Multi-sensor fusion intelligent fire-fighting robot arm

Abstract

This utility model relates to the field of firefighting robot technology, specifically disclosing an intelligent firefighting robot arm with multi-sensor fusion; it includes a base, a robotic arm, and a piercing section. The robotic arm is mounted on the base and includes a connecting part, a first extension arm, and a second extension arm; the end of the second extension arm has a piercing section, which is connected to a fire extinguishing pipe, having a first form of closing to break the window and a second form of exposing the pipe to spray fire extinguishing fluid. The piercing section is hinged to the second extension arm via a mounting frame, and the mounting frame is driven to rotate by a third motor, which in turn drives the piercing section to adjust its posture; the base frame, electric cylinder, and hinge frame work together to extend and retract the piston rod to control the opening and closing of the piercing protrusion. The connecting part and the hinge of the first and second extension arms are respectively equipped with a first motor and a second motor. This robotic arm can quickly break open car windows that are difficult to open during a fire, and then efficiently spray fire extinguishing liquid through the fire extinguishing pipe, effectively solving the problems of difficult demolition and untimely operation in traditional firefighting methods when extinguishing fires inside vehicles.

Description

Technical Field

[0001] This utility model relates to the field of firefighting robot technology, and in particular to an intelligent firefighting robot arm with multi-sensor fusion. Background Technology

[0002] In fire incidents, especially those involving vehicle fires or vehicles trapped inside buildings, rapidly and effectively extinguishing fires inside vehicles presents numerous challenges. Vehicle windows, as a crucial barrier for entering the vehicle for firefighting operations, are often difficult to open due to factors such as changes in glass material caused by high temperatures during a fire, malfunctions in the vehicle's electrical system leading to power window failure, or structural deformation of the vehicle itself. Traditional firefighting methods, such as firefighters manually breaking open windows, are not only inefficient but also pose significant personal safety risks to firefighters approaching the vehicle to perform the breaking-in operation, especially in situations with rapid fire spread and complex environments (such as dense smoke and confined space). Furthermore, manually breaking open windows makes it difficult to accurately spray fire extinguishing fluids onto the fire source inside the vehicle, often resulting in wasted firefighting resources and hindering efficient fire suppression.

[0003] For example, patent CN119524345A, "An Emergency Rescue Demolition and Positioning Fire Extinguishing Device," also aims to solve the problem of coordinated demolition and fire extinguishing operations during fires. Its demolition section uses a hydraulically driven adjustable demolition head, attempting to adapt to the demolition needs of various building structures and vehicle components by changing different demolition attachments. The fire extinguishing section integrates a high-pressure water gun into the main body of the demolition device, connected to an external water source via a pipeline. However, this device has significant drawbacks. In the scenario of breaking car windows, its hydraulic demolition head is bulky and lacks flexibility, making it difficult to accurately position and break the window within the limited space around the vehicle. Furthermore, the adjustment speed of the demolition head is slow, failing to meet emergency rescue needs. In the fire extinguishing phase, the spray direction of the high-pressure water gun can only be achieved manually by adjusting the angle of the main body of the device. After breaking the window, it cannot be quickly and accurately adjusted to the location of the fire source inside the vehicle for effective fire extinguishing. There is a lack of efficient linkage between demolition and fire extinguishing operations, unlike this invention which achieves close coordination between demolition and fire hose spraying through changing the shape of the puncture section. Meanwhile, the device has almost no involvement in multi-joint collaborative control, making it difficult to move flexibly and accurately perform demolition and firefighting tasks in complex fire environments. Utility Model Content

[0004] In view of this, this utility model embodiment provides a multi-sensor fusion intelligent fire-fighting robot arm to solve the problem that traditional fire-fighting methods cannot quickly open car windows and effectively extinguish fires inside vehicles when a fire occurs.

[0005] This utility model embodiment provides a multi-sensor fusion intelligent firefighting robot arm, including: a base; a robotic arm disposed on the base and rotatable based on the base; the robotic arm includes a connecting part connected to the base and a first extension arm and a second extension arm; the first extension arm is hinged to the connecting part, and the second extension arm is hinged to the first extension arm; wherein, the end of the second extension arm is further provided with a piercing part; wherein, the body of the robotic arm is further provided with a fire-fighting pipe, the end of the fire-fighting pipe being disposed at the piercing part; wherein, the piercing part includes a first form and a second form, and when the piercing part is in the second form, the fire-fighting pipe can perform fire-fighting operations.

