A tethered quadruped robot automatic fire extinguishing device

Abstract

This utility model relates to the field of fire-fighting equipment technology and discloses a tethered quadruped robot automatic fire extinguishing device, including a body. A thermal imaging sensor is fixedly connected to the upper center of the front face of the body. Smoke sensors are fixedly connected to both ends of the front and rear sides of the body. Gas sensors are fixedly connected to the center of both sides of the body. Four mechanical legs are arranged in a rectangle on the lower face of the body. Each mechanical leg includes a first drive module. A second drive module is provided at the output end of the first drive module. A first support leg is fixedly connected to the output end of the second drive module. A third drive module is fixedly connected to the end of one side wall of the first support leg. In this utility model, the quadrupedal bionic structure gives the robot excellent adaptability to complex terrain and can walk stably in various harsh environments. The tethered rope provides continuous power, fire extinguishing agent, and water supply, solving the problems of endurance and carrying capacity.

Description

Technical Field

[0001] This utility model relates to the field of fire protection equipment technology, and in particular to a tethered quadruped robot automatic fire extinguishing device. Background Technology

[0002] In today's fire rescue work, traditional firefighting methods face many severe challenges. In dangerous environments with narrow passages, stairwells, ruins, and other complex terrains, as well as environments filled with high temperatures, toxic fumes, and unstable building structures, firefighters find it difficult to reach the fire source quickly and safely, which greatly limits the firefighting work. Firefighting robots are a type of special robot mainly used for firefighting and rescue work. Through advanced technology and powerful functions, they greatly improve the efficiency and safety of firefighting and rescue work.

[0003] Most existing firefighting robots employ wheeled or tracked structures, which severely limit their ability to navigate complex terrain, making them prone to getting stuck and unable to move forward. These robots largely rely on battery power, resulting in limited endurance, and the amount of extinguishing agent and water they carry is insufficient to meet the demands of prolonged, high-intensity large-scale firefighting. The performance of existing firefighting robots in fire detection and location is unsatisfactory, with both accuracy and timeliness needing improvement. Their inability to quickly and accurately pinpoint the fire source directly leads to low firefighting efficiency. Furthermore, most firefighting robots lack effective fire protection measures, making them highly susceptible to damage from high temperatures and flames when operating near fire sources, thus affecting the continuity of firefighting operations. Therefore, those skilled in the art provide a tethered quadrupedal robot automatic firefighting device to address the problems mentioned in the background section. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a tethered quadruped robot automatic fire extinguishing device. The quadrupedal bionic structure gives the robot excellent adaptability to complex terrains, enabling it to walk stably in various harsh environments. The tether rope provides continuous power, fire extinguishing agent, and water supply, solving the problems of endurance and carrying capacity, and ensuring long-term and efficient fire extinguishing.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a tethered quadruped robot automatic fire extinguishing device, comprising a body, a thermal imaging sensor fixedly connected to the upper center of the front end face of the body, smoke sensors fixedly connected to the front and rear ends of both sides of the body, a gas sensor fixedly connected to the center of both sides of the body, and four mechanical legs arranged in a rectangular pattern on the lower end face of the body.

[0006] The mechanical foot includes a first drive module, a second drive module is provided at the output end of the first drive module, a first support leg is fixedly connected to the output end of the second drive module, a third drive module is fixedly connected to one end of the side wall of the first support leg, the output end of the third drive module passes through one end face of the first support leg and extends to the other end face of the first support leg, and a second support leg is fixedly connected to the end of the third drive module, a support foot is fixedly connected to the other end of the second support leg, and a flexible pad is fixedly connected to the lower end face of the support foot.

[0007] The first drive module includes a heat insulation housing, inside which a brushless DC motor is fixedly connected, and at the output end of the brushless DC motor is a planetary reduction gear set fixedly connected, and at the reduction output end of the planetary reduction gear set is a rotary joint fixedly connected, and a conductive slip ring is fixedly sleeved on the outer wall of the rotating end of the rotary joint.

