Intelligent firefighting patrol inspection robot

Abstract

To provide a reliable intelligent firefighting patrol inspection robot by extending the life of the entire robot structure, reducing maintenance costs, and realizing quick response, accurate fire extinguishing, and stable operation. The robot includes a robot body, a lifting body, a traveling mechanism, a control system, a communication system, a power supply system, a positioning system, a monitoring system, and a fire extinguishing system, and also includes a lifting mechanism and a stabilizing mechanism. The control mechanism simultaneously drives the lifting mechanism and the stabilizing assembly, allowing the lifting mechanism to move the fire extinguishing system to quickly ascend and descend to the required position and complete the extinguishing of the fire source. The lifting mechanism controls the lifting stroke and direction of the lifting body. The stabilizing assembly increases the connection area and friction force between the robot body and the ceiling rail, effectively resisting the fire extinguishing reaction force and ensuring the stability of the robot body. This allows the fire extinguishing system to constantly align with the fire source, improving fire extinguishing efficiency and quality, and reducing losses in the traveling mechanism.

Description

[Technical Field]

[0001] The present invention relates to the field of robotics technology, and more particularly to an intelligent firefighting patrol and inspection robot. [Background technology]

[0002] Some chemical plants have a large number of flammable and explosive chemical materials, which can lead to fires. In places with a large number of high-voltage and high-current equipment, such as substations, electrical control rooms for large equipment, and power tunnels, circuit failures and fires are likely to occur, so it is particularly important to strengthen preventive patrol inspections and firefighting emergency measures.

[0003] A conventional intelligent firefighting patrol inspection robot includes a hanging rail, a patrol inspection robot body, a fire extinguishing mechanism, and a traveling module. The traveling module cleans the top of the base plate while traveling, cleaning impurities on the top of the base plate outward, preventing the patrol inspection robot body from shaking while moving and preventing dirt from adhering to the outer surface of the first guide wheel, preventing slippage when going uphill or downhill.

[0004] Although conventional inspection robots can complete the clearance of impurities on the bottom plate and ensure that the traveling module can move the robot body effectively and sustainably, the fire extinguishing mechanism on top of it can apply a reverse force to the robot body during fire extinguishing. This reverse force not only affects the stability of the inspection robot, but also prevents the fire extinguishing mechanism from accurately and quickly extinguishing the fire source, and also damages the driving elements in the traveling module, affecting the service life of the entire inspection robot.

[0005] Therefore, in light of the above situation, there is an urgent need to develop an intelligent firefighting patrol inspection robot to overcome the current practical shortcomings. Summary of the Invention [Problem to be solved by the invention]

[0006] The object of the present invention is to provide an intelligent firefighting patrol inspection robot, which solves the problem that the fire extinguishing mechanism in the prior art can apply a reverse force to the patrol inspection robot body during fire extinguishing. The reverse force not only affects the stability of the patrol inspection robot, but also prevents the fire extinguishing mechanism from accurately and quickly extinguishing the fire source, and also damages the driving elements in the traveling module, affecting the service life of the entire patrol inspection robot. [Means for solving the problem]

[0007] In order to solve the above technical problems, the present invention provides an intelligent firefighting patrol inspection robot, comprising a robot body, a lifting body and a traveling mechanism, the traveling mechanism is fixed to the top of the robot body, and the traveling mechanism is installed in a rail groove opened in a ceiling rail, the lifting body is located at the bottom of the robot body, the robot body is respectively equipped with a control system, a communication system and a power supply system, the lifting body is respectively equipped with a power supply system, a position recognition system, a monitoring system and a fire extinguishing system, and further It has a lifting mechanism, one end of the lifting mechanism is attached inside the robot body, the other end of the lifting mechanism extends outside the robot body and is fixedly connected to the lifting body, one end of the lifting mechanism is connected to a control mechanism fixed inside the robot body, and one end of the control mechanism extends to the top of the robot body; It has a stabilizing mechanism, The stabilization mechanism includes a T-seat, a bracket, a moving assembly, and a stabilization assembly, the T-seat is installed in a rail groove, one side of the T-seat is fixedly connected to the top of the robot body via a bracket, one end of the moving assembly is connected to the stabilization assembly slidably mounted in the T-seat, and the other end of the moving assembly is connected to a control mechanism, and both upper and lower ends of the stabilization assembly are in intermittent contact with the rail groove.

