A patrol fire extinguishing robot

Abstract

The utility model relates to the field of fire extinguishing robot, concretely is a kind of patrol inspection fire extinguishing robot, including fuselage;The fuselage is equipped with suspension unit and power unit below;The fuselage is equipped with injection unit;The injection unit includes spray head, and the spray head is connected with feeding mechanism;The injection unit is connected with fuselage by adjusting unit;The adjusting unit includes rotation adjusting unit and swing adjusting unit being set on the fuselage;The rotation adjusting unit can drive injection unit to rotate;The swing adjusting unit can drive injection unit to swing;The utility model discloses the patrol inspection fire extinguishing robot of the present application can drive personnel to carry out fire extinguishing operation;The utility model can realize the circumferential rotation adjustment of injection unit by the setting of rotation adjusting unit, and swing adjusting unit can drive injection unit to swing up and down, based on the cooperation use of the above two units, can realize the injection operation in three-dimensional space, greatly improve fire efficiency.

Description

Technical Field

[0001] This utility model relates to the field of fire-fighting robots, specifically a patrol fire-fighting robot. Background Technology

[0002] With the country's emphasis on intelligent construction in various fields and the introduction of the concept of "machine replacing human", the application of robots is becoming more and more widespread. In the field of fire rescue, fire reconnaissance and firefighting robots have begun to be deployed in various fire departments to assist or even replace firefighters in entering high-risk fire scenes to carry out fire reconnaissance work, reducing the labor intensity of firefighters and reducing casualties in fire rescue work.

[0003] In traditional technology, a nozzle is installed on the top of a remote-controlled vehicle. The vehicle is then driven into the fire area, and the nozzle is connected to the extinguishing agent through a pipe. The nozzle then sprays the extinguishing agent. While traditional technology has a certain fire extinguishing capability, it is not without its challenges.

[0004] However, in actual use, traditional nozzles cannot achieve the best fire extinguishing effect because they lack the ability to adjust the angle; for example, the fire extinguishing robot disclosed in existing patent CN201791297U.

[0005] Therefore, in order to improve or solve at least one of the above technical problems, it is necessary to optimize the design of existing robots. Utility Model Content

[0006] The purpose of this invention is to provide a robot with an adjustable nozzle spray direction.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A patrol and firefighting robot includes a body; a suspension unit and a power unit are provided under the body. The fuselage is equipped with a jet unit; The spraying unit includes a nozzle, and the nozzle is connected to a feeding mechanism; The injection unit is connected to the fuselage via an adjustment unit; The adjustment unit includes a rotation adjustment unit and a swing adjustment unit mounted on the machine body; The rotation adjustment unit can drive the injection unit to rotate; The swing adjustment unit can drive the spray unit to swing.

[0008] The machine body is hollow to form an inner cavity; a door is hinged to the machine body and a handle is connected to the door; the feeding mechanism includes a water storage box inside the machine body, a water pump is connected inside the water storage box, the water pump is connected to a connecting pipe, and the end of the connecting pipe away from the water storage box extends to the nozzle and is connected to the nozzle.

[0009] The rotation adjustment unit includes a fixed plate connected to the machine body, and a rotation motor is provided on the fixed plate. The rotation motor is connected to the spraying unit through a support mechanism. The support mechanism includes a mounting plate for mounting the nozzle; The support mechanism also includes a shaft with a fixed sleeve. A crossbar is inserted into the fixed sleeve. One end of the crossbar is connected to a mounting plate, and the other end of the crossbar is connected to an extension rod. The extension rod and the crossbar are staggered. The rotating motor can drive the mounting plate to rotate by rotating the insertion shaft; The swing adjustment unit includes a swing mechanism, which can drive the mounting plate to swing by swinging the extension rod.

[0010] The fixed disk is connected to the insertion shaft via a connecting unit, and the insertion shaft is connected to the output shaft of the rotating motor; the connecting unit includes a rectangular box; the rectangular box is connected to the fixed disk via a support column.