[0008] Through the above technical solution, by controlling the start of the brushless DC motor, the brushless DC motor drives the planetary reduction gear set to decelerate and rotate. The planetary reduction gear set then drives the rotating end of the rotary joint to rotate. The rotating end of the rotary joint and the rotating end of the conductive slip ring then drive the second drive module to rotate. The brushless DC motor inside the second drive module is then started to drive the first support leg to rotate. The brushless DC motor inside the third drive module is then started to drive the second support leg to rotate. This enables the use of a single mechanical leg, with all four mechanical legs working together for movement. This gives the robot excellent adaptability to complex terrain and allows it to walk stably in various harsh environments.

[0009] Furthermore, the fixed end of the conductive slip ring is fixedly connected to the fixed end of the rotary joint, the rotating end of the conductive slip ring is fixedly connected to the rotating end of the rotary joint, the reduction output end of the planetary reduction gear set is connected to the rotating end of the rotary joint, and the rotating end of the conductive slip ring is the output end of the first drive module.

[0010] The above technical solution facilitates the rotation of the conductive slip ring and the rotating end of the rotary joint by a brushless DC motor, thereby driving the second drive module to rotate.

[0011] Furthermore, a partition is fixedly connected to the rear of the machine body, and a tethering strap is fixedly connected to the rear end of the partition. The tethering strap includes a support plate, which is L-shaped. Three slots are arranged horizontally at the center of the upper surface of the support plate. A four-way solenoid valve is fixedly connected to the front surface of the partition. Both input ends of the four-way solenoid valve pass through the front surface of the partition and extend to the rear end of the partition. Each end is threaded with two connecting joints. The input ends of the two connecting joints are respectively provided with a water pipe and a delivery pipe. A wiring connector is fixedly connected to the center of the rear surface of the partition. A connecting wire is threaded at the rear end of the wiring connector. A retaining ring is fixedly fitted on the outer wall of the connecting wire, water pipe, and delivery pipe. The three retaining rings are respectively set inside the three slots.

[0012] The above technical solution connects two connectors to the input terminals of two four-way solenoid valves, and then connects the connecting wire to the wiring connector. During use, the four-way solenoid valve, delivery pipe, and connecting wire are dragged and secured in three slots by three retaining rings to prevent them from falling off. This ensures continuous power supply, fire extinguishing agent, and water supply, solving the problems of endurance and carrying capacity, and guaranteeing long-term, efficient fire extinguishing.

[0013] Furthermore, a heat insulation box is fixedly connected to the center of the lower inner wall of the machine body. A fireproof cooling module is provided on the rear side of one side of the lower inner wall of the heat insulation box. The fireproof cooling module includes a storage tank. Four micro-pumps are provided inside the heat insulation box on one side of the storage tank. The output ends of the four micro-pumps are respectively provided with output pipes. The output ends of the four output pipes pass through the four heat insulation shells and lead to the interior of the four heat insulation shells. The ends of the four output pipes are fixedly connected with heat-conducting pipes. The four heat-conducting pipes are respectively sleeved on the outer walls of the four DC brushless motors. The output ends of the four rotary joints are respectively connected with the input ends of the four rotary joints. The output ends of the four rotary joints are fixedly connected with return pipes. The four return pipes pass through the inner wall of the heat insulation shells and lead to the outer side of the heat insulation shells. The ends of the four return pipes are respectively fixedly connected to the front and rear end faces of the storage tank.

[0014] The above technical solution controls the start of four micro-pumps, which deliver coolant through four output pipes to the heat pipes to cool the four brushless DC motors inside the four insulated housings. The coolant is then delivered through four rotary joints inside the insulated housings to the heat pipes inside the second drive module to cool the four brushless DC motors inside the second drive module. Similarly, the coolant is delivered to the brushless DC motors inside the third drive module and then returned to the storage tank through the return pipe to form a circulation, thereby preventing the high temperature inside the fire from affecting the operation of the equipment.

[0015] Furthermore, the output end of the rotary joint is connected to the inside of the second drive module via the first support leg. The second drive module has the same configuration as the third drive module and the first drive module.

[0016] The above technical solution facilitates connection with the second drive module via a rotary joint.

[0017] Furthermore, a battery module is fixedly connected to one side of the interior of the heat insulation box, an integrated chip board is fixedly connected to the upper surface of the battery module, and a heat insulation top cover is fixedly connected to the upper surface of the heat insulation box.

[0018] The above technical solution provides initial power to the integrated chip board through a battery module, and then uses a heat-insulated box and heat-insulated top cover to prevent the fire from affecting the use of the integrated chip board.

