CN109303994B

CN109303994B - Fire-fighting reconnaissance fire-extinguishing robot and working method thereof

Info

Publication number: CN109303994B
Application number: CN201811138538.3A
Authority: CN
Inventors: 鲍明松; 郭亭亭; 郑安; 刘文涛; 李希彬
Original assignee: Shandong Atu Robot Technology Co ltd; Shandong Guoxing Intelligent Technology Co ltd
Current assignee: SHANDONG ATU ROBOT TECHNOLOGY Co.,Ltd.; Shandong Guoxing Intelligent Technology Co.,Ltd.
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2021-04-16
Anticipated expiration: 2038-09-28
Also published as: CN109303994A

Abstract

The invention discloses a fire-fighting and reconnaissance robot which comprises a crawler chassis, a fire-fighting water cannon and a reconnaissance mechanism, wherein the fire-fighting water cannon and the reconnaissance mechanism are arranged on the crawler chassis, and the crawler chassis is composed of a chassis body, a chassis shell, a suspension cross beam, a driving wheel, a driven wheel set, a supporting wheel set, a bearing wheel set, a damping plate set, an elastic element, a proximity wheel set, a tensioning mechanism, an obstacle avoidance assembly, a warning assembly, a driving assembly, a controller, a wireless transmission assembly, a crawler assembly, a dustproof cover plate, a searchlight and a lithium battery. The problem of the slip between drive wheel and track fall the area etc. is solved, realized high-efficient transmission between drive wheel and track, guaranteed the laminating performance of suspension system obstacle-crossing in-process with the track, stability when can also improve the robot obstacle-crossing climbing has realized the tensioning function to suspension system on the robot, further promotes the robot motion safety and stability performance, has reduced the robot and has maintained the degree of difficulty and application cost.

Description

Fire-fighting reconnaissance fire-extinguishing robot and working method thereof

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a fire-fighting reconnaissance and fire-extinguishing robot and a working method thereof.

Background

Fire fighters have many disadvantages in rescue or reconnaissance of accident sites such as high-risk fire fields, and the fire fighting reconnaissance fire-extinguishing robot is applied. The fire-fighting reconnaissance and fire-extinguishing robot can replace fire fighters to realize the fire-extinguishing function at the periphery, and meanwhile, the fire-fighting reconnaissance and fire-extinguishing robot can replace the fire fighters to enter a dangerous disaster accident site to realize the reconnaissance and even rescue functions after the water hose is disassembled, so the development prospect is wide.

On the one hand, however, the field environment in a scene such as a fire is extremely harsh, and especially, many obstacles exist on the ground or in the space, which presents a great challenge to the obstacle crossing performance and the obstacle avoidance capability of the robot. At present, a crawler-type mobile chassis is generally adopted as a mobile platform of a fire-fighting robot (fire-fighting robots such as fire-fighting reconnaissance robots, fire-fighting extinguishers and fire-fighting smoke-discharging robots are collectively called), and the function of moving the robot on a high-risk complex pavement is realized. On the other hand, when the fire-fighting robot drags the water hose to extinguish the fire at the periphery of the fire scene, the fire-fighting robot needs to drag the water-filled fire hose to move forward, which brings load challenge to a suspension system of the fire-fighting robot; when the fire-fighting robot enters a scene for rescue as a reconnaissance rescue device, a plurality of people carrying loads also need to leave the scene, and the robot also needs to have strong capacity of bearing heavy objects.