[0011] The swing mechanism includes a ring, which is connected to a fixed plate via a lifting component; The extension rod has a ball at the end away from the crossbar; The inner wall of the ring is provided with an annular groove; the annular groove is a rectangular groove. The spheres overlap within the annular groove; the sphere heads are spaced apart from the inner surface of the annular groove.

[0012] The crossbar is rotatably connected within the fixed sleeve; the crossbar is connected within the fixed sleeve via a bearing; the insert shaft is connected to the rectangular box.

[0013] The aircraft is equipped with a signal receiver.

[0014] The advantages of this utility model are: The fire-fighting robot disclosed in this utility model can carry personnel to perform fire-fighting operations.

[0015] This invention enables the circumferential rotation adjustment of the spray unit through the setting of the rotation adjustment unit, while the swing adjustment unit can drive the spray unit to swing up and down. Based on the combined use of the above two units, spraying operation in three-dimensional space can be realized, which greatly improves the fire extinguishing efficiency. Attached Figure Description

[0016] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings: Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2This is a schematic diagram of the structure when the adjustment unit and the injection unit are connected in this utility model.

[0018] Figure 3 This is an exploded view of the adjustment unit of this utility model.

[0019] In the diagram: 1. Body; 2. Door; 3. Signal receiver; 4. Fixing plate; 5. Rectangular box; 6. Insert shaft; 7. Fixing sleeve; 8. Crossbar; 9. Mounting plate; 10. Nozzle; 11. Connecting pipe; 12. Support column; 13. Extension rod; 14. Ball clamp; 15. Ring; 16. Annular groove; 17. Suspension unit. Detailed Implementation

[0020] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and the description of the preferred embodiments.

[0021] A patrol fire-fighting robot includes a body 1; a suspension unit 17 and a power unit are provided under the body 1; a spraying unit is provided on the body 1; the spraying unit includes a nozzle 10, which is connected to a feeding mechanism; the spraying unit is connected to the body 1 through an adjustment unit 101; the adjustment unit 101 includes a rotation adjustment unit 103 and a swing adjustment unit 102 disposed on the body 1; the rotation adjustment unit 103 can drive the spraying unit to rotate; the swing adjustment unit 102 can drive the spraying unit to swing; the patrol fire-fighting robot disclosed in this utility model can carry personnel to perform fire-fighting operations.

[0022] The fire-fighting robot disclosed in this utility model mainly includes a body 1; the body 1 is the main structure of the robot. In this utility model, a storage space is formed in the center of the body 1, and the overall structure of the body 1 is a box structure. This design facilitates the storage of fire extinguishing agents, such as water, and also avoids the trouble of traditional fire-fighting robots needing to hang fire extinguishing agents separately.

[0023] In addition, in this utility model, a suspension unit 17 and a power unit are provided under the fuselage 1; there are many types of suspension units 17 in this utility model; theoretically applicable technical solutions are feasible; specific selection can be made according to needs.

[0024] For example, you could choose: independent wheel suspension (4×4): 1. Swing arm + coil spring; single longitudinal arm or double wishbone, with the spring sleeved on the outside of the shock absorber.

[0025] 2. Swing arm + torsion bar spring: 60Si2Mn torsion bar replaces the helical spring, compressing the vertical space by 30%, providing strong anti-tilt capability, and suitable for narrow passages.

[0026] 3. Swing arm + air spring: 24V mini air pump + air tank, vehicle height adjustable in 3 levels (±40 mm). Although the cost is higher, the shock absorption and noise reduction are better.

[0027] Tracked torsion bar suspension (all-terrain type); Traditional six-wheel design with torsion bar: torsion bar diameter 12-16 mm, support wheels with polyurethane coating; ground pressure <18 kPa, preventing the vehicle from getting stuck in sand or mud.

[0028] Rubber integral track + semi-rigid suspension: No metal wheel flanges, the track is the "spring"; extremely simple structure, 25% weight reduction, but no shock absorber fine adjustment, suitable for high-speed inspection on hard roads at 3-4 km / h⁻¹.

