an infrared camera 2, and performs secondary extinguishing if the temperature exceeds a threshold. The unattended firefighting robot has an automatic charging function; when the battery is low, it automatically navigates to a charging station to recharge, ensuring uninterrupted patrolling. The unattended firefighting robot is equipped with a large-capacity extinguishing agent storage tank 11, which can store different types of extinguishing agents. It can be applied in the following scenarios: warehouses, where large quantities of goods are stored, and the robot can patrol 24 hours a day when unattended to prevent fires and promptly handle initial fires to reduce losses; and data centers, where equipment is dense, valuable, and has strict environmental requirements. Firefighting robots can monitor temperature and the operating status of electrical equipment to prevent electrical fires, and their firefighting methods do not damage electronic equipment. Substations, converter stations, and charging stations contain numerous electrical devices and pose a fire risk; firefighting robots can inspect the operating status of these devices, detect and address fire hazards caused by electrical faults.

[0059] Reference Figures 2-4 The drive mechanism includes a motor 13, the bottom of which is fixedly connected to the bottom surface of the chassis 8. A fourth shaft 27 is rotatably provided at the output end of the motor 13. A third gear 26 is fixedly connected to the outer wall of the fourth shaft 27. A first shaft 16 is rotatably connected to the side wall of the chassis 8. A first gear 14 is provided on the outer wall of the first shaft 16. The tooth ends of the first gear 14 and the tooth ends of the third gear 26 can mesh with each other. Tires 9 are fixedly connected to both ends of the first shaft 16.

[0060] Specifically, the motor 13 outputs rotational power, which drives the fourth shaft 27 to rotate. The fourth shaft 27 transmits the rotational power to the third gear 26 and the first worm gear 17. The teeth of the first gear 14 mesh with the teeth of the third gear 26, transmitting the rotational power from the fourth shaft 27 to the first gear 14. The first gear 14 is mounted on the outer wall of the first shaft 16, transmitting the rotational power to the first gear 14 to the first shaft 16. Tires 9 are fixedly connected to both ends of the first shaft 16, transmitting the rotational power to the first shaft 16 to the tires 9, thereby moving the robot.

[0061] Reference Figures 3-6The first gear 14 includes a first connecting groove 141, a first shaft hole 142, and a first wheel 143. The first shaft hole 142 is provided in the middle of the first wheel 143. The first connecting groove 141 is provided in the side wall of the first wheel 143. The first guide groove is provided inside the first wheel 143 and is located in the side wall of the first shaft hole 142. The outer wall of the first rotating shaft 16 is fixedly connected to the first rack 15. The tooth end of the first rack 15 meshes with the first guide groove. The inner bottom surface of the chassis 8 is fixedly connected to the third limiting block 42. The top of the third limiting block 42 is provided with a third electric push rod 43. The output end of the third electric push rod 43 is fixedly connected to the third enlarged head 41. The top surface of the third electric push rod 43 is provided with a first limiting tooth 32. The groove of the first limiting tooth 32 meshes with the tooth end of the first wheel 143. The third enlarged head 41 is located inside the first connecting groove 141.

[0062] Specifically, the first wheel 143 serves to bear rotational loads and transmit rotational power; the first shaft hole 142 serves to mount the first rotating shaft 16; the first connecting groove 141 serves to house the third enlarged head 41; the teeth of the first rack 15 mesh with the first guide groove, thereby transmitting the rotational power of the first wheel 143 to the first rotating shaft 16, while the first wheel 143 can slide on the outer wall of the first rack 15 to transmit rotational power; the third limiting block 42 serves to mount the third electric actuator 43 and also serves to set the first limiting tooth 32; the third electric actuator 43 drives... The third expanding head 41 moves, thereby enabling the first wheel 143 to move on the outer wall of the first rack 15 via the first connecting groove 141, thus controlling the meshing state of the tooth ends of the first wheel 143 with the tooth ends of the third gear 26. The first limiting tooth 32 can mesh with the tooth ends of the first wheel 143. When the third electric push rod 43 pulls the first wheel 143 toward the third limiting block 42, the tooth ends of the first wheel 143 do not mesh with the tooth ends of the third gear 26, while the tooth ends of the first wheel 143 mesh with the first limiting tooth 32. This prevents the first wheel 143 from rotating, thereby controlling the robot to stop moving.