[0006] Preferably, the puncture portion is hinged to the second extension arm via a mounting bracket; the second extension arm is further provided with a third motor that drives the mounting bracket to rotate based on the second extension arm.

[0007] Preferably, the mounting frame is further provided with a rotating seat, and the puncture part is disposed on the rotating seat; and the mounting frame is further provided with a rotary motor for driving the puncture part to rotate based on the rotating seat.

[0008] Preferably, the piercing part includes a base frame and a plurality of piercing protrusions disposed on the base frame; the base frame is also provided with a hinge frame, and the plurality of piercing protrusions are respectively hinged to the hinge frame through hinge rods on the hinge frame.

[0009] Preferably, the other side of one end of one of the puncture protrusions hinged to the hinge frame is hinged to the base frame; the base frame includes a first base plate and a second base plate, and a plurality of support rods disposed between the first base plate and the second base plate; a receiving space is provided between the first base plate and the second base plate, and an electric cylinder is provided through the receiving space.

[0010] Preferably, the hinge frame is provided with a plurality of through holes adapted to the support rod; the piston rod of the electric cylinder is connected to the hinge frame, and the extension and retraction of the piston rod drives the hinge frame to move based on the support rod.

[0011] Preferably, the extension and retraction of the piston rod achieves the switching between the first and second forms of the puncture portion; when the piston rod retracts, the plurality of puncture protrusions close, and the puncture portion is in the first form, thus concealing the fire-fighting pipe. When the piston rod extends, the plurality of puncture protrusions open, and the puncture portion is in the second form, thus exposing the fire-fighting pipe.

[0012] Preferably, when the puncture portion is in the first state, the plurality of puncture protrusions are retracted and set at the tip.

[0013] Preferably, a first motor is provided at the hinge point between the connecting part and the first extended arm to drive the first extended arm to rotate based on the connecting part.

[0014] Preferably, a second motor is provided at the hinge joint between the first extension arm and the second extension arm, which drives the second hinge arm to rotate based on the first extension arm.

[0015] The intelligent firefighting robot arm with multi-sensor fusion provided by this utility model has the following beneficial effects:

[0016] In this invention, the fire-fighting robot arm utilizes multiple motors to drive the flexible rotation of its joints (connecting parts, first extension arm, and second extension arm), enabling rapid and precise positioning of vehicle windows in complex fire environments. The piercing section, driven by an electric cylinder, pierces protrusions, switching between shapes. When retracted, its pointed structure efficiently breaks through windows of different materials, exposing fire hydrants and achieving a seamless "breaking-spraying" connection, preventing rescue delays. The mounting frame, in conjunction with the rotating motor, allows for multi-angle adjustment of the fire hydrant spray direction, precisely covering the fire source inside the vehicle. The design of the base frame, hinge frame, and support rods ensures structural stability of the piercing section during the breaking process, effectively resisting reaction forces. The overall structural design solves the problems of difficult breaking, poor positioning, and low linkage efficiency of traditional fire-fighting equipment, significantly improving the safety, accuracy, and efficiency of fire-fighting operations inside vehicles in fire scenarios. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of this utility model.

[0018] Figure 1 This is a schematic diagram of the overall structure of an intelligent firefighting robot arm that integrates multiple sensors;

[0019] Figure 2 This is a schematic diagram of the robotic arm.

[0020] Figure 3 This is a structural diagram of the mobile cart;

[0021] Figure 4 This is a schematic diagram of the structure of the first moving part of the mobile trolley;

[0022] Parts and their numbers in the diagram:

[0023] 100-Mobile trolley, 111-Mobile frame, 112-Mounting box, 120-First moving part, 121-Mobile motor, 122-Auxiliary wheel, 123-Moving wheel, 130-Second moving part, 141-First camera, 142-Second camera, 151-First bearing seat, 152-Second bearing seat, 153-Steering shaft, 154-Steering plate, 155-First steering rod, 156-Second steering rod;

[0024] 200 - Robotic arm, 210 - Connector, 220 - First extension arm, 230 - Second extension arm;

[0025] 300-Piercing part, 310-Base frame, 311-First substrate, 312-Second substrate, 313-Support rod, 320-Electric cylinder, 321-Piston rod, 330-Piercing protrusion, 340-Hinge frame, 341-Through hole, 342-Hinge rod; 400-Mounting frame, 410-Rotating motor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, in this document, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Unless otherwise specified, embodiments of the present invention and the various features thereof can be combined with each other, all within the protection scope of the present invention.