[0029] Split-type "diamond" track: Front and rear drive wheels + middle road wheel, can climb slopes of 35° and can go up 300 mm vertical steps; used for post-disaster ruins and stairs.

[0030] Active leveling suspension (electric / hydraulic): Four-legged electric actuator "crawling" mode Four 200 mm stroke push rods, MPU6050 closed-loop, leveling accuracy ±1°; can cross 400 mm trenches and 250 mm high platforms, speed 0.3 ms⁻¹, heavy-duty yet stable, suitable for stepped platforms in petrochemical tank areas.

[0031] Three-point hydraulic leveling: 24 V DC micro pump + 30 mm diameter hydraulic cylinder, lifting capacity 500 N; continuous operating temperature 120 °C, resistant to knocking environments.

[0032] Rocker-slider suspension (low-cost obstacle crossing): Parallel four rods + tension springs: When the wheel encounters an obstacle, it swings upwards, and the tension spring stores energy; it can overcome obstacles by 120 mm. All parts are made of sheet metal and pins, reducing processing costs by 40%, making it suitable for disposable firefighting robots.

[0033] Similarly, based on the different suspension units 17, the selection of the power unit of this utility model also varies. There are many types of power units in this utility model; you can choose according to your needs.

[0034] For example, you can choose a 24 V brushless hub motor 400 W×4; integrated 1:5 planetary reduction gear, output speed 230 rpm, single-side traction force 120 N.

[0035] In addition, in order to ensure the energy supply of electrical appliances, the inspection and fire extinguishing robot disclosed in this utility model requires that a storage battery or battery pack be installed inside the body 1 to provide power for the robot and various electrical appliances.

[0036] Furthermore, in this utility model, the body 1 is provided with a spraying unit; the spraying unit includes a nozzle 10, and the nozzle 10 is connected to a feeding mechanism; the feeding mechanism mainly supplies the extinguishing medium, which is generally water, and the nozzle 10 is mainly a spraying head, which works with a water pump to spray water and realize subsequent fire extinguishing operations.

[0037] In this invention, the spraying unit is connected to the body 1 via an adjustment unit 101. The adjustment unit 101 includes a rotation adjustment unit 103 and a swing adjustment unit 102 mounted on the body 1. The rotation adjustment unit 103 can drive the spraying unit to rotate, and the swing adjustment unit 102 can drive the spraying unit to swing. Through the rotation adjustment unit 103, this invention enables circumferential rotation adjustment of the spraying unit, while the swing adjustment unit 102 can drive the spraying unit to swing up and down. Based on the combined use of these two units, spraying operations in three-dimensional space can be achieved, greatly improving fire extinguishing efficiency.

[0038] In this utility model, the body 1 is hollow to form an inner cavity; a door 2 is hinged to the body 1, and a handle is connected to the door 2; the feeding mechanism includes a water storage box disposed inside the body 1, a water pump is connected inside the water storage box, the water pump is connected to a connecting pipe 11, and the end of the connecting pipe 11 away from the water storage box extends to the nozzle 10 and is connected to the nozzle 10; based on the above design, it is convenient to arrange the fire extinguishing water inside the body 1 and to facilitate the subsequent pumping of water.

[0039] Furthermore, the rotation adjustment unit 103 described in this utility model includes a fixed plate 4 connected to the body 1. The fixed plate 4 is a basic flat plate structure, which facilitates the arrangement and placement of the remaining components of the rotation adjustment unit 103 and the swing adjustment unit 102.

[0040] In this utility model, a rotating motor is provided on the fixed disk 4, and the rotating motor is connected to the spraying unit through a support mechanism; the rotating motor can drive the support mechanism to rotate, thereby driving the nozzle 10 connected to it to rotate.