[0019] Furthermore, a high-performance plunger fire extinguishing pump is fixedly connected to one of the output terminals of the four-way solenoid valve, and a nozzle is fixedly connected to the output terminal of the high-performance plunger fire extinguishing pump.

[0020] Through the above technical solution, water enters the high-performance plunger fire extinguishing pump through the water pipe, and after being pressurized by the high-performance plunger fire extinguishing pump, it is sprayed out from the nozzle to extinguish the fire.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the tethered quadruped robot automatic fire extinguishing device connects two connecting connectors to the input ends of two four-way solenoid valves, and then connects the connecting wire to the wiring connector. During use, the four-way solenoid valves, delivery pipes and connecting wires are dragged and secured in three slots by three retaining rings to prevent them from falling off. This enables continuous power supply, supply of fire extinguishing agent and water, solves the problems of endurance and carrying capacity, and ensures long-term and efficient fire extinguishing.

[0023] 2. In this utility model, during use, the brushless DC motor is started, which drives the planetary reduction gear set to rotate at a reduced speed. The planetary reduction gear set then drives the rotating end of the rotary joint to rotate. The rotating end of the rotary joint and the rotating end of the conductive slip ring then drive the second drive module to rotate. The brushless DC motor inside the second drive module is started to drive the first support leg to rotate. The brushless DC motor inside the third drive module is then started to drive the second support leg to rotate. This enables the use of a single mechanical leg and the coordinated movement of the four mechanical legs, thus giving the robot excellent adaptability to complex terrain and enabling it to walk stably in various harsh environments.

[0024] 3. In this utility model, by controlling the start of four micro-pumps, the four micro-pumps deliver coolant through four output pipes to the inside of the heat pipes, cooling the four brushless DC motors inside the four heat insulation shells. Then, through four rotary joints inside the heat insulation shells, the coolant is delivered to the heat pipes inside the second drive module to cool the four brushless DC motors inside the second drive module. Similarly, after cooling the brushless DC motors inside the third drive module, the coolant is returned to the storage tank through the return pipe to form a cycle, thereby preventing the high temperature inside the fire from affecting the operation of the equipment.

[0025] 4. In this utility model, the thermal imaging sensor can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of fire sources. Four smoke sensors are evenly distributed around the body and adopt the photoelectric principle. When the smoke concentration reaches the set threshold, a signal is sent to the control system to trigger a fire alarm and assist the thermal imaging sensor in locating the fire source. Two gas sensors can detect the concentration of toxic and harmful gases such as carbon monoxide, carbon dioxide, and hydrogen sulfide in real time, providing decision-making basis for robot actions and ensuring personnel safety.

[0026] 5. In this utility model, the best fire extinguishing strategy is selected from the preset strategy library according to the fire type. Foam fire extinguishing agent is used for oil fires, and carbon dioxide or dry powder fire extinguishing agent is used for electrical fires. During the fire extinguishing process, the fire is monitored in real time. Based on the data from the thermal imaging sensor and the smoke sensor, the power and flow rate of the high-performance plunger fire extinguishing pump are dynamically adjusted. Water enters the high-performance plunger fire extinguishing pump through the water pipe, and after being pressurized by the high-performance plunger fire extinguishing pump, it is sprayed out from the nozzle to extinguish the fire. Attached Figure Description

[0027] Figure 1 This is a perspective view of a tethered quadruped robot automatic fire extinguishing device proposed in this utility model;

[0028] Figure 2 This is a three-dimensional sectional view of a tethered quadruped robot automatic fire extinguishing device proposed in this utility model;

[0029] Figure 3 A perspective view of the mechanical foot of a tethered quadruped robot automatic fire extinguishing device proposed in this utility model;

[0030] Figure 4 This is a side sectional view of the first drive module of a tethered quadruped robot automatic fire extinguishing device proposed in this utility model.

[0031] Figure 5 This is a three-dimensional exploded view of the first drive module of a tethered quadruped robot automatic fire extinguishing device proposed in this utility model;

[0032] Figure 6This is a perspective view of the tethering strap of the tethered quadruped robot automatic fire extinguishing device proposed in this utility model.