[0008] As a further technical measure of the present invention, the moving assembly includes a stabilizing gear, a stabilizing rack, a sliding post, movable teeth, and a first spring, the stabilizing gear is fixed to the control mechanism, both sides of the stabilizing gear are meshed with stabilizing racks, the stabilizing rack is fixedly connected to the stabilizing assembly, both ends of the stabilizing rack are fixed with sliding posts, movable teeth are slidingly attached to the sliding posts, one side of the movable teeth is movably connected to one side of the stabilizing rack via the first spring, and the movable teeth are intermittently meshed with the stabilizing rack.

[0009] As a further technical means of the present invention, the stabilizing assembly includes a control block, a stabilizing block, and a second spring, the control block is mounted on one end of the T-seat in a horizontally sliding manner, the stabilizing block is mounted on the other end of the T-seat in a vertically sliding manner symmetrically, one end of the control block and the two stabilizing blocks are intermittently slidingly fitted together, a second spring is mounted between the two stabilizing blocks, one end of the stabilizing block is in intermittent contact with the inner wall of the rail groove, and the end faces of the two stabilizing blocks that are close to each other are all inclined end faces.

[0010] As a further technical means of the present invention, the lifting mechanism includes a rotation assembly, a linkage assembly, and a telescopic assembly, the rotation assembly is installed in the robot body, one end of the rotation assembly is connected to a control mechanism, the other end of the rotation assembly is installed with a linkage assembly, one end of the linkage assembly passes through the telescopic assembly and is fixedly connected to the bottom of the lifting body, the telescopic assembly is installed between the robot body and the lifting body, and both ends of the telescopic assembly are fixedly connected to the robot body and the lifting body, respectively.

[0011] As a further technical means of the present invention, the rotating assembly includes a first rotating gear, a second rotating gear, and a rotating shaft, the first rotating gear is fixed to a control mechanism, one side of the first rotating gear meshes with the second rotating gear, the second rotating gear is fixed to a rotating shaft, the rotating shaft is mounted within the robot body so as to rotate vertically, and a connecting assembly is mounted to the rotating shaft.

[0012] As a further technical means of the present invention, the connection assembly includes a winding disk, a wire rope, a guide frame, and a connection disk, wherein the winding disk is fixed concentrically to the rotation shaft, the wire rope is wound around the winding disk, one end of the wire rope bypasses the guide frame and passes through the telescopic module, and one end of the wire rope is fixedly connected to the connection disk fixed to the top of the lifting body, and the guide frame is installed in the robot body.

[0013] As a further technical means of the present invention, the telescopic assembly includes an outer sleeve, an intermediate sleeve, and an inner sleeve, one end of the outer sleeve is fixed to the bottom of the robot body, one end of the intermediate sleeve is slidably attached within the outer sleeve, one end of the inner sleeve is slidably attached within the intermediate sleeve, and the other end of the inner sleeve is fixed to the top of the lifting body.

[0014] As a further technical means of the present invention, the control mechanism includes a control motor, a transmission member, and a control shaft, the control motor is fixed within the robot body, an output end of the control motor is rotatably connected via the transmission member to the control shaft rotatably mounted within the robot body, one end of the control shaft is connected to a first rotary gear, and the other end of the control shaft extends to the top of the robot body and is connected to a stabilizing gear.