At present, most of suspension systems of crawler-type mobile chassis adopt a plurality of groups of single-row bearing wheels to match with elastic elements to realize the functions of bearing and obstacle crossing, but the structure has the problem that when the front end of the suspension system touches an obstacle, the crawler is easy to deform excessively to cause crawler slippage; or a fixed bearing wheel structure is added between the driven wheel and the bearing wheel and is close to the obstacle of the vehicle body to realize the obstacle crossing function, but the robot with the structure has poor stability and violent vibration when climbing the slope and crossing the obstacle, and is not beneficial to the stable operation of the robot. On drive wheel and track cooperation mode, present drive wheel and track drive adopt more to dial tooth structure, and this type of structure is sensitive to track deformation abnormity, and when great change takes place for the load on the robot fuselage, or when robot suspension system surmounted the obstacle, the deformation factor of track very easily takes place to fall the track trouble. Correspondingly, in order to reduce the risk of the track falling of the track robot, a track tensioning mechanism is usually added in a suspension system, and at present, the most common mode is to adopt a spring to extrude a sliding block or adopt a hydraulic cylinder to push the sliding block to realize the track tensioning function. For the track tensioning device, the traditional spring type tensioning device can lead the spring to change along with the change of complex working conditions, and the normal tensioning state of the track cannot be kept; and as the service time increases, the spring in the spring type tensioning device can be fatigued, so that the problem of slippage and the like caused by the loosening of the crawler belt can be solved. For heavy robots, this way of tensioning the track or chain is obviously not suitable. The hydraulic cylinder type tensioning device is high in performance, but complex in structure, dependent on a hydraulic system and not beneficial to integrated installation and application of small firefighters.

In the prior art related to a crawler-type mobile robot, firstly, on a driving structure, a driving mode between a driving wheel and a crawler belt mostly adopts a shifting tooth structure, namely: the driving wheel is generally provided with a wheel set with a groove, the inner wall of the crawler is provided with a convex block, and the driving wheel stirs the convex block on the inner wall of the crawler to realize the driving function of the crawler, so that the crawler is driven to lay forwards. The typical technical scheme is as follows: the patent with the application number of 201520714972.7 discloses a moving system for a fire-fighting robot, which is characterized in that a front suspension, a cross suspension and a rear suspension are sequentially connected, and a case main body is connected with an upper guide wheel in a crawler belt through an upper shaft; the front suspension comprises: a front arm, a front middle arm, a front spring, a front guide wheel and a rear guide wheel, wherein the front arm and the front middle arm are connected through a front shaft; the driving wheel and the crawler belt are driven by the gear shifting structure. The similar technical proposal also discloses a fire-fighting robot and a control method thereof, such as a patent with the application number of 201610091164.9; a crawler-type fire-fighting robot disclosed in patent application No. 201610303161.7; an explosion-proof fire-fighting reconnaissance robot disclosed in patent application No. 201610622972.3; the wheel-track conversion mobile chassis disclosed in patent 201610677978.0 and the fire-fighting detection robot with the same; a crawler-type fire-fighting robot and an operation method thereof are disclosed in the application number of 201611048497.

Secondly, in the aspect of realizing the robot track tensioning technology, a spring type or hydraulic cylinder type supporting technology is generally adopted: for example, application No. 201721131694.8 discloses an explosion-proof fire-fighting reconnaissance robot track assembly, including track, link, bearing wheel, shock absorber, drive wheel, riding wheel, curb plate, overspeed device tensioner and leading wheel, and link, bearing wheel, shock absorber, drive wheel, riding wheel, curb plate, overspeed device tensioner and leading wheel all set up in the flexible link of track, and the track is connected gradually with leading wheel, bearing wheel, drive wheel and riding wheel, and the one side that overspeed device tensioner kept away from the curb plate is connected with the leading wheel. The tensioning device comprises a compression spring, an adjusting bolt and a telescopic rod, and the tensioning device is matched with the crawler. This patent also discloses an invention patent with application number 201710681176.1 for a track tensioning mechanism of a track tractor; the invention patent with the application number of 201711445105.8 discloses a track tensioning device and a track type walking machine; the utility model discloses a utility model patent of application No. 201720909718.1 discloses a track overspeed device tensioner and has device's tracked vehicle and the track overspeed device tensioner that patent application No. 201310224671.1 disclosed and its tensioning method etc..