[0033] Legend:

[0034] 1. Body; 2. Mechanical legs; 201. First drive module; 2011. Heat insulation shell; 2012. DC brushless motor; 2013. Planetary reduction gear set; 2014. Rotary joint; 2015. Conductive slip ring; 202. Second drive module; 203. First support leg; 204. Third drive module; 205. Second support leg; 206. Support foot; 207. Flexible pad; 3. Tie strap; 301. Support plate; 302. Water pipe; 303. Four-way solenoid valve; 304. Connecting joint; 305. Delivery pipe; 306. Snap ring; 307. Snap slot; 308. Connecting wire; 309. Wiring connector; 4. Thermal imaging sensor; 5. Smoke sensor; 6. Insulated box; 7. Insulated top cover; 8. Battery module; 9. Integrated chip board; 10. Fireproof cooling module; 1001. Storage tank; 1002. Miniature delivery pump; 1003. Output pipe; 1004. Return pipe; 1005. Heat conduction pipe; 11. High-performance plunger fire extinguishing pump; 12. Nozzle; 13. Baffle; 14. Gas sensor. Detailed Implementation

[0035] 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.

[0036] Reference Figure 1-6 This utility model provides an embodiment of a tethered quadruped robot automatic fire extinguishing device, comprising a body 1, a thermal imaging sensor 4 fixedly connected to the upper center of the front end of the body 1, smoke sensors 5 fixedly connected to the front and rear ends of both side walls of the body 1, and gas sensors 14 fixedly connected to the center of both side walls of the body 1. Four mechanical legs 2 are arranged in a rectangular pattern on the lower end of the body 1. The thermal imaging sensor 4 can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of the fire source. The four smoke sensors 5 are evenly distributed around the body 1, using a photoelectric principle. When the smoke concentration reaches a set threshold, a signal is sent to the control system to trigger a fire alarm, assisting the thermal imaging sensor 4 in locating the fire source. The two gas sensors 14 can detect the concentrations of toxic and harmful gases such as carbon monoxide, carbon dioxide, and hydrogen sulfide in real time, providing decision-making basis for robot actions and ensuring personnel safety.

[0037] The mechanical foot 2 includes a first drive module 201, a second drive module 202 at the output end of the first drive module 201, a first support leg 203 fixedly connected to the output end of the second drive module 202, a third drive module 204 fixedly connected to one end of one side wall of the first support leg 203, the output end of the third drive module 204 passes through one end face of the first support leg 203 and extends to the other end face of the first support leg 203, and a second support leg 205 is fixedly connected to the end of the third drive module 204, a support foot 206 is fixedly connected to the other end of the second support leg 205, and a flexible pad 207 is fixedly connected to the lower end face of the support foot 206.

[0038] The first drive module 201 includes a heat insulation housing 2011. A DC brushless motor 2012 is fixedly connected inside the heat insulation housing 2011. A planetary reduction gear set 2013 is fixedly connected to the output end of the DC brushless motor 2012. A rotary joint 2014 is fixedly connected to the reduction output end of the planetary reduction gear set 2013. A conductive slip ring 2015 is fixedly sleeved on the outer wall of the rotating end of the rotary joint 2014. By controlling the start of the DC brushless motor 2012, the DC brushless motor 2012 drives the planetary reduction gear set 2013 to rotate at a reduced speed. Then, through the planetary reduction gear set 2012... 13 drives the rotating end of rotary joint 2014 to rotate, and the rotating end of rotary joint 2014 and the rotating end of conductive slip ring 2015 drive the second drive module 202 to rotate. This controls the DC brushless motor 2012 inside the second drive module 202 to start and drive the first support leg 203 to rotate. Then, the DC brushless motor 2012 inside the third drive module 204 starts and drives the second support leg 205 to rotate, thereby realizing the use of a single mechanical leg 2. The four mechanical legs 2 cooperate to move, thus giving the robot excellent adaptability to complex terrain and the ability to walk stably in a variety of harsh environments.

[0039] like Figure 4 As shown, the fixed end of the conductive slip ring 2015 is fixedly connected to the fixed end of the rotary joint 2014, and the rotating end of the conductive slip ring 2015 is fixedly connected to the rotating end of the rotary joint 2014. The reduction output end of the planetary reduction gear set 2013 is connected to the rotating end of the rotary joint 2014. The rotating end of the conductive slip ring 2015 is the output end of the first drive module 201, which facilitates the rotation of the conductive slip ring 2015 and the rotating end of the rotary joint 2014 by the DC brushless motor 2012, thereby driving the second drive module 202 to rotate.