[0015] As a further technical means of the present invention, the traveling mechanism includes a fixed base, a traveling frame, a traveling shaft, a traveling wheel, a traveling motor, a first traveling gear, and a second traveling gear, the fixed base is fixed to the top of the robot body, the traveling frame is rotatably attached to the fixed base, the traveling shaft is rotatably attached to the traveling frame, running wheels positioned in the rail grooves are fixed to both ends of the traveling shaft, a traveling motor is further attached to the traveling frame, a first traveling gear is attached to the output end of the traveling motor, and the first traveling gear is meshed with the second traveling gear fixed to the traveling shaft. [Effects of the Invention]

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The robot's running mechanism is based on a circular track design on the ceiling rail, allowing the robot body and lifting body to quickly glide along the ceiling rail to the source of the fire. The location recognition system and monitoring system monitor the location of the fire in real time, ensuring the robot moves accurately to the fire extinguishing area.

[0017] When the fire extinguishing system is activated, the control mechanism can simultaneously drive the lifting mechanism and the stabilizing assembly, so that the lifting mechanism can move the fire extinguishing system to quickly rise and fall to the required position and complete the extinguishing of the fire source, and the lifting mechanism can control the lifting stroke and lifting direction of the lifting body, thereby increasing the connection area between the lifting body and the robot body.

[0018] The stabilizing assembly increases the connection area and friction force between the robot body and the ceiling rail, ensuring that the robot body can effectively resist the reaction force generated by the fire extinguishing system during the fire extinguishing process and stabilizes the robot body on the ceiling rail during the fire extinguishing process, ensuring that the fire extinguishing system can always be aligned with the fire source, improving the fire extinguishing efficiency and quality of the robot, while reducing the damage caused by the reaction force to the traveling mechanism, extending the service life of the entire robot structure, and reducing the number of maintenance times and maintenance costs for the robot. This achieves the multiple goals of fast response, precise fire extinguishing and stable operation of the robot, and provides a reliable guarantee for fire prevention and control in complex environments.

[0019] In order to more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. [Brief explanation of the drawings]

[0020] In order to more clearly describe the technical aspects of the specific embodiments of the present invention or the prior art, the following briefly describes the drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without paying creative labor. [Figure 1] 1 is a schematic view illustrating the installation of an intelligent firefighting patrol inspection robot provided in an embodiment of the present application. [Figure 2] FIG. 2 is a cross-sectional view of the installation of the intelligent firefighting patrol inspection robot provided in the embodiment of the present application. [Figure 3] FIG. 2 is a front view of the installation of the intelligent firefighting patrol inspection robot provided in the embodiment of the present application. [Figure 4] 1 is a structural schematic diagram of an intelligent firefighting patrol inspection robot provided in an embodiment of the present application; [Figure 5] FIG. 4 is a schematic structural diagram of the ceiling rail in FIG. 3. [Figure 6] FIG. 3 is a structural schematic diagram of the control mechanism, the rotation assembly, the linkage assembly, and the telescopic assembly in FIG. 2. [Figure 7] 7 is a structural schematic diagram showing a partial cross section of the connecting assembly and the telescopic assembly in FIG. 6. FIG. [Figure 8] FIG. 5 is a structural schematic diagram of the stabilization assembly in FIG. 4. [Figure 9] FIG. 9 is an exploded view of the stabilization assembly in FIG. 8. [Figure 10] FIG. 5 is a structural schematic diagram of the traveling mechanism in FIG. 4. DETAILED DESCRIPTION OF THE INVENTION

[0021] The following clearly and completely describes the technical aspects of the present invention with reference to the drawings, but it is clear that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present invention.

[0022] In describing the present invention, the terms "center," "top," "bottom," "left," "right," "vertical," "horizontal," "inside," "outside," etc., used to indicate orientations or positions are based on the orientations or positions shown in the drawings and are used solely to facilitate and simplify the description of the present invention, and do not indicate or imply that the devices or elements referred to must be configured or operated in a particular orientation, and therefore should not be understood as limitations of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be understood to indicate or imply relative importance.

[0023] The present invention will be further described below based on specific embodiments.