[0041] In this utility model, the support mechanism 104 includes a mounting plate 9 for mounting the nozzle 10. The mounting plate 9 has an overall L-shaped structure, mainly including a horizontal plate and a vertical plate. The horizontal plate is arranged horizontally, and one end of the horizontal plate is connected to the crossbar 8 through the vertical plate. The nozzle 10 is fixed on the horizontal plate. In addition, the support mechanism 104 of this utility model also includes a shaft 6, on which a fixing sleeve 7 is provided. A crossbar 8 is inserted into the fixing sleeve 7. One end of the crossbar 8 is connected to the mounting plate 9. The other end of the crossbar 8 is connected to an extension rod 13. The shaft 6 of this utility model is connected to the output shaft of the rotating motor. The connection method is diverse, including spline connection and direct fixed connection, which can be selected according to the needs.

[0042] The fixed sleeve 7 is essentially a rotating sleeve. The crossbar 8 is inserted inside the fixed sleeve 7. The crossbar 8 is required to be able to rotate within the fixed sleeve 7. One end of the crossbar 8 is connected to the mounting plate 9, and the other end is connected to the extension rod 13. The extension rod 13 acts as a rocker arm, which facilitates the rotation control of the crossbar 8 under the drive of external force. This enables the mounting plate 9 to rotate in the longitudinal plane, thereby realizing the up-and-down flipping operation of the nozzle 10.

[0043] In this invention, the extension rod 13 and the crossbar 8 are staggered; this is mainly to ensure that the lateral projections of the extension rod 13 and the crossbar 8 do not overlap, so as to avoid interference caused by completely opposite forces on the two.

[0044] In this utility model, the rotary motor can drive the mounting plate 9 to rotate by driving the insertion shaft 6 to rotate; thereby realizing the circumferential rotation adjustment of the nozzle 10.

[0045] The swing adjustment unit 102 described in this utility model includes a swing mechanism, which can drive the extension rod 13 to swing, thereby driving the mounting plate 9 to swing; thus realizing the up and down swing adjustment of the spraying.

[0046] In this utility model, the fixed plate 4 is connected to the insertion shaft 6 via a connecting unit, and the insertion shaft 6 is connected to the output shaft of the rotating motor; the connecting unit includes a rectangular box 5; the rectangular box 5 is connected to the fixed plate 4 via a support column 12; the rectangular box 5 is connected to the fixed plate 4 via the support column 12, and the support column 12 and the fixed plate 4 can be connected by using feet and bolts, or they can be welded together. Generally, bolts are used for connection, which facilitates subsequent maintenance and replacement.

[0047] The rectangular box 5 is essentially a connecting block, primarily providing longitudinal support for the insert shaft 6. In practical use, it also acts as a limiting device. Theoretically, the insert shaft 6 should not move up or down. Therefore, the insert shaft 6 must be able to rotate within the rectangular box 5, but it cannot move up or down along its axial direction. If the pin detaches from the rectangular box 5, the entire support mechanism 104 and the nozzle 10 will detach from the body 1, affecting subsequent normal use. Therefore, this invention generally requires a shoulder to be provided at the end of the insert shaft 6, which can then cooperate with the stepped groove inside the rectangular box 5 for limiting. Alternatively, a bearing can be used to limit the position, and a detachable limiting ring can be added to the end of the insert shaft 6 to prevent it from detaching from the rectangular box 5. The specific implementation scheme can be selected according to needs.

[0048] Furthermore, the swing mechanism in this utility model includes a ring 15, which is connected to the fixed plate 4 via a lifting component; a ball is provided at the end of the extension rod 13 away from the crossbar 8; an annular groove 16 is provided on the inner wall of the ring 15; the annular groove 16 is a rectangular groove; the ball overlaps in the annular groove 16; the ball head 14 is spaced apart from the inner side of the annular groove 16; the lifting component of this utility model generally adopts a cylinder structure; the ring 15 is connected to the fixed plate 4 via multiple cylinders. In subsequent use, the position of the ball head 14 can be changed through the annular groove 16 by the extension and retraction of the lifting component. The ball head 14 is equivalent to a protrusion provided at the end of the extension rod 13, and the extension rod 13 is inserted into the annular groove 16 through the ball head 14; in subsequent use, the lifting component instructs the ring 15 to move, the ring 15 drives the ball head 14 to move, and the ball head 14 drives the extension rod 13 to rotate around the crossbar 8. Based on this, the rotation control of the mounting plate 9 is realized, thereby realizing the swing of the nozzle 10 in the up and down direction.