[0040] like Figure 1 , 2As shown in Figures 3 and 6, a partition 13 is fixedly connected to the rear of the body 1. A tethering strap 3 is fixedly connected to the rear end of the partition 13. The tethering strap 3 includes a support plate 301, which is L-shaped. Three slots 307 are arranged horizontally at the center of the upper surface of the support plate 301. A four-way solenoid valve 303 is fixedly connected to the front surface of the partition 13. Both input ends of the four-way solenoid valve 303 pass through the front surface of the partition 13 and extend to the rear end of the partition 13. Both ends are threaded with two connecting connectors 304. The input ends of the two connecting connectors 304 are respectively provided with a water pipe 302 and a delivery pipe 305. A wiring connector 309 is fixedly connected to the center of the rear surface of the partition 13. The rear end of 309 is threaded with a connecting wire 308. The connecting wire 308, water pipe 302, and delivery pipe 305 are all fixedly fitted with retaining rings 306 on their outer walls. Three retaining rings 306 are respectively located inside three retaining slots 307. By connecting two connecting connectors 304 to the input ends of two four-way solenoid valves 303, and then connecting the connecting wire 308 to the wiring connector 309, during use, dragging the four-way solenoid valve 303, delivery pipe 305, and connecting wire 308 will cause them to be secured inside the three retaining rings 306, preventing them from falling off. This ensures continuous power supply, supply of extinguishing agent and water, solves the problems of endurance and carrying capacity, and guarantees long-term, efficient fire extinguishing.

[0041] like Figure 2 , 3As shown in Figure 4, a heat insulation box 6 is fixedly connected to the center of the lower inner wall of the body 1. A fireproof cooling module 10 is provided on the rear side of one side of the lower inner wall of the heat insulation box 6. The fireproof cooling module 10 includes a storage tank 1001. Four micro-pumps 1002 are provided inside the heat insulation box 6 on one side of the storage tank 1001. The output ends of the four micro-pumps 1002 are respectively provided with output pipes 1003. The output ends of the four output pipes 1003 pass through the four heat insulation shells 2011 and lead to the interior of the four heat insulation shells 2011. Each end is fixedly connected with a heat conduction pipe 1005. The four heat conduction pipes 1005 are respectively sleeved on the outer walls of the four DC brushless motors 2012. The output ends are respectively connected to the input ends of the rotating ends of the four rotary joints 2014. The output ends of the rotating ends of the four rotary joints 2014 are fixedly connected with return pipes 1004. The four return pipes 1004 pass through the heat insulation shells 2012. The inner wall of 011 extends to the outer side of the heat insulation shell 2011, and its ends are fixedly connected to the front and rear end faces of the storage tank 1001. By controlling the start of four micro-pumps 1002, the four micro-pumps 1002 deliver coolant through four output pipes 1003 to the inside of the heat conduction pipe 1005 to cool the four DC brushless motors 2012 inside the four heat insulation shells 2011. Then, through four rotary joints 2014 inside the heat insulation shell 2011, the coolant is delivered to the heat conduction pipe 1005 inside the second drive module 202 to cool the four DC brushless motors 2012 inside the second drive module 202. Similarly, after cooling the DC brushless motors 2012 inside the third drive module 204, it is transferred back to the storage tank 1001 through the return pipe 1004 to form a circulation, thereby preventing the high temperature inside the fire from affecting the operation of the equipment.

[0042] The rotary joint 2014's rotating end output is connected to the inside of the second drive module 202 via the first support leg 203. The second drive module 202 is configured the same as the third drive module 204 and the first drive module 201, facilitating connection between the rotary joint 2014 and the second drive module 202.

[0043] A battery module 8 is fixedly connected to one side of the interior of the heat insulation box 6. An integrated chip board 9 is fixedly connected to the upper surface of the battery module 8. A heat insulation top cover 7 is fixedly connected to the upper surface of the heat insulation box 6. The battery module 8 provides initial power to the integrated chip board 9. The heat insulation box 6 and the heat insulation top cover 7 prevent the fire from affecting the use of the integrated chip board 9.

