Fire extinguishing robot

Abstract

The application provides a fire extinguishing robot, which comprises a rack, a driving mechanism and a spraying module. An installation space is formed in the rack, and the outer surface of the rack is covered with a thermal insulation layer. The driving mechanism is arranged in the installation space and at least part of the driving mechanism extends out of the rack to drive the fire extinguishing robot to move. The spraying module comprises a fire extinguishing agent tank storing fire extinguishing agent and a spraying nozzle communicating with the fire extinguishing agent tank. The fire extinguishing agent tank is arranged in the installation space, and the spraying nozzle extends out of the top of the rack to spray the fire extinguishing agent. The height of the rack is h, and 120mm < h ≤ 135mm. The high-temperature resistance of the fire extinguishing robot can be improved, the fire extinguishing robot can quickly move in a narrow space and move to a target position, the adaptability of the thermal insulation layer to the environment can improve the moving efficiency of the fire extinguishing robot, and the fire extinguishing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of fire fighting, and particularly relates to a fire extinguishing robot. BACKGROUND

[0002] The existing fire extinguishing technology applied to the electric vehicle transport ship has many limitations, first, due to the complex cabin space structure and narrow vehicle bottom passage, the traditional fire extinguishing robot has a higher rack design for its driving mechanism, so that the height of the fire extinguishing robot is higher, and the total height cannot meet the requirement of flexible shuttle in the bottom of the vehicle, cannot enter the narrow area below the bottom of the vehicle for fire extinguishing, so that the fire source cannot be extinguished in time, secondly, due to the temperature rise of the closed space of the ship when the vehicle catches fire, the existing fire extinguishing robot usually adopts a plastic shell with poor heat resistance, which is easily affected by high temperature and causes failure, so that the existing fire extinguishing robot has insufficient reliability in harsh environment.

[0003] Therefore, the existing fire extinguishing robot has the problems of low environmental adaptability and low reliability. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the utility model is to provide a fire extinguishing robot, which can solve the problems of the existing fire extinguishing robot that cannot enter the narrow area for fire extinguishing and poor heat resistance.

[0005] The above technical purpose of the utility model is realized by the following technical scheme: A fire extinguishing robot, comprising a rack, a driving mechanism and a spraying module, an installation space is formed in the rack, and the outer surface of the rack is covered with a heat preservation layer, the driving mechanism is arranged in the installation space, and at least part of the driving mechanism extends out of the rack for driving the fire extinguishing robot to move, the spraying module comprises a fire extinguishing agent tank storing fire extinguishing agent and a spraying nozzle communicating with the fire extinguishing agent tank, the fire extinguishing agent tank is arranged in the installation space, and the spraying nozzle extends out of the top of the rack for spraying fire extinguishing agent, wherein the rack has a height h, and 120mm < h ≤ 135mm.

[0006] Further, the heat preservation layer is an aerogel heatproof layer.

[0007] Further, the outer surface of the rack is further covered with a stainless steel plate, and the heat preservation layer is arranged between the rack and the stainless steel plate.

[0008] Further, the driving mechanism is provided with two, and the two driving mechanisms are symmetrically arranged in the rack.

[0009] Further, the driving mechanism comprises a driving motor, a synchronous wheel, an output shaft of the driving motor is connected to a center hole of the synchronous wheel, a main driving wheel, the main driving wheel is in transmission connection with the synchronous wheel, and at least part of the main driving wheel is out of the frame, a transmission belt, the transmission belt is sleeved on the synchronous wheel and the main driving wheel, and is used for transmitting power of the synchronous wheel to the main driving wheel, and the driving motor is used for driving the synchronous wheel to rotate, thereby driving the main driving wheel to rotate.

[0010] Further, the driving mechanism further comprises a speed reducer, and the speed reducer is connected between the synchronous wheels of the driving motor.

[0011] Further, the driving motor is a servo motor, and power of the servo motor is w, wherein, 50W <= w <= 800W.

[0012] Further, the fire extinguishing robot further comprises a universal wheel, the universal wheel is arranged at the bottom of the frame, and is used for cooperating with the main driving wheel to steer and move.

[0013] Further, the fire extinguishing robot further comprises a monitoring module, the monitoring module is arranged at the top of the frame, and the monitoring module comprises a thermal imaging camera and a smoke sensor and is used for detecting smoke particles.

[0014] Further, the fire extinguishing robot comprises a protective cover, the protective cover is arranged on the monitoring module and is used for protecting the monitoring module.