[0024] As shown in FIGS. 1 to 9, the intelligent firefighting patrol inspection robot provided in this embodiment includes a robot body 100, a lifting body 200, and a traveling mechanism 400. The traveling mechanism 400 is fixed to the top of the robot body 100, and the traveling mechanism 400 is installed in a rail groove 510 opened in a ceiling rail 500. The ceiling rail 500 is preferably a circular rail directly fixed to the ceiling. The lifting body 200 is located at the bottom of the robot body 100. The robot body 100 is respectively provided with a control system, a communication system, and a power supply system. The lifting body 200 is respectively provided with a power supply system, a position recognition system, a monitoring system, and a fire extinguishing system 600. A lifting mechanism 300 is provided. One end of the lifting mechanism 300 is attached inside the robot body 100, the other end of the lifting mechanism 300 extends outside the robot body 100 and is fixedly connected to the lifting body 200, one end of the lifting mechanism 300 is connected to a control mechanism 700 fixed inside the robot body 100, and one end of the control mechanism 700 extends to the top of the robot body 100, A stabilizing mechanism 800 is provided. The stabilizing mechanism 800 includes a T-shaped seat 810, a bracket 820, a moving assembly 830, and a stabilizing assembly 840. The T-shaped seat 810 is installed in the rail groove 510, one side of the T-shaped seat 810 is fixedly connected to the top of the robot body 100 via a bracket 820, one end of the moving assembly 830 is connected to a stabilizing assembly 840 slidably mounted in the T-shaped seat 810, and the other end of the moving assembly 830 is connected to the control mechanism 700, and both the upper and lower ends of the stabilizing assembly 840 are in intermittent contact with the rail groove 510.

[0025] In the initial state, both the upper and lower ends of the stability assembly 840 are separated from the rail grooves 510, allowing the traveling mechanism 400 to smoothly slide the main body 100 on the ceiling rail 500. If a fire breaks out at the patrol inspection site, the monitoring system monitors the fire source and transmits the fire source information to the control system, the location recognition system recognizes and measures the location of the fire source and transmits related data to the control system, and the control system moves the robot main body 100 and the lifting main body 200 to the vicinity of the fire source via the traveling mechanism 400 and drives the control mechanism 700.

[0026] The control mechanism 700 can simultaneously drive the lifting mechanism 300 and the stabilizing assembly 830, the lifting mechanism 300 can move the fire extinguishing system to quickly rise and fall to the required position and complete the extinguishing of the fire source, and the lifting mechanism can control the lifting stroke and lifting direction of the lifting body, thereby increasing the connection area between the lifting body and the robot body.

[0027] The stabilizing assembly increases the connection area and friction force between the robot body and the ceiling rail, ensuring that the robot body can effectively resist the reaction force generated by the fire extinguishing system during the fire extinguishing process and stabilizes the robot body on the ceiling rail during the fire extinguishing process, ensuring that the fire extinguishing system can always be aligned with the fire source, improving the fire extinguishing efficiency and quality of the robot, while reducing the damage caused by the reaction force to the traveling mechanism, extending the service life of the entire robot structure, and reducing the number of maintenance times and maintenance costs for the robot. This achieves the multiple goals of fast response, precise fire extinguishing and stable operation of the robot, and provides a reliable guarantee for fire prevention and control in complex environments.

[0028] In a preferred embodiment, the pattern of the movable teeth 834 is consistent with the pattern of the stabilizing rack 832, and the number of the movable teeth 834 can be set to one or more, and the specific number can be adjusted according to actual needs.

[0029] As shown in Figures 5 to 9, in a preferred embodiment of the present invention, the stabilization assembly 840 includes a control block 841, a stabilization block 842, and a second spring 843, the control block 841 is attached to one end of the T-shaped seat 810 and slides horizontally, and the stabilization block 842 is attached symmetrically to the other end of the T-shaped seat 810 and slides vertically, one end of the control block 841 and the two stabilization blocks 842 slide intermittently to engage with each other, a second spring 843 is attached between the two stabilization blocks 842, one end of the stabilization block 842 is in intermittent contact with the inner wall of the rail groove 510, and the end surfaces of the two stabilization blocks 842 that are close to each other are all inclined end surfaces.