[0063] Reference Figures 3-4 The fourth rotating shaft 27 is fixedly connected to the side away from the motor 13 with the first worm gear 17. The inner bottom surface of the chassis 8 is rotatably provided with the second rotating shaft 18. The outer wall of the second rotating shaft 18 is fixedly connected with the second worm wheel 28. The tooth end of the second worm wheel 28 meshes with the tooth end of the first worm gear 17. The upper outer wall of the second rotating shaft 18 is provided with the second gear 20. The top of the second gear 20 is provided with the drive block 21. The top of the drive block 21 is fixedly connected to the bottom of the gimbal 1.

[0064] Specifically, the first worm gear 17 can transmit rotational power to the second worm wheel 28; the second worm wheel 28 can drive the second rotating shaft 18 to rotate, which in turn drives the second gear 20 to rotate; the second gear 20 can drive the drive block 21 to rotate; the drive block 21 can drive the gimbal 1 to rotate, thereby achieving the purpose of driving the gimbal 1 to rotate horizontally.

[0065] Reference Figures 3-9 The second gear 20 includes a second shaft hole 201, a fourth rack 202, a second wheel 203, and a second connecting groove 204. The fourth rack 202 is fixedly connected to the top surface of the second wheel 203. The second connecting groove 204 is provided on the side wall of the second wheel 203. The second shaft hole 201 is located in the middle of the second wheel 203. A second guide groove is provided in the middle of the second wheel 203. The second rack 19 is fixedly connected to the outer wall of the second rotating shaft 18. The second rack 19 meshes with the second guide groove. The bottom surface of the mounting bracket 6 is fixedly connected to the side of the second electric push rod 34 away from the output end. The output end of the second electric push rod 34 is fixedly connected to a second enlarged head 36. The second enlarged head 36 is located inside the second connecting groove 204. A second limiting block 35 is fixedly connected to the outer wall of the second electric push rod 34.

[0066] Specifically, the second wheel 203 serves to fix and install the fourth rack 202; the fourth rack 202 meshes with the fifth rack 215, thereby driving the connecting section 211 to rotate; the second connecting groove 204 meshes with the second rack 19, thereby allowing the second gear 20 to move up and down on the outer wall of the second rack 19, and also transmitting the rotational power of the second rotating shaft 18 to the second wheel 203; the second shaft hole 201 serves to install the second rotating shaft 18; the second electric push rod 34 serves to push the second enlarged head 36 and the second limiting block 35 to move up and down; the second connecting groove 204 serves to engage the second enlarged head 36, thereby driving the second wheel 203 to move up and down through the up and down movement of the second enlarged head 36.

[0067] Reference Figures 4-12The drive block 21 includes a connecting section 211. The top of the connecting section 211 is fixedly connected to the bottom surface of the gimbal 1. An annular groove 212 is provided on the middle side wall of the connecting section 211. A limiting groove 213 is provided on the side wall of the connecting section 211. The limiting groove 213 is located at the bottom of the annular groove 212 and communicates with the annular groove 212. The second limiting block 35 can be engaged inside the limiting groove 213. A fifth rack 215 is provided on the bottom surface of the connecting section 211. The fifth rack 215 can mesh with the fourth rack 202. A through hole 214 is provided in the middle of the connecting section 211. The diameter of the through hole 214 is larger than the diameter of the second rotating shaft 18. A third mounting hole 38 is provided at the bottom of the gimbal 1. The position and diameter of the third mounting hole 38 correspond to the through hole 214. The second rotating shaft 18 passes through the third mounting hole 38.

[0068] Specifically, the connecting section 211 serves to connect the gimbal 1; the annular groove 212 serves to house the second limiting block 35, ensuring that when the second electric actuator 34 moves the second limiting block 35 to the annular groove 212, the second limiting block 35 will not obstruct the rotation of the connecting section 211; the limiting groove 213 serves to engage the second limiting block 35, fixing the connecting section 211 and preventing its rotation; the through hole 214 allows the second rotating shaft 18 to pass through; since the diameter of the through hole 214 is larger than the diameter of the second rotating shaft 18, the rotation of the second rotating shaft 18 prevents the connecting section 211 from rotating; the fifth rack 215 meshes with the fourth rack 202, thereby utilizing the second wheel 2 03 drives the connecting section 211 to rotate; when the second electric push rod 34 controls the second enlarged head 36 to move upward, the second enlarged head 36 drives the second wheel 203 to move upward, so that the fourth rack 202 and the fifth rack 215 mesh to achieve transmission. At this time, the second limit block 35 is located inside the annular groove 212 and will not restrict the rotation of the connecting section 211. When the second electric push rod 34 controls the second wheel 203 to move downward, the fourth rack 202 and the fifth rack 215 separate, and at the same time the second limit block 35 moves into the limit groove 213. At this time, the connecting section 211 loses the rotational power and is restricted to rotation by the second limit block 35, thereby preventing the connecting section 211 from vibrating and rotating when the robot moves; through the third mounting hole 38, the second rotating shaft 18 can be simultaneously moved, while preventing the second rotating shaft 18 from driving the gimbal 1 to rotate.