Finally, in the robot suspension assembly, a fixed bearing wheel structure is usually and directly added between a driven wheel and a bearing wheel and is close to the obstacle of the vehicle body to realize the obstacle crossing function, and a typical patent scheme comprises the following steps: application number is 201720886004.3's a fire prevention robot that can climb and cross obstacle, crawler travel mechanism is including fixing the crawler beam in fire prevention robot body bottom, the drive wheel that is located the crawler beam front end, the take-up pulley that is located the crawler beam rear end, be located fixed thrust wheel and the floating thrust wheel between drive wheel and the take-up pulley, and fixed thrust wheel is in on same ground plane with floating thrust wheel and take-up pulley. Similar constructions also include an intelligent remote-controlled fire-fighting robot disclosed in application No. 201710109232.4, an explosion-proof fire-fighting reconnaissance robot disclosed in application No. 201610622972.3, an improved fire-fighting robot disclosed in application No. 201320414471.8, and the like.

Disclosure of Invention

The invention aims to provide a fire-fighting reconnaissance fire-extinguishing robot, aiming at the problems of the driving efficiency and stability of the driving wheel and the crawler belt at present, the gear shaping driving wheel and the crawler belt matched with the gear shaping driving wheel realize the function of high-efficiency transmission between the driving wheel and the crawler belt; aiming at the problem of insufficient climbing and obstacle crossing performance of the conventional suspension system, the fit performance of the suspension system with a track in the obstacle crossing process is ensured by designing a double-row and double-column composite approach wheel, and the obstacle crossing and climbing capacity of the robot is remarkably improved; aiming at the defects of the tensioning mechanism of the robot suspension system, the tensioning function of the robot suspension system is realized through the wedge-shaped tensioning mechanism, and the moving tightness of the robot crawler is ensured, so that the moving safety and stability performance of the robot is further improved, and the robot maintenance difficulty is reduced.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a fire control reconnaissance robot of putting out a fire, including track chassis, fire control water cannon and reconnaissance mechanism all set up on track chassis, track chassis comprises chassis body, chassis casing, suspension cross member, the drive wheel, driven wheelset, the support band wheelset, the bearing wheelset, shock attenuation board group, elastic element, it is wheelset to be close, straining device, keep away the barrier subassembly, the warning subassembly, drive assembly, the controller, the wireless transmission subassembly, the track subassembly, the shield, the searchlight, lithium cell constitutes, fire control water cannon comprises water cannon head, the jet transform subassembly, vertical transform subassembly, horizontal steering subassembly, the water cannon stand pipe, the water cannon body, the hosepipe connects, spray assembly constitutes, reconnaissance mechanism comprises camera, gas sensor, lifting unit and reconnaissance mechanism body.

Specifically, the controller is the control core of robot, and the controller is continuous respectively and keeps away barrier subassembly, warning subassembly, drive assembly, wireless transmission subassembly, searchlight, vertical transform subassembly, the horizontal steering subassembly in the fire control water cannon, spraying assembly and reconnaissance camera, gas sensor and the lifting unit in the mechanism.

Specifically, in the crawler chassis, the suspension cross beam comprises a rake-shaped long plate and a suspension connecting shaft, the driving wheel comprises a gear shaping driving wheel and a driving shaft, the driven wheel group comprises a driven wheel, a driven wheel rotating shaft and a driven displacement sliding plate, the belt supporting wheel group comprises a belt supporting wheel and a belt supporting wheel shaft, the bearing wheel group comprises a bearing wheel and a bearing wheel rotating shaft, the damping plate group comprises a damping plate and a damping plate swinging shaft, the elastic component comprises an elastic element and an elastic component rotating shaft, the approach wheel group comprises an approach bearing wheel, an approach wheel, a proximity wheel shaft and a proximity wheel swinging plate, the tensioning mechanism comprises a tensioning screw, a displacement fastening screw, a main wedge-shaped sliding block, an auxiliary wedge-shaped sliding block, a front baffle, a rear baffle and a fastening plate, the obstacle avoidance component comprises an obstacle avoidance camera and an ultrasonic ranging module, the warning component comprises a warning lamp and a warning whistle, the driving component comprises a driving motor and a, the crawler assembly comprises a crawler body and a shifting block; in the fire-fighting water cannon, the spraying component comprises a sprayer and a relay.