[0049] In this invention, because the running trajectory of the ball head 14 and the extension rod 13 is an arc, the ball head 14 is not confined within the annular groove 16, and the ball head 14 is rotatably connected to the extension rod 13. The ball head 14 can be connected to the extension rod 13 via a pivot. In subsequent design, the maximum width and length of the annular groove 16 are both greater than the maximum dimension in the rotation trajectory of the ball head 14. This avoids interference between the ball head 14 and the ring 15 when the ball head 14 rotates with the support mechanism 104. At the same time, the width and length of the central opening of the ring 15 are less than the minimum dimension in the rotation trajectory of the ball head 14. This design prevents the ball head 14 from detaching from the annular groove 16. Of course, the fit dimensions between the rectangular groove and the ball head 14 can be designed and selected according to needs.

[0050] In addition, in this utility model, the crossbar 8 is rotatably connected to the fixed sleeve 7; the crossbar 8 is connected to the fixed sleeve 7 through a bearing; the insertion shaft 6 is rotatably connected to the rectangular box 5; the insertion shaft 6 is also connected to the rectangular box 5 through a bearing.

[0051] In this invention, the body 1 is equipped with a signal receiver 3; the use of the signal receiver 3 in this invention can be combined with a control system to realize remote control of the robot. Example

[0052] See Figures 1-3 This utility model provides a patrol fire extinguishing robot, including a body 1, a door 2 hinged to the front of the body 1, a handle fixedly connected to the outside of the door 2, a signal receiver 3 fixedly connected to the top of the body 1, a fixed plate 4 fixedly connected to the top of the body 1, a motor connected to the middle of the inside of the fixed plate 4, a rectangular box 5 connected to the top of the motor, a shaft 6 rotatably connected inside the rectangular box 5, a fixed sleeve 7 connected to the top of the shaft 6, a crossbar 8 connected inside the fixed sleeve 7, a mounting plate 9 connected to the outside of the crossbar 8, and a nozzle 10 connected to the top of the mounting plate 9. The operator releases a signal via a remote control, and then the signal receiver 3 transmits and receives signals. By spraying liquid at the fire source by the nozzle 10, the motor is driven, and the output end of the motor rotates inside the rectangular box 5. Then the shaft 6 rotates, which in turn drives the fixed sleeve 7 to rotate, and then the crossbar 8 drives the mounting plate 9 to rotate, so that the nozzle 10 can be adjusted left and right to facilitate the elimination of the fire source.

[0053] The robot disclosed in this utility model includes a control system, which mainly includes a transmitter (remote controller), a transmission channel (wireless signal), and a receiver and execution end (robot).

[0054] This utility model involves an operator releasing a signal via a remote control, followed by signal transmission and reception by the signal receiver 3, essentially a two-way remote control process. "Release signal" refers to the operator sending control commands (upward); "receive" in "receive and send signal" refers to the robot receiving control commands (upward).

[0055] The "send" in "send and receive signals" refers to the robot sending back status data and video (downlink).

[0056] This closed-loop system allows operators to observe the fire situation in real time from a safe, remote location, as if they were on-site, drive robots, and precisely control fire extinguishing equipment.

[0057] Step 1: The operator issues a command (uplink); Operation input: The operator performs actions on the remote control, such as pushing the joystick to move the robot forward, pressing the button to turn on the water pump, or sliding the switch to control the rotation of the nozzle 10.

[0058] Instruction encoding and modulation: Encoding: The main control chip (MCU) inside the remote control converts the operation action into a specific digital instruction packet.

[0059] This data packet typically contains: target address: the robot's unique ID, ensuring that the instructions are not received by other robots.