[0027] Example 1

[0028] Please see Figure 1This utility model provides a multi-sensor fusion intelligent firefighting robot arm, or a piercing-type firefighting robot arm. In the event of a fire, especially a vehicle fire or a vehicle trapped inside a building, firefighters face many challenges in quickly and effectively extinguishing fires inside vehicles. Vehicle windows are a major obstacle to entering the vehicle to perform firefighting tasks, but the high temperatures of a fire often cause changes in the glass material, electrical problems in the car causing the electric window system to malfunction, or structural deformation of the vehicle, making it difficult to open the windows normally. Traditional firefighting methods, such as firefighters manually breaking car windows, are not very efficient. In situations with intense fires and complex environments such as dense smoke and confined spaces, firefighters face significant personal safety risks when approaching vehicles to break windows. Furthermore, after manually breaking the window, it is difficult to accurately spray firefighting fluids onto the fire source inside the vehicle, which usually leads to a waste of firefighting resources and fails to achieve the goal of efficient firefighting.

[0029] Therefore, a more efficient, safe, and precise firefighting method is needed to solve the challenges faced in such fire scenarios. This invention provides a multi-sensor fusion intelligent firefighting robot arm or a piercing-type firefighting robot arm. Utilizing advanced sensor technology and intelligent control mechanisms, it can quickly and accurately pierce vehicle windows and rapidly and accurately spray fire extinguishing fluid onto the fire source inside the vehicle, thereby effectively improving firefighting efficiency while reducing the safety risks for firefighters operating in hazardous environments.

[0030] Please see Figure 1 In this embodiment, the fire-fighting robot arm includes a mobile trolley 100 and a robotic arm 200 mounted on the mobile trolley 100. The robotic arm 200 can rotate based on the mobile trolley 100. The robotic arm 200 includes a connecting part 210 connected to the mobile trolley 100, a first extension arm 220, and a second extension arm 230. The first extension arm 220 is hinged to the connecting part 210, and the second extension arm 230 is hinged to the first extension arm 220. The end of the second extension arm 230 is also provided with a piercing part 300. The body of the robotic arm 200 is also provided with a fire-fighting pipe, and the end of the fire-fighting pipe is located at the piercing part 300. The piercing part 300 includes a first form and a second form. When the piercing part 300 is in the second form, the fire-fighting pipe can perform fire-fighting operations.

[0031] In use, the mobile cart 100 is moved to the vicinity of the target vehicle by its own movement or by manual movement. Then, the robotic arm 200 rotates based on the mobile cart 100, adjusting its angle and position so that the connecting part 210, the first extension arm 220, and the second extension arm 230 work together to align the piercing part 300 at its end with the vehicle window. Once in the appropriate position, the piercing part 300 transforms from its first form to its second form, using its sharp structure to quickly and accurately pierce the vehicle window. Simultaneously, the fire extinguishing pipe connected to the piercing part 300 immediately begins operation, spraying fire extinguishing fluid along the pipe to the fire source inside the vehicle, completing an efficient fire extinguishing operation.

[0032] This design enables the rapid creation of a fire escape route in emergency situations where a vehicle catches fire and the doors cannot be opened normally, preventing further damage from the spread of the fire. The flexible rotation and extension of the robotic arm 200 allows it to adapt to windows at different positions and angles, improving the accuracy and timeliness of firefighting. Furthermore, the design of the puncture unit 300, integrated with the fire hose, allows for a seamless firefighting operation, reducing steps, improving overall firefighting efficiency, buying valuable time for rescue efforts, and maximizing the protection of lives and property.