[0015] Further, the spraying module further comprises a water pump, the water pump is connected between the fire extinguishing agent cabin and the spraying nozzle through a pipeline and is used for pumping the fire extinguishing agent from the fire extinguishing agent cabin to the spraying nozzle.

[0016] Further, the fire extinguishing robot further comprises a laser radar, the laser radar is arranged at the top of the frame and is used for emitting a laser beam and receiving a reflected signal.

[0017] The beneficial effects of the embodiments of the utility model are as follows: The embodiments of the present application can improve the high-temperature resistance of the fire extinguishing robot by covering the heat preservation layer on the outer surface of the frame of the fire extinguishing robot, so that the fire extinguishing robot can normally work in a high-temperature environment, thereby improving the service life of the fire extinguishing robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application.

[0019] Figure 1A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure. Figure 3 A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure. Figure 4 A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure. Figure 5 A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure. Figure 6 A structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application is shown in the figure.

[0020] The figure shows a structural schematic diagram of a fire extinguishing robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the description of the present application, it should be noted that the terms "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the figure, or the orientation or position relationship when the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0022] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0023] Referring to Figures 1-2 The present application provides a fire extinguishing robot, which comprises a frame 1, a driving mechanism 2 and a spraying module 3.

[0024] The frame 1 has an installation space formed therein, and the outer surface of the frame 1 is covered with a thermal insulation layer.

[0025] The driving mechanism 2 is arranged in the installation space, and at least part of the driving mechanism 2 protrudes from the frame 1, for driving the fire extinguishing robot to move.

[0026] The spraying module 3 comprises a fire extinguishing agent tank 31 storing fire extinguishing agent and a spraying nozzle 32 communicating with the fire extinguishing agent tank 31, the fire extinguishing agent tank 31 is arranged in the mounting space, and the spraying nozzle 32 extends from the top of the rack 1 and is used for spraying the fire extinguishing agent.

[0027] The rack 1 has a height h, and 120mm < h < 135mm.

[0028] The rack 1 is covered with a thermal insulation layer, which protects the components in the fire extinguishing robot and improves its heat resistance, thereby prolonging the service life of the fire extinguishing robot. The height of the fire extinguishing robot is set within a certain range, such as 120mm to 135mm, which reduces the overall height of the fire extinguishing robot, allowing it to easily penetrate the bottom space of the vehicle body and spray fire extinguishing agent to extinguish the fire. It can adapt to the space under the vehicle chassis and move flexibly in narrow spaces. With the effect of the thermal insulation layer, the fire extinguishing robot can quickly and flexibly move in the high-temperature environment of the bottom space of the vehicle body, improving the moving efficiency of the fire extinguishing robot and thereby improving the fire extinguishing efficiency. It avoids the spread of fire from the bottom of the vehicle, ensures the safety of the transport ship and the cargo, and further improves the comprehensiveness and effectiveness of fire extinguishing.

[0029] In an embodiment, the thermal insulation layer is an aerogel heat-resistant layer, which has low thermal conductivity and can effectively block heat transfer.

[0030] In an embodiment, the rack 1 is made of aluminum alloy, and the outer surface of the rack 1 is further covered with a stainless steel plate. The thermal insulation layer is arranged between the rack 1 and the stainless steel plate, and the stainless steel plate can resist high-temperature flame impact.

[0031] The rack 1 is made of aluminum alloy, and the outer surface of the rack 1 is further covered with a stainless steel plate. The thermal insulation layer is arranged between the rack 1 and the stainless steel plate, and the stainless steel plate can resist high-temperature flame impact.

[0032] In an embodiment, the mounting space of the rack 1 is designed as a hollow structure, which, in combination with the aluminum alloy material, can reduce the overall weight of the fire extinguishing robot while ensuring the structural strength, improve the flexibility of the fire extinguishing robot in complex environments, and improve the impact resistance of the fire extinguishing robot.

[0033] Referring to Figures 3-6 In an embodiment, the fire extinguishing robot further comprises an electrical box 8 arranged in the mounting space. The fire extinguishing robot comprises a main control module, and the main control module is arranged in the electrical box 8.

[0034] In an embodiment, the fire extinguishing robot further comprises a power supply assembly 7 installed in the mounting space of the rack 1 and connected to the main control module for power supply.