[0069] Reference Figures 1-12The gimbal 1 has a second mounting hole 37 on its side wall. The gimbal 1 has a third rotating shaft 22 on its upper part. The third rotating shaft 22 is rotatably connected to the inside of the second mounting hole 37. The outer wall of the third rotating shaft 22 has a first worm gear 25. The top of the second rotating shaft 18 is fixedly connected to a second worm 24. The tooth end of the second worm 24 meshes with the tooth end of the first worm gear 25. An infrared camera 2 is installed at one end of the third rotating shaft 22, and a fire extinguishing agent spray gun 3 is installed at the other end of the third rotating shaft 22.

[0070] Specifically, the second mounting hole 37 serves to mount the third rotating shaft 22; the third rotating shaft 22 serves to mount the infrared camera 2 and the fire extinguishing agent spray gun 3; the teeth of the second worm 24 mesh with the teeth of the first worm wheel 25, thereby transmitting the rotational power from the second rotating shaft 18 to the second worm 24 to the first worm wheel 25, which in turn drives the third rotating shaft 22 to rotate. This allows the infrared camera 2 and the fire extinguishing agent spray gun 3 to rotate vertically, thereby increasing the angular range of environmental data collection and fire extinguishing.

[0071] Reference Figures 3-15 The first worm gear 25 includes a third wheel 252. The side wall of the third wheel 252 is provided with a third connecting groove 251. The middle part of the third wheel 252 is provided with a third shaft hole 253. The middle part of the third wheel 252 is provided with a third guide groove. The third guide groove is located on the side wall of the third shaft hole 253. The outer wall of the third rotating shaft 22 is fixedly connected with a third rack 23. The third rack 23 meshes with the third guide groove. The inner bottom surface of the gimbal 1 is fixedly connected with a first limiting block 31. The top of the first limiting block 31 is provided with a first electric push rod 29. The output end of the first electric push rod 29 is fixedly connected with a first enlarged head 30. The first enlarged head 30 is located inside the third connecting groove 251. The top surface of the first limiting block 31 is provided with a second limiting tooth 39. The tooth tip of the second limiting tooth 39 can mesh with the tooth tip of the third wheel 252.

[0072] Specifically, the third wheel 252 transmits rotational power; the third connecting groove 251 houses the third enlarged head 41; the third shaft hole 253 mounts the third rotating shaft 22; the third rack 23 transmits rotational power; the third rack 23 meshes with the third guide groove, thereby transmitting the rotational power of the third wheel 252 to the third rotating shaft 22; the third rack 23 allows the third wheel 252 to move while transmitting rotational power; and the first limiting block 31 mounts the first electric actuator. The function of 29 is as follows: the first electric actuator 29 controls the forward and backward movement of the first enlarged head 30, thereby driving the third wheel 252 to move; the second limiting tooth 39 engages the tooth end of the third wheel 252, thereby restricting the rotation of the third wheel 252; when the first electric actuator 29 controls the first enlarged head 30 to pull the third wheel 252 towards the first limiting block 31, the tooth end of the third wheel 252 is disengaged from the tooth end of the second worm gear 24, and at the same time, the tooth end of the third wheel 252 engages with the second limiting tooth 39, thereby preventing the third wheel 252 from rotating, and thus restricting the rotation of the third rotating shaft 22.

[0073] Reference Figure 16 A fixing hole 40 is provided in the middle of the fire extinguishing agent storage tank 11, and the second rotating shaft 18 passes through the fixing hole 40.

[0074] Specifically, the second rotating shaft 18 can pass through the fixing hole 40, and the diameter of the fixing hole 40 is larger than the diameter of the second rotating shaft 18. Therefore, the fire extinguishing agent storage tank 11 will not restrict the rotation of the second rotating shaft 18, and the second rotating shaft 18 can prevent the fire extinguishing agent storage tank 11 from accidentally falling off.