[0033] Furthermore, the transmission structures of the connecting part 210, the first extended arm 220, the second extended arm 230, and the piercing part 300 can all be protected by protective covers. This effectively prevents the transmission structures from being affected by debris, dust, fire sources, or water stains in complex rescue environments, ensuring the stability and smoothness of transmission between components. The protective covers are made of a special material that is high-strength, heat-resistant, and has a certain degree of flexibility. They can withstand possible collisions and impacts from the outside world, and will not be damaged by excessive bending when the robotic arm 200 rotates and extends flexibly. At the same time, the surface of the protective cover is also designed with heat dissipation holes, which can dissipate the heat generated during transmission in a timely manner without affecting the protective performance, preventing the performance of transmission components from deteriorating due to overheating, and ensuring that the entire fire-fighting robot arm maintains a stable and reliable operating state under long-term, high-intensity working environments.

[0034] Further, please see Figure 2 The puncture part 300 is hinged to the second extension arm 230 via the mounting bracket 400; the second extension arm 230 is also provided with a third motor 231 that drives the mounting bracket 400 to rotate based on the second extension arm 230.

[0035] A first motor 211 is provided at the hinge point between the connecting part 210 and the first extension arm 220 to drive the first extension arm 220 to rotate based on the connecting part 210.

[0036] A second motor 221 is provided at the hinge point between the first extension arm 220 and the second extension arm 230 to drive the second extension arm 230 to rotate based on the first extension arm 220.

[0037] The mounting bracket 400 is also provided with a rotating seat, and the piercing part 300 is disposed on the rotating seat; and the mounting bracket 400 is also provided with a rotary motor 410 for driving the piercing part 300 to rotate based on the rotating seat.

[0038] In use, firstly, the first motor 211 is activated, causing the first extended arm 220 to rotate around the connecting part 210 as an axis, adjusting to a suitable angle to meet the needs of the fire-fighting robot arm's extension direction in different scenarios. Next, the second motor 221 is activated, causing the second extended arm 230 to rotate based on the first extended arm 220, further precisely positioning the arm to approach the target object near the fire source. Then, the third motor 231 is activated, driving the mounting bracket 400 to rotate based on the second extended arm 230, allowing the piercing part 300 to adjust its angle more accurately towards the target. Finally, the rotating base is driven, allowing the piercing part 300 to rotate based on the base, facing vehicles at different angles, ensuring the piercing part 300 can penetrate at the optimal angle, such as aiming at critical parts of the fire source in fire hydrants, thereby rapidly releasing the extinguishing agent for efficient fire suppression and completing a series of rapid and precise fire-fighting actions.

[0039] Further, please see Figure 2 The piercing part 300 includes a base frame 310 and a plurality of piercing protrusions 330 disposed on the base frame 310; the base frame 310 is also provided with a hinge frame 340, and the plurality of piercing protrusions 330 are respectively hinged to the hinge frame 340 through hinge rods 342 on the hinge frame 340.

[0040] Furthermore, one side of one end of the plurality of piercing protrusions 330 that is hinged to the hinge frame 340 is hinged to the base frame 310; the base frame 310 includes a first substrate 311 and a second substrate 312, and a plurality of support rods 313 disposed between the first substrate 311 and the second substrate 312; an accommodating space is provided between the first substrate 311 and the second substrate 312, and an electric cylinder 320 is provided through the accommodating space.

[0041] Furthermore, the hinge frame 340 is provided with a plurality of through holes 341 adapted to the support rod 313; the piston rod 321 of the electric cylinder 320 is connected to the hinge frame 340, and the extension and retraction of the piston rod 321 drives the hinge frame 340 to move based on the support rod 313.

[0042] Furthermore, the extension and retraction of the piston rod 321 enables the switching between the first and second states of the puncture portion 300. When the piston rod 321 retracts, the plurality of puncture protrusions 330 close, and the puncture portion 300 is in the first state, thus concealing the fire-fighting pipe. When the piston rod 321 extends, the plurality of puncture protrusions 330 open, and the puncture portion 300 is in the second state, thus exposing the fire-fighting pipe.

[0043] Furthermore, the fire-fighting pipeline is installed on the outside or inside of the connecting part 210, the first extension arm 220, the second extension arm 230, and the puncture part 300; the fire-fighting solution can be installed in a solution tank or solution container; the solution tank or solution container can be installed inside the base or on the base.

[0044] Furthermore, when the piercing portion 300 is in the first state, the plurality of piercing protrusions 330 are retracted and set at the tip.