[0030] In the initial state, the control block 841 is located at one end of the T-shaped seat 810 and is not in contact with the two stabilizing blocks 842. Therefore, the two stabilizing blocks 842 are hidden within the T-shaped seat 810 under the action of the second spring 843, and do not come into contact with the inner wall of the rail groove 510, allowing the running mechanism 400 to smoothly slide the robot body 100 on the ceiling rail 500.

[0031] When the stabilizing rack 832 moves the control block 841 to the other end of the T-shaped sheet 810, the control block 841 moves and contacts the two stabilizing blocks 842, and at the same time, the inclined end faces of the two stabilizing blocks 842 cause them to move in opposite directions. As the two stabilizing blocks 842 move in opposite directions, they can complete contact with the inner walls of the rail groove 510, thereby increasing the frictional force between the robot body 100 and the ceiling rail 500. This ensures that the robot body 100 can effectively resist the reaction force generated during the fire extinguishing process of the fire extinguishing system 600, reduces damage to the traveling mechanism 400 caused by the reaction force, and extends the service life of the entire robot structure.

[0032] In one preferred embodiment, the end surface of the control block 841 that contacts the stabilizer block 842 can also be designed as an inclined end surface, so that the friction force between the control block 841 and the stabilizer block 842 can be reduced and the control block 841 can quickly and effectively separate the two stabilizer blocks 842 from each other.

[0033] The stabilizing block 842 preferably adopts a right-angle trapezoidal block structure.

[0034] 2 to 7, in one preferred embodiment of the present invention, the lifting mechanism 300 includes a rotation assembly 310, a linkage assembly 320, and a telescopic assembly 330, the rotation assembly 310 is installed in the robot body 100, one end of the rotation assembly 310 is connected to the control mechanism 700, the other end of the rotation assembly 310 is installed with the linkage assembly 320, one end of the linkage assembly 320 passes through the telescopic assembly 330 and is fixedly connected to the bottom of the lifting body 200, the telescopic assembly 330 is installed between the robot body 100 and the lifting body 200, and both ends of the telescopic assembly 300 are fixedly connected to the robot body 100 and the lifting body 200, respectively.

[0035] The rotating assembly 310 includes a first rotating gear 311, a second rotating gear 312, and a rotating shaft 313. The first rotating gear 311 is fixed to the control mechanism 700, one side of the first rotating gear 311 meshes with the second rotating gear 312, and the second rotating gear 312 is fixed to the rotating shaft 313. The rotating shaft 313 is mounted in the robot body 100 so as to rotate vertically, and a connecting assembly 320 is mounted to the rotating shaft 313.

[0036] The control mechanism 700 rotates the first rotary gear 311, which rotates the second rotary gear 312, which rotates the rotary shaft 313, which operates the connecting assembly 320, which operates to raise and lower the lifting body 200 at the bottom of the robot body 100, and the lifting body 200 raises and lowers the fire extinguishing system 600 mounted thereon, which can quickly and accurately move the fire extinguishing system 600 mounted thereon to the vicinity of the fire source, thereby enabling the fire extinguishing system 600 on the lifting body 200 to effectively extinguish the fire source and improving the fire extinguishing efficiency and quality of the robot. Meanwhile, the telescopic module 330 performs telescopic movements while the lifting body 200 is raised and lowered, thereby increasing the connection area between the lifting body 200 and the robot body 100, preventing rattling of the lifting body 200 during fire extinguishing and ensuring the positional stability of the robot body 100 and the lifting body 200.

[0037] As shown in Figures 2 to 7, in one preferred embodiment of the present invention, the connection assembly 320 includes a winding disk 321, a wire rope 322, a guide frame 323, and a connecting disk 324, the winding disk 321 is fixed concentrically to the rotation shaft 313, the wire rope 322 is wound around the winding disk 321, one end of the wire rope 322 bypasses the guide frame 323 and passes through the telescopic module 330, and one end of the wire rope 322 is fixedly connected to the connecting disk 324 fixed to the top of the lifting body 200, and the guide frame 323 is installed inside the robot body 100.