[0035] In an embodiment, the driving mechanism 2 is provided with two, two driving mechanisms 2 are symmetrically arranged in the frame 1, and the driving mechanism 2 comprises a driving motor 21, a synchronous wheel 22, a main driving wheel 23, a transmission belt 24 and a speed reducer 25.

[0036] The driving motor 21 is connected to the master control module and is used to receive control instructions of the master control module and respond.

[0037] The driving motor 21 is used as a power source of the fire extinguishing robot and provides power for movement of the fire extinguishing robot and various components.

[0038] The output shaft of the driving motor 21 is connected to the center hole of the synchronous wheel 22 and is used to drive the synchronous wheel 22 to rotate.

[0039] In an embodiment, the synchronous wheel 22 is made of aluminum alloy, which can improve the wear resistance of the synchronous wheel 22 and reduce the noise generated when the synchronous wheel 22 rotates, thereby reducing energy loss and mechanical failure during work.

[0040] The main driving wheel 23 is in transmission connection with the synchronous wheel 22, and at least part of the main driving wheel 23 protrudes from the frame 1 and is used to contact the ground or deck to realize forward movement, backward movement and turning.

[0041] Specifically, the bottom of the frame 1 comprises a base, and the base is provided with a mounting opening matched with the main driving wheel 23, the main driving wheel 23 is located at the mounting opening and partially penetrates the mounting opening, and the main driving wheel 23 comprises a main wheel and a main shaft connected to the main wheel, and the main shaft penetrates the main wheel and is connected to the base to support the main driving wheel 23 on the base.

[0042] In an embodiment, the main driving wheel 23 can be a tire, and the tire is a high-grip tire, which can provide higher friction when the fire extinguishing robot moves on different contact surfaces and improve the stability of the fire extinguishing robot.

[0043] The embodiment of the application is provided with two main driving wheels 23, and the movement of the fire extinguishing robot can be realized by independently controlling the rotation of the two main driving wheels 23, the differential steering and the rotation in place of the fire extinguishing robot can be realized, and the passing ability of the fire extinguishing robot in a complex environment is improved.

[0044] Specifically, the master control module sends a speed difference and / or steering difference control signal to the two driving motors 21 to control the two main driving wheels to generate a combined yawing torque, thereby driving the entire fire extinguishing robot to make a zero-radius rotation around its geometric center or instantaneous rotation center, and realizing 360-degree continuous steering.

[0045] The transmission belt 24 is sleeved on the synchronous wheel 22 and the main driving wheel 23, and is used for transmitting power of the synchronous wheel 22 to the main driving wheel 23. Specifically, the driving motor 21 is used to drive the synchronous wheel 22 to rotate, thereby driving the main driving wheel 23 to rotate.

[0046] In the above embodiment, the synchronous wheel 22, the transmission belt 24 and the main driving wheel 23 are connected, which can ensure the stability and accuracy of power transmission, so that the main driving wheel 23 rotates synchronously, and the stability of the linear driving of the fire extinguishing robot is ensured.

[0047] In an embodiment, the driving motor 21 is a servo motor, and the power of the servo motor is w, where 50W≤w≤800W. By using the servo motor, the response speed and speed regulation performance of the driving motor 21 can be improved, the speed and steering of the fire extinguishing robot can be quickly adjusted according to the control instruction sent by the main control module, and flexible movement of the fire extinguishing robot is realized.

[0048] In the embodiment, the driving motor 21 is set as a servo motor. Compared with using a general motor or a stepping motor to drive, the actual position and / or moving speed of the fire extinguishing robot can be transmitted to the main control module in real time, which is beneficial to real-time monitoring of the moving state of the fire extinguishing robot.

[0049] In the embodiment, the power of the servo motor is set to be between 50W and 800W. Compared with a small-power DC motor provided in a sweeping robot in different fields to drive the equipment to complete a light-load cleaning task, the fire extinguishing robot provided in the embodiment can run in a heavy-load and complex terrain, and has high flexibility.

[0050] In an embodiment, the driving motor 21 also has an overload protection function, which can protect the motor and other components from being damaged by automatically cutting off the power supply when an abnormal load is encountered.

[0051] Specifically, an overload protection circuit, a mechanical relay or an electronic overload protector can be connected between the driving motor 21 and the main control module.

[0052] In an embodiment, the speed reducer 25 is connected to the output shaft of the driving motor 21 through a shaft coupling, and is located between the driving motor 21 and the synchronous wheel 22, and is used to reduce the output speed of the driving motor 21 and increase the output torque. The speed reducer 25 has the function of speed reduction and torque increase, and can make the fire extinguishing robot run stably under different road conditions and load conditions, for example, can provide sufficient power for the fire extinguishing robot when climbing or crossing obstacles, thereby improving the moving efficiency of the fire extinguishing robot.