[0045] In use, the operator can easily switch the shape of the puncture part 300 by controlling the extension and retraction of the piston rod 321 of the electric cylinder 320 according to the actual situation.

[0046] When the piston rod 321 extends, it pushes the hinge frame 340 to move based on the support rod 313. At this time, through the hinge rod 342, the second base plate 312 and the piercing protrusion 330 are hinged, the piercing protrusion 330 is driven to rotate based on the hinge with the second base plate 312, so that several piercing protrusions 330 open at the same time. At this time, the fire pipe is exposed, and fire fighting operations can be carried out at the target location.

[0047] When the piston rod 321 retracts, it pulls the hinge frame 340 to move in the opposite direction based on the support rod 313. Through the hinge rod 342, the second base plate 312 and the piercing protrusion 330 are hinged, the piercing protrusion 330 is pushed to rotate based on the hinge with the second base plate 312. Several piercing protrusions 330 gradually retract and finally form a pointed shape, which makes it easy to accurately pierce specific parts again when needed. It also protects the fire water pipe and provides a more flexible and effective operation method for fire rescue work, greatly improving the adaptability and practicality of the fire robot arm in different scenarios.

[0048] Furthermore, to enhance the piercing effect, the rotating motor 410 can be activated to drive the base frame 310 to rotate, thereby rotating the piercing part 300. This allows the piercing protrusion 330 to penetrate the object surface more efficiently during the piercing process. The rotating piercing protrusion 330 utilizes centrifugal force to increase the piercing force, especially when facing relatively hard or thick obstacles, quickly opening a passage and creating favorable conditions for subsequent firefighting operations. Simultaneously, this rotational motion prevents the piercing protrusion 330 from shifting or getting stuck due to uneven force during piercing, ensuring precise piercing every time. By combining the control of the piercing part 300's shape by the electric cylinder 320 with the rotational function driven by the rotating motor 410, the firefighting robot arm demonstrates superior performance when performing tasks, whether in scenarios requiring large-area exposure of fire pipelines or situations requiring precise piercing operations, better coping with various complex and changing fire rescue environments.

[0049] Example 2

[0050] Please see Figure 1 This utility model provides a multi-sensor fusion intelligent fire-fighting robot arm, or a mobile trolley 100 for a piercing fire-fighting robot arm.

[0051] Please see Figure 3 and Figure 4 The mobile trolley 100 includes a mobile frame 111, and a first mobile part 120 and a second mobile part 130 disposed on the mobile frame 111. The first mobile part 120 and the second mobile part 130 have the same structure.

[0052] Furthermore, the mobile vehicle 100 is equipped with a first camera 141 and a second camera 142 at both ends. The first camera 141 and the second camera 142 can monitor the surrounding environment of the mobile vehicle 100 in real time, providing the operator with a clear view so as to adjust the movement route of the mobile vehicle 100 in a timely manner.

[0053] The first moving part 120 includes a pair of rotatable wheels 123 based on the mounting housing 112. The pair of rotatable wheels 123 are driven by a moving motor 121. The rotatable wheels 123 are driven to rotate by the moving motor 121, providing power for the mobile trolley 100 to move forward, backward, and turn. The first moving part 120 and the second moving part 130 cooperate with each other, allowing the mobile trolley 100 to move flexibly in complex fire scenes and quickly reach the designated location.

[0054] Please see Figure 4The mounting box 112 and the moving frame 111 are also provided with a first bearing seat 151 and a second bearing seat 152; a steering shaft 153 is provided between the first bearing seat 151 and the second bearing seat 152, and a steering plate 154 is also provided on the steering shaft 153. A first steering rod 155 and a second steering rod 156 are respectively provided at both ends of the steering plate 154. The first steering rod 155 and the second steering rod 156 are both fixedly connected to the mounting box 112.

[0055] When a turn is required, the steering motor installed on the steering shaft 153 drives the steering shaft, causing the steering plate 154 to rotate, which in turn drives the first steering rod 155 and the second steering rod 156, causing the mounting box 112 to turn and change the travel direction of the mobile trolley 100.