[0038] When the fire source needs to be extinguished, the rotating shaft 313 rotates the winding disc 321, which can release the wire rope 322 thereon. The lifting body 200 moves vertically downward under the action of its own gravity as it releases the wire rope 322. The telescopic assembly 330 can limit and guide the downward movement distance and downward movement direction of the lifting body 200, which causes the fire extinguishing system 600 thereon to move downward synchronously, so that the fire extinguishing system 600 on the lifting body 200 can effectively extinguish the fire source, thereby improving the fire extinguishing efficiency and quality of the robot.

[0039] In one preferred embodiment, the guide frame 323 is fitted with a fixed pulley for guiding the wire rope 322, one end of which can be operatively connected to the connecting disc 324.

[0040] As shown in FIGS. 2 to 7, in one preferred embodiment of the present invention, the telescopic assembly 330 includes an outer sleeve 331, an intermediate sleeve 332, and an inner sleeve 333, one end of the outer sleeve 331 is fixed to the bottom of the robot body 100, one end of the intermediate sleeve 332 is slidably mounted within the outer sleeve 331, one end of the inner sleeve 333 is slidably mounted within the intermediate sleeve 332, and the other end of the inner sleeve 332 is fixed to the top of the lifting body 200.

[0041] The lifting body 200 moves downward or upward in synchronization with the release or tightening of the wire rope 322. During the lifting or lowering process, the lifting body 200 can move the intermediate sleeve 332 and the inner sleeve 333 to slide within the outer sleeve 331 and the intermediate sleeve 332, respectively. The telescopic assembly 330 not only increases the connection area between the lifting body 200 and the robot body 100 and ensures the strength of the connection between the two, but also limits the lifting stroke of the lifting body 200, guides the lifting direction of the lifting body 200, and allows it to rise and fall vertically, thereby ensuring the effectiveness and accuracy of fire-fighting operations and further improving the fire-fighting efficiency and quality of the robot.

[0042] As shown in Figures 2 to 7, in one preferred embodiment of the present invention, the control mechanism 700 includes a control motor 710, a transmission member 720, and a control shaft 730, the control motor 710 is fixed within the robot body 100, the output end of the control motor 710 is rotatably connected via the transmission member 720 to a control shaft 730 that is rotatably mounted within the robot body 100, one end of the control shaft 730 is connected to the first rotary gear 311, and the other end of the control shaft 730 extends to the top of the robot body 100 and is connected to a stabilizing gear 831.

[0043] The control motor 710 drives and rotates the control shaft 730 via the transmission member 720, which in turn drives and rotates the first rotary gear 311 and the stabilizing gear 831. When the first rotary gear 311 moves in line with the rotary shaft 313 and the winding disc 321 to release the wire rope 322, the stabilizing gear 831 cooperates with the stabilizing rack 832 and the movable teeth 834 to bring the two stabilizing blocks 842 into contact with the inner wall of the rail groove 510, thereby increasing the contact area and frictional force between the ceiling rail 500 and the robot body 100 and ensuring the stability of the robot body 100 and the lifting body 200 during the fire extinguishing process.

[0044] When the first rotating gear 311 fits around the rotating shaft 313 and the winding disc 321 to wind the wire rope 322, the stabilizing gear 831 fits around the stabilizing rack 832 and the movable teeth 834 to separate the two stabilizing blocks 842 and the inner wall of the rail groove 510, thereby reducing the contact area and friction between the ceiling rail 500 and the robot body 100 and ensuring that the traveling mechanism 400 can move the robot body 100 and the lifting body 200 smoothly on the ceiling rail 500, allowing the robot to normally and effectively perform round-trip inspections at the inspection site, improving the efficiency and quality of the robot's inspection.