[0053] In an embodiment, the fire extinguishing robot further comprises universal wheels 4 arranged at the bottom of the frame 1 and in contact with the deck or the ground, for cooperation with the main drive wheels 23 to steer and move, specifically, the universal wheels 4 comprise a support and a roller, the roller is connected to the bottom of the support through a roller shaft, the top of the support is connected to the base of the frame 1 through a ball bearing to form a vertical rotation shaft for realizing free rotation of the support around the vertical rotation shaft. When the main drive wheels 23 rotate around the direction perpendicular to the extension line of the frame 1, the universal wheels 4 steer with the steering of the main drive wheels 23.

[0054] In an embodiment, the universal wheels 4 can be at least two, the two universal wheels 4 are symmetrically connected to the bottom of the frame 1, and the universal wheels 4 are one-to-one corresponding to the main drive wheels 23 to maintain the balance of the fire extinguishing robot when moving.

[0055] In another embodiment, the universal wheels 4 are three, the three universal wheels 4 form a triangular structure to ensure the stability of the fire extinguishing robot when moving.

[0056] In an embodiment, the fire extinguishing robot further comprises a monitoring module 5 connected to the main control module, the monitoring module 5 is arranged at the top of the frame 1, the monitoring module 5 comprises a thermal imaging camera and a smoke sensor for detecting smoke particles and transmitting the detected smoke particle signal to the main control module.

[0057] As shown in Figure 3 and Figure 6 , a holder is arranged at the top of the frame 1, the monitoring module 5 is arranged on the holder, the holder is driven to rotate by the driving mechanism 2 to drive the monitoring module 5 to rotate, realizing 360-degree monitoring of the external environment.

[0058] In an embodiment, the thermal imaging camera can send the collected image to the main control module or external equipment, and the main control module or external equipment can perform fire source recognition and positioning based on a TensorFlow convolutional neural network.

[0059] Specifically, the smoke sensor detects the intensity of smoke particles and light scattering in the air in real time, when the intensity of smoke particles and light scattering exceeds the set threshold, the main control module generates a trigger signal and transmits it to the infrared thermal imaging camera to trigger the thermal imaging camera to work.

[0060] The thermal imaging camera collects infrared radiation emitted by objects in the surrounding environment in real time, converts it into a thermal image, and inputs the infrared thermal image into a preprocessing module to generate a standardized thermal image. After that, the standardized thermal image is input into the above-mentioned TensorFlow convolutional neural network model. After the TensorFlow convolutional neural network analyzes and processes the thermal image, the fire source is accurately identified, and the coordinate position of the fire source is calculated, providing accurate target information for the fire extinguishing action of the fire extinguishing robot.

[0061] Compared with the traditional fire extinguishing equipment relying on manual judgment or the scheme of realizing fire source detection by simply using a smoke sensor or an infrared camera, the fire extinguishing robot provided in the embodiment of the present application can clearly and accurately image the fire source position and temperature distribution in a complex and harsh environment such as thick smoke and darkness, and accurately identify the fire source and the coordinate position of the fire source through the image analysis capability of the TensorFlow convolutional neural network, so that the fire extinguishing robot can quickly lock the fire source in the early stage of the fire, save valuable time for the fire extinguishing robot to extinguish the fire, and improve the fire extinguishing efficiency.

[0062] In an embodiment, the fire extinguishing robot comprises a protective cover 9, and the protective cover 9 covers the monitoring module 5 to protect the monitoring module 5.

[0063] In an embodiment, the material of the protective cover 9 is quartz, which has a high melting point and good thermal stability, can ensure that the infrared thermal imaging head and the smoke sensor can work normally at high temperature, further improve the service life and fire extinguishing efficiency of the fire extinguishing robot, and prevent water stains or dust from adhering to the surface of the monitoring module 5 in a high-temperature and smoky environment, causing deviation in fire source positioning and environment perception.

[0064] In other embodiments, the material of the protective cover 9 can also be high-performance flame-retardant fiber, etc.

[0065] In an embodiment, the fire extinguishing robot further comprises a laser radar 6, and the laser radar 6 is arranged at the top of the rack 1 and used for emitting a laser beam and receiving a reflected signal.

[0066] In the above embodiment, the laser radar 6 is connected to the main control module and used for transmitting a detection signal to the main control module.