[0044] One of the output terminals of the four-way solenoid valve 303 is fixedly connected to a high-performance plunger fire extinguishing pump 11. The output terminal of the high-performance plunger fire extinguishing pump 11 is fixedly connected to a nozzle 12. Water enters the high-performance plunger fire extinguishing pump 11 through the water pipe 302, and after being pressurized by the high-performance plunger fire extinguishing pump 11, it is sprayed out from the nozzle 12 to extinguish the fire.

[0045] Working principle: In use, the two connecting connectors 304 are connected to the input terminals of the two four-way solenoid valves 303, and the connecting wire 308 is connected to the wiring connector 309. During use, the four-way solenoid valves 303, the delivery pipe 305 and the connecting wire 308 are dragged and locked into the three slots 307 by the three retaining rings 306 to prevent them from falling off. This achieves continuous power supply, supply of extinguishing agent and water, solves the problems of endurance and carrying capacity, and ensures long-term and efficient fire extinguishing.

[0046] During use, the brushless DC motor 2012 is started, driving the planetary reduction gear set 2013 to rotate. The planetary reduction gear set 2013 then drives the rotating end of the rotary joint 2014 to rotate. The rotating end of the rotary joint 2014 and the rotating end of the conductive slip ring 2015 then drive the second drive module 202 to rotate. The second drive module 202 has the same configuration as the first drive module 201. The brushless DC motor 2012 inside the second drive module 202 is started, driving the first support leg 203 to rotate. Then, the brushless DC motor 2012 inside the third drive module 204 is started, driving the second support leg 205 to rotate. This enables the use of a single mechanical leg 2. The four mechanical legs 2 work together to move, giving the robot excellent adaptability to complex terrain and the ability to walk stably in various harsh environments.

[0047] When the temperature inside the fire is high, four micro pumps 1002 are activated to deliver coolant through four output pipes 1003 to the heat pipes 1005, cooling the four brushless DC motors 2012 inside the four insulation shells 2011. The coolant is then delivered through four rotary joints 2014 inside the insulation shells 2011 to the heat pipes 1005 inside the second drive module 202, cooling the four brushless DC motors 2012 inside the second drive module 202. Similarly, the coolant is then delivered to the brushless DC motors 2012 inside the third drive module 204, and then returned to the storage tank 1001 through the return pipe 1004 to form a circulation, thereby preventing the high temperature inside the fire from affecting the operation of the equipment.

[0048] The thermal imaging sensor 4 can capture thermal radiation images in real time in harsh environments such as smoke and darkness, quickly and accurately detect high-temperature heat sources, and determine the location of fire sources. Four smoke sensors 5 are evenly distributed around the body 1. Using the photoelectric principle, when the smoke concentration reaches a set threshold, a signal is sent to the control system to trigger a fire alarm and assist the thermal imaging sensor 4 in locating the fire source. Two gas sensors 14 can detect the concentration of toxic and harmful gases such as carbon monoxide, carbon dioxide, and hydrogen sulfide in real time, providing decision-making basis for robot actions and ensuring personnel safety.

[0049] The best fire extinguishing strategy is selected from the preset strategy library according to the fire type. Foam extinguishing agent is used for oil fires, and carbon dioxide or dry powder extinguishing agent is used for electrical fires. During the fire extinguishing process, the fire is monitored in real time. Based on the data from thermal imaging sensor 4 and smoke sensor 5, the power and flow rate of high-performance plunger fire extinguishing pump 11 are dynamically adjusted. Water enters the high-performance plunger fire extinguishing pump 11 through water pipe 302. After being pressurized by the high-performance plunger fire extinguishing pump 11, it is sprayed out from nozzle 12 to extinguish the fire.