[0045] As shown in Figures 4, 5 and 10, in one preferred embodiment of the present invention, the traveling mechanism 400 includes a fixed base 410, a traveling frame 420, a traveling shaft 430, a traveling wheel 440, a traveling motor 450, a first traveling gear 460, and a second traveling gear 470. The fixed base 410 is fixed to the top of the robot body 100. The traveling frame 420 is rotatably attached to the fixed base 410. The traveling shaft 430 is rotatably attached to the traveling frame 420. The traveling wheels 440, both of which are located in the rail grooves 510, are fixed to both ends of the traveling shaft 430. The traveling motor 450 is further attached to the traveling frame 420. The first traveling gear 460 is attached to the output end of the traveling motor 450. The first traveling gear 460 is engaged with the second running gear 470 fixed to the traveling shaft 430.

[0046] The traveling motor 450 drives and rotates the first traveling gear 460, and the first traveling gear 460 drives and rotates the traveling shaft 430 via the second traveling gear 470, and the traveling shaft 430 rotates the traveling wheel 440 in the rail groove 510, and the traveling wheel 440 rotates, and through the frictional force with the rail groove 510, moves the traveling frame 420 and the fixed base 410, thereby driving the robot body 100 and the lifting body 200 to slide along the arrangement track of the ceiling rail 500. This not only makes it convenient for the robot to perform daily patrol inspections along the arrangement track of the ceiling rail 500, but also improves the fire extinguishing efficiency and patrol inspection efficiency of the robot.

[0047] In a preferred embodiment, both the control motor 710 and the travel motor 450 are preferably servo motors.

[0048] Finally, the above embodiments are only used to describe the technical aspects of the present invention, and are not intended to limit the same. The present invention has been described in detail with reference to the above embodiments. However, those skilled in the art may modify the technical solutions described in the above embodiments or equally replace some or all of the technical features thereof, and these 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 the present invention. [Explanation of symbols]

[0049] 100, robot body; 200, lifting body; 300, lifting mechanism; 310, rotating assembly; 311, first rotating gear; 312, second rotating gear; 313, rotating shaft; 320, connecting assembly; 321, winding disc; 322, wire rope; 323, guide frame; 324, connecting disc; 330, telescopic assembly; 331, outer sleeve; 332, intermediate sleeve; 333, inner sleeve; 400, traveling mechanism; 410, fixed base; 420, traveling frame; 430, traveling shaft; 440, traveling wheel; 450, traveling Motor; 460, first rotating gear; 470, second rotating gear; 500, ceiling rail; 510, rail groove; 600, fire extinguishing system; 700, control system; 710, control motor; 720, transmission member; 730, control shaft; 800, stabilizing mechanism; 810, T-shaped seat; 820, bracket; 830, moving assembly; 831, stabilizing gear; 832, stabilizing rack; 833, sliding post; 834, movable tooth; 835, first spring; 840, stabilizing assembly; 841, control block; 842, stabilizing block; 843, second spring.

Claims

1. An intelligent firefighting patrol inspection robot comprising a robot body, a lifting body, and a traveling mechanism, the traveling mechanism being fixed to the top of the robot body, the traveling mechanism being mounted in a rail groove opened in a ceiling rail, the lifting body being located at the bottom of the robot body, the robot body being provided with a control system, a communication system, and a power supply system, respectively, and the lifting body being provided with a power supply system, a position recognition system, a monitoring system, and a fire extinguishing system, respectively; and It has a lifting mechanism, one end of the lifting mechanism is attached inside the robot body, the other end of the lifting mechanism extends outside the robot body and is fixedly connected to the lifting body, one end of the lifting mechanism is connected to a control mechanism fixed inside the robot body, and one end of the control mechanism extends to the top of the robot body; It has a stabilizing mechanism, the stabilizing mechanism includes a T-shaped seat, a bracket, a moving assembly, and a stabilizing assembly, the T-shaped seat is installed in a rail groove, one side of the T-shaped seat is fixedly connected to the top of the robot body via a bracket, one end of the moving assembly is connected to the stabilizing assembly slidably mounted in the T-shaped seat, and the other end of the moving assembly is connected to a control mechanism, and both upper and lower ends of the stabilizing assembly are separated from the rail groove during travel and contact the rail groove when the fire extinguishing system is operating; the moving assembly includes a stabilizing gear, a stabilizing rack, a sliding post, movable teeth, and a first spring, the stabilizing gear is fixed to the control mechanism, both sides of the stabilizing gear are meshed with stabilizing racks, the stabilizing racks are fixedly connected to the stabilizing assembly, both ends of the stabilizing rack are fixed with sliding posts, movable teeth are slidably attached to the sliding posts, one side of the movable teeth is movably connected to one side of the stabilizing rack via a first spring, and the movable teeth are intermittently meshed with the stabilizing rack; the stabilizing assembly includes a control block, a stabilizing block, and a second spring, the control block is attached to one end of the T-shaped seat and slides horizontally, the stabilizing block is attached to the other end of the T-shaped seat and slides vertically symmetrically, one end of the control block and the two stabilizing blocks slide intermittently to engage with each other, a second spring is attached between the two stabilizing blocks, one end of the stabilizing block intermittently contacts an inner wall of the rail groove, and the end surfaces of the two stabilizing blocks where they approach each other are both inclined end surfaces.