[0067] In the embodiment of the present application, the data detected by the laser radar 6 can be sent to the main control module or an external device, and the main control module or the external device can construct a three-dimensional map based on the ORB-SlAM2 algorithm, plan a path, and realize autonomous navigation.

[0068] Specifically, the LiDAR 6 uses its rotating laser to emit laser beams into the surrounding environment in real time and receive reflected signals. It synchronously records the emission angle and round-trip time of each laser beam and generates a large number of three-dimensional points with the coordinate system of LiDAR 6 as the origin to obtain distance information of the surrounding environment. This allows for the rapid construction of a high-precision three-dimensional environment map. Subsequently, the three-dimensional point cloud composed of the three-dimensional points is used as the input observation data for the ORB-SlAM2 algorithm to solve the six-degree-of-freedom pose of the LiDAR in the global coordinate system, thereby achieving real-time high-precision self-localization and synchronous three-dimensional environment mapping.

[0069] This embodiment of the application uses a LiDAR 6 combined with the ORB-SLAM2 algorithm to quickly acquire a high-precision 3D environmental map, enabling the fire-fighting robot to accurately locate its own position. Furthermore, the main control module performs intelligent path planning based on the fire source location detected by the monitoring module 5, effectively avoiding obstacles. This allows the fire-fighting robot to move quickly and stably to the optimal fire-fighting position in complex environments such as narrow passages or chaotic fire scenes. Compared to traditional fire-fighting equipment, it has far superior accuracy in autonomous navigation and environmental adaptability.

[0070] In one embodiment, the spray module 3 further includes a water pump 33, which is connected to the extinguishing agent chamber 31 and the spray nozzle 32 via a pipeline. The water pump 33 is used to extract the extinguishing agent from the extinguishing agent chamber and deliver it to the spray nozzle 32. When the fire-fighting robot moves to the target position at the bottom of the vehicle or other fire source positions, the extinguishing agent sprayed from the spray nozzle 32 is sprayed on the target position to extinguish the fire.

[0071] This embodiment of the application, by setting a water pump 33 to automatically pump in the extinguishing agent, can ensure that the fire extinguishing robot can work continuously. Compared with traditional fire extinguishing equipment, it has higher working efficiency and stronger targeting and sustainability.

[0072] In one embodiment, the fire extinguishing agent compartment 31 stores various types of fire extinguishing agents and is equipped with a fire extinguishing agent specifically for electric vehicles, which is mainly used to extinguish the battery pack of electric vehicles. The fire extinguishing agent specifically for electric vehicles provided in this embodiment has excellent insulation properties and high specific heat capacity. It can not only quickly isolate the air to prevent the fire from spreading when extinguishing an electric vehicle fire, but also efficiently absorb the heat generated when the battery pack is burning, so as to reduce the temperature of the battery pack, suppress the chain reaction caused by battery thermal runaway, and avoid secondary explosion or reignition.

[0073] In one embodiment, the fire-fighting robot also includes a metering component (not shown in the figure), which is connected to the main control module and the water pump 33 and is used to calculate the amount of fire extinguishing agent released in the fire extinguishing agent chamber 31.

[0074] Specifically, the main control module determines the size of the fire based on the data detected by the monitoring module 5, and sends an instruction to the metering module according to the size of the fire. The metering module calculates the release amount of extinguishing agent and generates a drive signal to drive the water pump 33 to pump the corresponding metered extinguishing agent into the sprinkler nozzle 32.

[0075] The embodiments of this application use a metering module to accurately calculate the release amount of extinguishing agent based on the size of the fire, avoiding waste and improving extinguishing efficiency.

[0076] In one embodiment, the power supply component 7 can be a 48V lithium battery. The rack 1 is provided with a USB interface, which is connected to the power supply component 7 via an electrical connection cable, and the lithium battery is charged via the USB interface.

[0077] In another embodiment, the power supply component 7 can be a 48V lithium battery, and the base of the rack 1 is a wireless charging base to charge the lithium battery wirelessly.

[0078] The embodiments of this application use lithium batteries as power supply components 7, which have the characteristics of high energy density, fast charging speed and extended service life, and can meet the needs of fire-fighting robots to work continuously for a long time and improve fire-fighting efficiency.

[0079] In one embodiment, the firefighting robot may further include a battery management module connected to the lithium battery and the main control module, for real-time monitoring of parameters such as voltage, current and temperature of the battery assembly, and transmitting the parameter signals to the main control module to ensure that the battery assembly can operate within a safe operating range.