The chassis body is arranged on the lower half section of the crawler chassis and used for supporting and connecting the suspension system and the electric control system, and the chassis shell is arranged on the upper half section of the crawler chassis and matched with the chassis body to form a closed three-dimensional space;

the two sets of suspension cross beams are respectively arranged on two sides of the chassis body, each set of suspension cross beam comprises two harrow-shaped long plates which are stacked at intervals, and two protrusions are arranged at the upper ends of the harrow-shaped long plates and used for arranging rotating shafts so as to fix the belt supporting wheel sets; the lower end of the harrow-shaped long plate is provided with four bulges for arranging a rotating shaft so as to fix the damping plate group, four through holes are uniformly arranged on the harrow-shaped long plate close to the center in the transverse direction for fixing suspension connecting shafts, the number of the suspension connecting shafts is eight, the suspension connecting shafts are divided into a left group and a right group, the outer side of each group of suspension connecting shafts is fixed on the harrow-shaped long plate, and the inner side of each group of suspension connecting shafts is connected and fixed on the chassis body, so that the connection and fixation;

the driving wheels are of a single-row gear structure, the number of the driving wheels is two, gear shaping driving wheels of the driving wheels are arranged on the two sides of the rear side of the chassis body through driving shafts, the driving shafts are connected with an output rotating shaft of the differential case to obtain a power source, a rear wheel rim of the gear shaping driving wheels is inserted into the crawler assembly, and teeth of the gear shaping driving wheels are matched with the shifting block to be shifted;

the driven wheel set is of a double-row single-wheel structure, driven wheels of the driven wheel set span two ends of a driven wheel rotating shaft, the driven wheel rotating shaft penetrates through two sides of the foremost end of a driven displacement sliding plate, the driven displacement sliding plates are rectangular plates, the number of the driven displacement sliding plates is four, two driven displacement sliding plates are stacked in a set and are arranged on the inner side of the foremost part of the suspension cross beam, the driven displacement sliding plates are connected with a fixed tensioning mechanism, and a front wheel rim of each driven wheel is in;

the belt supporting wheel sets are of a double-row single-wheel structure, the number of the belt supporting wheel sets is eight, the belt supporting wheel sets are divided into two sets, the left set and the right set are symmetrically arranged, each set is four pairs, the belt supporting wheels of the belt supporting wheel sets are fixed at the upper end of the harrow-shaped long plate through belt supporting wheel shafts, and the upper wheel rims of the belt supporting wheels are in contact with the inner wall of the crawler;

the bearing wheel set is a double-row single-row wheel, eight groups are provided, the bearing wheels of the bearing wheel set are arranged at the lower end of the damping plate through bearing wheel rotating shafts, and the lower wheel rim of each bearing wheel is in contact with the inner wall of the crawler assembly;

the damping plate groups comprise eight groups, each group of damping plate groups comprises two damping plates, each damping plate is a long strip plate, the two damping plates are stacked into one group, the upper ends of the two damping plates are fixedly connected with the rake-shaped long plate through a damping plate swing shaft, the lower ends of the two damping plates are connected with a bearing wheel group, and the damping plates can swing around the damping plate swing shaft; under the condition of no load, the included angle between the shock absorption plate group and the suspension cross beam is between 30 and 70 degrees, and the included angle is mainly determined by the elastic component and the load of the robot.

The upper end of an elastic element of the elastic assembly is fixed on the rake-shaped long plate through an elastic assembly rotating shaft, the lower end of the elastic element is fixed at the center of the damping plate through an elastic assembly rotating shaft, the number of the elastic elements is ten, eight of the elastic elements are matched with the damping plate, force is released through pressure between the pressure-bearing rake-shaped long plate and the bearing wheel, and therefore damping and shock absorption are achieved, and the other two elastic elements are matched with the approach wheel set;

the obstacle avoidance camera and the ultrasonic ranging module of the obstacle avoidance assembly are symmetrically arranged at the position, close to the center, of the most front part of the chassis body, the warning lamp and the warning whistle of the warning assembly are respectively arranged at two sides of the rear end of the chassis shell, the driving motor of the driving assembly is matched with the differential case for use, the driving motor is arranged at the rear part inside the chassis body and is connected with the controller, and the output shaft of the differential case is connected with the driving shaft;