[0050] 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 tethered quadruped robot automatic fire extinguishing device, comprising a body (1), characterized in that: A thermal imaging sensor (4) is fixedly connected to the upper center of the front end face of the fuselage (1), a smoke sensor (5) is fixedly connected to both ends of the front and rear sides of the fuselage (1), a gas sensor (14) is fixedly connected to the center of both sides of the fuselage (1), and four mechanical feet (2) are arranged in a rectangular pattern on the lower end face of the fuselage (1). The mechanical foot (2) includes a first drive module (201), the output end of the first drive module (201) is provided with a second drive module (202), the output end of the second drive module (202) is fixedly connected to a first support leg (203), a third drive module (204) is fixedly connected to one side wall of the first support leg (203) near the end, the output end of the third drive module (204) passes through one end face of the first support leg (203) and extends to the other end face of the first support leg (203), and a second support leg (205) is fixedly connected to the end of the second support leg (205), a support foot (206) is fixedly connected to the other end of the second support leg (205), and a flexible pad (207) is fixedly connected to the lower end face of the support foot (206); The first drive module (201) includes a heat insulation housing (2011), inside which a DC brushless motor (2012) is fixedly connected. The output end of the DC brushless motor (2012) is fixedly connected to a planetary reduction gear set (2013), and the reduction output end of the planetary reduction gear set (2013) is fixedly connected to a rotary joint (2014). A conductive slip ring (2015) is fixedly sleeved on the outer wall of the rotating end of the rotary joint (2014).

2. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: The fixed end of the conductive slip ring (2015) is fixedly connected to the fixed end of the rotary joint (2014), the rotating end of the conductive slip ring (2015) is fixedly connected to the rotating end of the rotary joint (2014), the reduction output end of the planetary reduction gear set (2013) is connected to the rotating end of the rotary joint (2014), and the rotating end of the conductive slip ring (2015) is the output end of the first drive module (201).

3. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: A partition (13) is fixedly connected to the rear of the body (1). A tethering strap (3) is fixedly connected to the rear end of the partition (13). The tethering strap (3) includes a support plate (301). The support plate (301) is L-shaped. Three slots (307) are arranged horizontally at the center of the upper surface of the support plate (301). A four-way solenoid valve (303) is fixedly connected to the front surface of the partition (13). Both input ends of the four-way solenoid valve (303) pass through the front surface of the partition (13) and extend to the rear end of the partition (13). Each part has two threaded connecting joints (304), and the input ends of the two connecting joints (304) are respectively provided with water pipe (302) and delivery pipe (305). A wiring connector (309) is fixedly connected at the center of the rear end face of the partition (13). A connecting wire (308) is threadedly connected to the rear end of the wiring connector (309). A retaining ring (306) is fixedly fitted on the outer wall of the connecting wire (308), water pipe (302) and delivery pipe (305). The three retaining rings (306) are respectively set in the three retaining grooves (307).

4. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: A heat insulation box (6) is fixedly connected to the center of the lower inner wall of the fuselage (1). A fireproof cooling module (10) is provided on the rear side of one side of the lower inner wall of the heat insulation box (6). The fireproof cooling module (10) includes a storage tank (1001). Four miniature delivery pumps (1002) are provided inside the heat insulation box (6) on one side of the storage tank (1001). The output ends of the four miniature delivery pumps (1002) are respectively provided with output pipes (1003). The output ends of the four output pipes (1003) pass through the four heat insulation shells (2011) and lead to the interior of the four heat insulation shells (2011). Each end is fixedly connected to a heat pipe (1005). The four heat pipes (1005) are respectively sleeved on the outer wall of the four DC brushless motors (2012), and their output ends are respectively connected to the input ends of the rotating ends of the four rotary joints (2014). The output ends of the rotating ends of the four rotary joints (2014) are fixedly connected to a return pipe (1004). The four return pipes (1004) pass through the inner wall of the heat insulation shell (2011) and lead to the outer side of the heat insulation shell (2011). Their ends are respectively fixedly connected to the front and rear end faces of the storage tank (1001).

5. The tethered quadruped robot automatic fire extinguishing device according to claim 1, characterized in that: The rotary joint (2014) has its rotating end output connected to the inside of the second drive module (202) via the first support leg (203). The second drive module (202) is configured the same as the third drive module (204) and the first drive module (201).

6. The tethered quadruped robot automatic fire extinguishing device according to claim 4, characterized in that: A battery module (8) is fixedly connected to one side of the heat insulation box (6) near the front. An integrated chip board (9) is fixedly connected to the upper surface of the battery module (8). A heat insulation top cover (7) is fixedly connected to the upper surface of the heat insulation box (6).

7. The tethered quadruped robot automatic fire extinguishing device according to claim 3, characterized in that: One of the output ends of the four-way solenoid valve (303) is fixedly connected to a high-performance plunger fire extinguishing pump (11), and the output end of the high-performance plunger fire extinguishing pump (11) is fixedly connected to a nozzle (12).

Images