[0056] In use, operators can remotely control the mobile vehicle 100. Based on the images transmitted from the first camera 141 and the second camera 142, the mobile vehicle 100 avoids obstacles at the fire scene through the coordinated operation of the moving motor 121 and the steering motor. Once the mobile vehicle 100 reaches the appropriate position, the multi-sensor fusion intelligent firefighting robot arm or the piercing-type firefighting robot arm mounted on it can then take effect. The multi-sensor fusion intelligent firefighting robot arm collects information such as temperature and smoke concentration at the scene using multiple sensors to more accurately carry out firefighting operations; while the piercing-type firefighting robot arm can use its unique piercing structure to break through obstacles when necessary, opening up new paths for firefighting, thereby improving firefighting efficiency and better coping with complex and ever-changing fire scenarios.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multi-sensor fusion intelligent fire-fighting robot arm, characterized in that, include: Base; A robotic arm (200) is mounted on the base and can rotate based on the base; The robotic arm (200) includes a connecting part (210) connected to the base, a first extension arm (220), and a second extension arm (230); the first extension arm (220) is hinged to the connecting part (210), and the second extension arm (230) is hinged to the first extension arm (220); The second extension arm (230) is further provided with a piercing part (300) at its end; The robotic arm (200) is also equipped with a fire-fighting pipe, the end of which is located at the puncture part (300). The puncture portion (300) includes a first form and a second form. When the puncture portion (300) is in the second form, the fire-fighting pipeline can be used for fire-fighting operations.

2. The multi-sensor fusion intelligent fire-fighting robot arm of claim 1, wherein The puncture part (300) is hinged to the second extension arm (230) via the mounting bracket (400); the second extension arm (230) is also provided with a third motor that drives the mounting bracket (400) to rotate based on the second extension arm (230).

3. The intelligent firefighting robot arm with multi-sensor fusion according to claim 2, characterized in that, The mounting bracket (400) is also provided with a rotating seat, and the piercing part (300) is disposed on the rotating seat; Furthermore, the mounting bracket (400) is also equipped with a rotary motor (410) for driving the puncture part (300) to rotate based on the rotary seat.

4. The multi-sensor fusion intelligent fire-fighting robot arm of claim 1, wherein, The piercing part (300) includes a base frame (310) and a plurality of piercing protrusions (330) disposed on the base frame (310); The base frame (310) is also provided with a hinge frame (340), and several of the piercing protrusions (330) are respectively hinged to the hinge frame (340) through the hinge rods (342) on the hinge frame (340).

5. The multi-sensor fusion intelligent fire-fighting robot arm of claim 4, wherein, One side of one end of the piercing protrusions (330) that is hinged to the hinge frame (340) is hinged to the base frame (310); The base frame (310) includes a first substrate (311) and a second substrate (312), and a plurality of support rods (313) disposed between the first substrate (311) and the second substrate (312); An accommodating space is provided between the first substrate (311) and the second substrate (312), and an electric cylinder (320) is provided through the accommodating space.

6. The multi-sensor fusion intelligent fire-fighting robot arm of claim 5, wherein, The hinge frame (340) is provided with a plurality of through holes (341) that are adapted to the support rod (313); The piston rod (321) of the electric cylinder (320) is connected to the hinge frame (340), and the extension and retraction of the piston rod (321) drive the hinge frame (340) to move based on the support rod (313).

7. The multi-sensor fusion intelligent fire-fighting robot arm of claim 6, wherein, The first and second forms of the puncture part (300) are switched by the extension and contraction of the piston rod (321); When the piston rod (321) retracts, the plurality of the piercing protrusions (330) close up, and the piercing part (300) is in the first state, so that the fire pipe is covered. When the piston rod (321) extends, a plurality of the piercing protrusions (330) open, and the piercing part (300) is in the second state, exposing the fire-fighting pipe.

8. The multi-sensor fusion intelligent fire-fighting robot arm of claim 7, wherein, When the piercing portion (300) is in the first state, the plurality of piercing protrusions (330) are retracted and set at the tip.

9. The multi-sensor fusion intelligent fire-fighting robot arm of claim 1, wherein, A first motor is provided at the hinge point between the connecting part (210) and the first extension arm (220) to drive the first extension arm (220) to rotate based on the connecting part (210).

10. The intelligent firefighting robot arm with multi-sensor fusion according to claim 1, characterized in that, A second motor is provided at the hinge point between the first extension arm (220) and the second extension arm (230) to drive the second extension arm (230) to rotate based on the first extension arm (220).

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