[0060] Command content: such as "Left motor rotates forward, speed 50%".

[0061] Checksum: Used by the receiving end to check whether data has been corrupted during transmission.

[0062] Modulation: Encoded digital signals cannot be transmitted directly.

[0063] The remote control's wireless transmission module (such as Wi-Fi, 4G / 5G, or a dedicated radio module) "carries" these digital signals onto high-frequency radio waves.

[0064] Signal transmission: The modulated radio signal is transmitted into the air through the antenna of the remote control.

[0065] Step Two: The robot receives and executes instructions; Signal reception and demodulation: Reception: Signal receiver 3 on top of the robot (actually an integrated wireless communication module with an integrated antenna and radio frequency circuit) captures radio signals.

[0066] Demodulation: This module demodulates the signal, that is, it recovers the original digital instruction packet from the high-frequency radio waves.

[0067] Instruction Decoding and Decision Making: The demodulated digital instruction packets are sent to the robot's "brain"—the main controller.

[0068] The main controller decodes the code, checks if the target address matches, and verifies the integrity of the instruction using a checksum.

[0069] Once the instruction is confirmed to be valid, the main controller will send a drive signal to the corresponding actuator.

[0070] Drive actuator: For example: Rotating nozzle 10: The main controller sends pulse or voltage signals to the rotating motor inside the fixed disk 4 to control it to rotate precisely at a specified angle.

[0071] For example: Oscillating nozzle 10: The main controller sends a signal to the telescopic cylinder (or more commonly, the servo motor) that drives the ring 15 to retract or extend it.

[0072] Step 3: Robot Status Feedback (Downlink) - "Send" in "Send and Receive Signals"; this is the key to achieving "intelligent inspection" and precise control.

[0073] The robot does not merely passively receive instructions; it also continuously sends its own status data back to the operator.

[0074] Information collection: Video signal: Robots are typically equipped with high-definition cameras that transmit real-time footage back.

[0075] Status data: The robot's main controller collects information from various sensors, such as battery level, internal / external temperature of the robot body, travel speed, orientation, water pump pressure, and remaining fire extinguishing agent.

[0076] Signal feedback: The main controller packages and encodes these videos and data.

[0077] The signal is modulated and transmitted back to the remote controller via the wireless transmitter module on the robot (usually integrated with the receiver module in the same hardware, i.e., the signal receiver 3 is a transceiver).

[0078] Operator reception and display: The signal received by the remote control is demodulated and decoded, and the real-time video image is displayed on the screen. The machine status data is also displayed in the form of OSD (On-Screen Display) or instruments.

[0079] Furthermore, in this embodiment, the body 1 is provided with a water storage box inside, a water pump is connected inside the water storage box, and a connecting pipe 11 is connected inside the water pump. The end of the connecting pipe 11 away from the water storage box extends into the inside of the nozzle 10. By opening the box door 2, the fire extinguishing agent is poured into the inside of the body 1. By turning on the water pump, the liquid inside the water storage box flows into the inside of the nozzle 10.

[0080] Furthermore, in this embodiment, the top of the fixed plate 4 is symmetrically connected with support columns 12. One end of the support column 12 is connected to the rectangular box 5. The end of the crossbar 8 away from the mounting plate 9 is connected to an extension rod 13. The end of the extension rod 13 away from the crossbar 8 is connected to a ball head 14. Multiple sets of support columns 12 are connected with lifting components, which are telescopic cylinders. The output end of the telescopic cylinder is connected to a ring 15. The inside of the ring 15 is provided with an annular groove 16 at the position corresponding to the ball head 14. The ring 15 is lowered by the output end of the telescopic cylinder, and then the ring 15 is lowered. Then the annular groove 16 will squeeze the ball head 14 and generate a pushing force on the ball head 14, so that the crossbar 8 rotates inside the fixed sleeve 7, causing the mounting plate 9 to tilt. Then the nozzle 10 tilts, and then the spray arc is changed. When the insert shaft 6 rotates, the ball head 14 will slide along the annular groove 16.