[0080] After receiving the above parameter signals, the main control module determines whether the battery power is lower than the preset threshold. When the battery power is lower than the preset threshold, the control drive mechanism 2 drives the fire extinguishing robot back to the external charging base station for charging, ensuring that the fire extinguishing robot is always in a usable state.

[0081] In one embodiment, the main control module may include electronic components such as a circuit board, a controller, and relays.

[0082] The electrical enclosure 8 is made of waterproof material to protect the electronic components.

[0083] In one embodiment, the outer side of the electrical enclosure 8 is provided with a shock-absorbing structure to prevent electronic components from colliding due to vibration during handling or operation.

[0084] In another embodiment, the electrical enclosure 8 is provided with a shock-absorbing layer to further protect the electronic components.

[0085] In the above embodiments, the electrical enclosure 8 is also equipped with a heat dissipation component, which can be a fan or other components, to blow away the heat generated by the electronic components in real time, so as to ensure their normal operation.

[0086] In one embodiment, the firefighting robot also includes a WiFi module, which is located in the installation space and connected to the main control module. The WiFi module is connected to a remote controller for transmitting data and enabling remote monitoring.

[0087] Meanwhile, the WiFi module can wirelessly connect with other firefighting robots. The connected firefighting robots can share fire source information, map data, and operational status, and can form a collaborative operation network through a remote controller to improve overall firefighting efficiency and reduce rescue time and manpower input.

[0088] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0089] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0090] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A fire-fighting robot, characterized in that, include: A frame, wherein an installation space is formed within the frame, and the outer surface of the frame is covered with an insulation layer; A drive mechanism is disposed within the installation space, and at least a portion of the drive mechanism extends out of the frame for driving the fire-fighting robot to move; A spray module, comprising a fire extinguishing agent compartment storing fire extinguishing agent and spray nozzles communicating with the fire extinguishing agent compartment, wherein the fire extinguishing agent compartment is disposed within the installation space and the spray nozzles extend from the top of the frame for spraying fire extinguishing agent; The frame has a height h, where 120mm < h ≤ 135mm.

2. The fire-fighting robot according to claim 1, characterized in that, The insulation layer is an aerogel heat-insulating layer.

3. The fire-fighting robot according to claim 1, characterized in that, The outer surface of the frame is also covered with a stainless steel plate, and the insulation layer is disposed between the frame and the stainless steel plate.

4. The fire-fighting robot according to claim 1, characterized in that, There are two drive mechanisms, which are symmetrically arranged within the frame.

5. The fire-fighting robot according to claim 4, characterized in that, The drive mechanism includes: Drive motor; A synchronous pulley, the output shaft of which is connected to the center hole of the drive motor; The main drive wheel is connected to the synchronous pulley, and at least a portion of the main drive wheel extends out of the frame; A transmission belt, fitted over the synchronous pulley and the main drive pulley, is used to transmit power from the synchronous pulley to the main drive pulley; The drive motor is used to drive the synchronous pulley to rotate, thereby driving the main drive wheel to rotate.

6. The fire-fighting robot according to claim 5, characterized in that, The drive mechanism also includes a speed reducer, which is connected between the drive motor and the synchronous pulley.

7. The fire-fighting robot according to claim 5, characterized in that, The drive motor is a servo motor, and the power of the servo motor is w, wherein 50W≤w≤800W.

8. The fire-fighting robot according to claim 5, characterized in that, The firefighting robot also includes casters, which are located at the bottom of the frame and are used to cooperate with the main drive wheels for steering and movement.

9. The fire-fighting robot according to claim 1, characterized in that, The firefighting robot also includes a monitoring module, which is located on the top of the frame. The monitoring module includes a thermal imaging camera and a smoke sensor for detecting smoke particles.

10. The fire-fighting robot according to claim 9, characterized in that, The firefighting robot includes a protective cover, which is placed over the monitoring module to protect the monitoring module.

11. The fire-fighting robot according to claim 1, characterized in that, The spray module also includes a water pump, which is connected to the fire extinguishing agent chamber and the spray nozzles via pipelines, for drawing the fire extinguishing agent from the fire extinguishing agent chamber and delivering it to the spray nozzles.

12. The fire-fighting robot according to claim 1, characterized in that, The firefighting robot also includes a lidar, which is mounted on the top of the frame and is used to emit laser beams and receive reflected signals.

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