2. 2. The intelligent firefighting patrol inspection robot of claim 1, wherein the lifting mechanism includes a rotation assembly, a linkage assembly, and a telescopic assembly, the rotation assembly being mounted within the robot body, one end of the rotation assembly being connected to a control mechanism, the other end of the rotation assembly being mounted to a linkage assembly, one end of the linkage assembly passing through the telescopic assembly and fixedly connected to the bottom of the lifting body, the telescopic assembly being disposed between the robot body and the lifting body, and both ends of the telescopic assembly being fixedly connected to the robot body and the lifting body, respectively.

3. 3. The intelligent firefighting patrol inspection robot of claim 2, wherein the rotating assembly includes a first rotating gear, a second rotating gear, and a rotating shaft, the first rotating gear being fixed to a control mechanism, one side of the first rotating gear meshing with the second rotating gear, the second rotating gear being fixed to a rotating shaft, the rotating shaft being vertically mounted within the robot body, and a connecting assembly being attached to the rotating shaft.

4. 4. The intelligent firefighting patrol inspection robot of claim 3, wherein the connecting assembly includes a winding disk, a wire rope, a guide frame, and a connecting disk, the winding disk is fixed concentrically to the rotation shaft, the wire rope is wound around the winding disk, one end of the wire rope bypasses the guide frame and passes through the telescopic module, and one end of the wire rope is fixedly connected to the connecting disk fixed to the top of the lifting body, and the guide frame is installed within the robot body.

5. 3. The intelligent firefighting patrol inspection robot of claim 2, wherein the telescopic assembly includes an outer sleeve, an intermediate sleeve, and an inner sleeve, one end of the outer sleeve being fixed to the bottom of the robot body, one end of the intermediate sleeve being slidably mounted within the outer sleeve, one end of the inner sleeve being slidably mounted within the intermediate sleeve, and the other end of the inner sleeve being fixed to the top of the lifting body.

6. 4. The intelligent firefighting patrol inspection robot of claim 3, wherein the control mechanism includes a control motor, a transmission member, and a control shaft, the control motor is fixed within the robot body, an output end of the control motor is rotatably connected to the control shaft rotatably mounted within the robot body via the transmission member, one end of the control shaft is connected to a first rotary gear, and the other end of the control shaft extends to the top of the robot body and is connected to a stabilizing gear.

7. 2. The intelligent firefighting patrol inspection robot of claim 1, wherein the traveling mechanism includes a fixed base, a traveling frame, a traveling shaft, a traveling wheel, a traveling motor, a first traveling gear, and a second traveling gear. The fixed base is fixed to a top of the robot body. The traveling frame is rotatably attached to the fixed base. The traveling shaft is rotatably attached to the traveling frame. Running wheels, each positioned in a rail groove, are fixed to both ends of the traveling shaft. The traveling motor is further attached to the traveling frame. A first traveling gear is attached to an output end of the traveling motor. The first traveling gear is meshed with a second traveling gear fixed to the traveling shaft.

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