[0081] In this embodiment, the specific implementation scenario is as follows: the robot is moved to the fire source by the power unit and suspension unit 17; then, by opening the box door 2, the fire extinguishing agent is poured into the body 1; by turning on the water pump, the liquid inside the water tank flows into the nozzle 10; by driving the motor, the output end of the motor rotates inside the rectangular box 5; then the insert shaft 6 rotates, which in turn drives the fixed sleeve 7 to rotate; then the crossbar 8 drives the mounting plate 9 to rotate; the ball head 14 slides along the annular groove 16, allowing the nozzle 10 to adjust its angle left and right; the output end of the telescopic cylinder descends, which in turn drives the ring 15 to descend; then the annular groove 16 squeezes the ball head 14 and generates a pushing force on the ball head 14, causing the crossbar 8 to rotate inside the fixed sleeve 7, causing the mounting plate 9 to tilt, which in turn causes the nozzle 10 to tilt, thus changing the arc of the spray.

[0082] Obviously, the specific implementation of this utility model is not limited to the above-mentioned methods. Any non-substantial improvements made using the inventive concept and technical solution of this utility model are within the protection scope of this utility model.

Claims

1. A patrol and firefighting robot, characterized in that, Includes a fuselage; a suspension unit and a power unit are provided under the fuselage; The fuselage is equipped with a jet unit; The spraying unit includes a nozzle, and the nozzle is connected to a feeding mechanism; The injection unit is connected to the fuselage via an adjustment unit; The adjustment unit includes a rotation adjustment unit and a swing adjustment unit mounted on the machine body; The rotation adjustment unit can drive the injection unit to rotate; The swing adjustment unit can drive the spray unit to swing.

2. The patrol and firefighting robot according to claim 1, characterized in that, The machine body is hollow to form an inner cavity; a door (2) is hinged on the machine body (1), and a handle is connected to the door (2); the feeding mechanism includes a water storage box set inside the machine body (1), a water pump is connected inside the water storage box, the water pump is connected to a connecting pipe (11), and the end of the connecting pipe (11) away from the water storage box extends to the nozzle (10) and is connected to the nozzle.

3. A patrol and firefighting robot according to any one of claims 1-2, characterized in that, The rotation adjustment unit includes a fixed plate connected to the machine body, and a rotation motor is provided on the fixed plate. The rotation motor is connected to the spraying unit through a support mechanism. The support mechanism includes a mounting plate for mounting the nozzle; The support mechanism also includes a shaft with a fixed sleeve. A crossbar is inserted into the fixed sleeve. One end of the crossbar is connected to a mounting plate, and the other end of the crossbar is connected to an extension rod. The extension rod and the crossbar are staggered. The rotating motor can drive the mounting plate to rotate by rotating the insertion shaft; The swing adjustment unit includes a swing mechanism, which can drive the mounting plate to swing by swinging the extension rod.

4. The patrol fire-fighting robot according to claim 3, characterized in that, The fixed disk is connected to the insertion shaft via a connecting unit, and the insertion shaft is connected to the output shaft of the rotating motor; the connecting unit includes a rectangular box; the rectangular box is connected to the fixed disk via a support column.

5. The patrol fire-fighting robot according to claim 3, characterized in that: The swing mechanism includes a ring, which is connected to a fixed plate via a lifting component; The extension rod has a ball at the end away from the crossbar; The inner wall of the ring is provided with an annular groove; the annular groove is a rectangular groove. The spheres overlap within the annular groove; the spheres and the inner surface of the annular groove are spaced apart.

6. The patrol fire-fighting robot according to claim 3, characterized in that: The crossbar is rotatably connected within the fixed sleeve; the crossbar is connected within the fixed sleeve via a bearing; the insert shaft is connected to the rectangular box.

7. The patrol fire-fighting robot according to claim 1, characterized in that: The aircraft is equipped with a signal receiver.

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