[0075] Reference Figures 3-11 The mounting bracket 6 has a first mounting hole 33 in the middle, and the connecting section 211 passes through the first mounting hole 33. The diameter of the first mounting hole 33 is larger than the diameter of the connecting section 211.

[0076] Specifically, the first mounting hole 33 serves to install the connecting section 211; since the diameter of the first mounting hole 33 is larger than the diameter of the connecting section 211, the mounting bracket 6 can be used to prevent the connecting section 211 from being restricted from rotating.

[0077] Working principle: The controller starts the motor, which in turn drives the first gear through the third gear, causing the first shaft to rotate and the tires to rotate, thus driving the robot to move. Infrared cameras, a front-facing camera, and gas sensors collect environmental temperature and smoke information. The fourth shaft drives the first worm gear, which in turn drives the second worm wheel, which in turn drives the second gear through the second shaft, causing the drive block to rotate. This causes the pan-tilt unit to rotate horizontally, enabling the infrared camera and fire extinguishing agent spray gun to rotate horizontally for information collection and fire extinguishing within a 360-degree horizontal range. The second worm gear drives the first worm wheel, which in turn drives the third shaft, controlling the vertical rotation of the infrared camera and fire extinguishing agent spray gun to collect information and extinguish fires in areas above the robot.

[0078] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A fire-fighting robot for unmanned locations, comprising a chassis (8), characterized in that, The chassis (8) has tires (9) at its bottom and a mounting frame (6) at its top. A front camera (7) is mounted on the front of the mounting frame (6). A gas sensor (4), an audible and visual alarm (5), and a pan-tilt unit (1) are mounted on the front of the top of the mounting frame (6). An infrared camera (2) and a fire extinguishing agent spray gun (3) are mounted on both sides of the pan-tilt unit (1). A fire extinguishing agent storage tank (11) is installed inside the mounting frame (6). The top of the fire extinguishing agent storage tank (11) is connected to a first delivery pipe (1). 0) Connected to the fire extinguishing agent spray gun (3), the fire extinguishing agent storage tank (11) is provided with a second delivery pipe (12) at the rear, and the end of the second delivery pipe (12) away from the fire extinguishing agent storage tank (11) is provided with a sealing cap. The chassis (8) is provided with a battery pack and a processor. The processor is electrically connected to the battery pack, the front camera (7), the sound and light alarm (5), the gas sensor (4), the fire extinguishing agent spray gun (3), the infrared camera (2), the pan-tilt unit (1), and the drive mechanism. The drive mechanism is used to control the rotation of the tires (9).

2. The fire-fighting robot for unmanned locations according to claim 1, characterized in that, The drive mechanism includes a motor (13), the bottom of which is fixedly connected to the bottom surface of the chassis (8). The output end of the motor (13) is rotatably provided with a fourth rotating shaft (27). The outer wall of the fourth rotating shaft (27) is fixedly connected with a third gear (26). The side wall of the chassis (8) is rotatably connected with a first rotating shaft (16). The outer wall of the first rotating shaft (16) is provided with a first gear (14). The tooth end of the first gear (14) can mesh with the tooth end of the third gear (26). The two ends of the first rotating shaft (16) are fixedly connected with tires (9).

3. A fire-fighting robot for unmanned locations according to claim 2, characterized in that, The first gear (14) includes a first connecting groove (141), a first shaft hole (142), and a first wheel (143). The first shaft hole (142) is provided in the middle of the first wheel (143). The first connecting groove (141) is provided on the side wall of the first wheel (143). The first guide groove is provided inside the first wheel (143). The first guide groove is located on the side wall of the first shaft hole (142). A first rack (15) is fixedly connected to the outer wall of the first rotating shaft (16). The tooth end meshes with the first guide groove. The inner bottom surface of the chassis (8) is fixedly connected to a third limiting block (42). The top of the third limiting block (42) is provided with a third electric push rod (43). The output end of the third electric push rod (43) is fixedly connected to a third enlarged head (41). The top surface of the third electric push rod (43) is provided with a first limiting tooth (32). The groove of the first limiting tooth (32) meshes with the tooth end of the first wheel (143). The third enlarged head (41) is located inside the first connecting groove (141).

4. A fire-fighting robot for unmanned locations according to claim 2, characterized in that, The fourth rotating shaft (27) is fixedly connected to the side away from the motor (13) with a first worm (17). The inner bottom surface of the chassis (8) is rotatably provided with a second rotating shaft (18). The outer wall of the second rotating shaft (18) is fixedly connected with a second worm wheel (28). The tooth end of the second worm wheel (28) meshes with the tooth end of the first worm (17). The upper outer wall of the second rotating shaft (18) is provided with a second gear (20). The top of the second gear (20) is provided with a drive block (21). The top of the drive block (21) is fixedly connected to the bottom of the gimbal (1).

5. A fire-fighting robot for unmanned locations according to claim 4, characterized in that, The second gear (20) includes a second shaft hole (201), a fourth rack (202), a second wheel (203), and a second connecting groove (204). The fourth rack (202) is fixedly connected to the top surface of the second wheel (203). The second connecting groove (204) is provided on the side wall of the second wheel (203). The second shaft hole (201) is located in the middle of the second wheel (203). The second guide groove is provided in the middle of the second wheel (203). The second rack (19) is fixedly connected to the outer wall of the second rotating shaft (18). The second rack (19) meshes with the second guide groove. The bottom surface of the mounting bracket (6) is fixedly connected to the side of the second electric push rod (34) away from the output end. The output end of the second electric push rod (34) is fixedly connected to a second enlarged head (36). The second enlarged head (36) is located inside the second connecting groove (204). The outer wall of the second electric push rod (34) is fixedly connected to a second limiting block (35).

6. A fire-fighting robot for unmanned locations according to claim 5, characterized in that, The drive block (21) includes a connecting section (211), the top of which is fixedly connected to the bottom surface of the gimbal (1). An annular groove (212) is formed on the middle sidewall of the connecting section (211), and a limiting groove (213) is formed on the sidewall of the connecting section (211). The limiting groove (213) is located at the bottom of the annular groove (212) and communicates with it. The second limiting block (35) can engage inside the limiting groove (213). The bottom surface of the 11) is provided with a fifth rack (215), which can mesh with the fourth rack (202). The middle part of the connecting section (211) is provided with a through hole (214), the diameter of the through hole (214) is larger than the diameter of the second rotating shaft (18). The bottom of the gimbal (1) is provided with a third mounting hole (38), the position and diameter of the third mounting hole (38) correspond to the through hole (214), and the second rotating shaft (18) passes through the third mounting hole (38).

7. A fire-fighting robot for unmanned locations according to claim 6, characterized in that, The gimbal (1) has a second mounting hole (37) on its side wall. The gimbal (1) has a third rotating shaft (22) on its upper part. The third rotating shaft (22) is rotatably connected to the inside of the second mounting hole (37). The outer wall of the third rotating shaft (22) has a first worm gear (25). The top of the second rotating shaft (18) is fixedly connected to a second worm (24). The tooth end of the second worm (24) meshes with the tooth end of the first worm gear (25). One end of the third rotating shaft (22) is equipped with an infrared camera (2), and the other end of the third rotating shaft (22) is equipped with a fire extinguishing agent spray gun (3).

8. A fire-fighting robot for unmanned locations according to claim 7, characterized in that, The first worm gear (25) includes a third wheel disc (252), a third connecting groove (251) is provided on the side wall of the third wheel disc (252), a third shaft hole (253) is provided in the middle of the third wheel disc (252), a third guide groove is provided in the middle of the third wheel disc (252), the third guide groove is located on the side wall of the third shaft hole (253), and a third rack (23) is fixedly connected to the outer wall of the third rotating shaft (22), the third rack (23) meshes with the third guide groove. The inner bottom surface of the gimbal (1) is fixedly connected to a first limiting block (31). The top of the first limiting block (31) is provided with a first electric push rod (29). The output end of the first electric push rod (29) is fixedly connected to a first enlarged head (30). The first enlarged head (30) is located inside the third connecting groove (251). The top surface of the first limiting block (31) is provided with a second limiting tooth (39). The tooth tip of the second limiting tooth (39) can mesh with the tooth tip of the third wheel (252).

9. A fire-fighting robot for unmanned locations according to claim 4, characterized in that, The fire extinguishing agent storage tank (11) has a fixing hole (40) in the middle, and the second rotating shaft (18) passes through the fixing hole (40).

10. A fire-fighting robot for unmanned locations according to claim 6, characterized in that... The mounting bracket (6) has a first mounting hole (33) in the middle, and the connecting section (211) passes through the first mounting hole (33). The diameter of the first mounting hole (33) is larger than the diameter of the connecting section (211).

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