the wireless transmission assembly is close to the controller, and the antenna is connected with an electrical module in the wireless transmission assembly to improve the information transmitting and receiving distance; the dustproof cover plate is of a round wheel structure, is provided with screw holes and is fixed with all driven wheels and bearing wheels through bolts; the searchlights are in a pair and are arranged on the two sides of the foremost part of the chassis body; the lithium battery is arranged in the chassis body and electrically connected with the power consumption device on the robot respectively and provides electric energy for the power consumption device.

The robot comprises a proximity wheel set, a proximity wheel shaft and a proximity wheel swing plate, wherein the proximity wheel set comprises a proximity bearing wheel, a proximity wheel shaft and a proximity wheel swing plate, the proximity bearing wheel and the proximity wheel are of a double-row single-wheel structure, the proximity bearing wheel is the same as the bearing wheel, the inner diameter of the proximity wheel is larger than that of the proximity wheel, the proximity wheel swing plate is a sickle-shaped plate, two proximity wheel swing plates are stacked into a group and are transversely placed, the uppermost end of the proximity wheel swing plate is fixed to the foremost end of the rake-shaped long plate through the proximity wheel shaft and can swing around the rake-shaped long plate, the proximity wheel is installed at the outermost end of the central bending part of the proximity wheel swing plate through a rotating shaft, the front rim of the proximity wheel contacts with the inner wall of a track assembly, when a robot goes ahead and encounters obstacles;

specifically, the two sets of tensioning mechanisms are respectively arranged between the driven displacement sliding plate and the rake-shaped long plate on the left side and the right side, tensioning screws penetrate through the two sets of tensioning mechanisms and are fixed on the two sides of the front end of the rake-shaped long plate through nuts, and main wedge-shaped sliding blocks are sleeved on the tensioning screws;

six shifting fastening screws are divided into two sets, every three shifting fastening screws are distributed in a triangular mode, the front shifting fastening screw penetrates through the driven shifting sliding plate and the rake-shaped long plate, the rear shifting fastening screws penetrate through the rake-shaped long plate and the front baffle plate, and the tail portions of the shifting fastening screws are fixed through the fastening plates;

the main wedge-shaped sliding block and the auxiliary wedge-shaped sliding block are both trapezoidal sliding blocks, a through hole is formed in the middle of the main wedge-shaped sliding block, a thread matched with the tensioning screw is arranged in the through hole, the main wedge-shaped sliding block is sleeved on the tensioning screw, the inclined plane of the main wedge-shaped sliding block is in contact fit with the inclined plane of the auxiliary wedge-shaped sliding block, and the main wedge-shaped sliding block is driven to advance and retreat along the direction vertical to the axial line of the tensioning screw through the rotation of the tensioning screw;

a through hole is formed in the end face of the rear end of the auxiliary wedge-shaped sliding block, the diameter of the through hole is larger than that of the shifting fastening screw, the front end of the auxiliary wedge-shaped sliding block is in contact with and connected with a front baffle, and when the auxiliary wedge-shaped sliding block slides forwards and backwards, the front baffle can be driven to move forwards and backwards;

the front baffle is a square plate and is vertical to and stretched across the harrow-shaped long plates, and the rear baffle has the same structure and shape as the front baffle and is vertical to and stretched across the harrow-shaped long plates;

the fastening plate is a triangular plate, and a threaded hole is formed in the fastening plate and matched with the shifting fastening screw.

Specifically, each is hung about the track subassembly, and the track main part of track subassembly is for sealing flat strip structure, transversely is provided with the shifting block at track main part central authorities, and the shifting block is the square body structure, is provided with the chamfer, and the shifting block cooperates with the gear shaping drive wheel, stirs the shifting block atress through the rotation of gear shaping drive wheel, and then drives the track main part and rotate.

Specifically, water cannon big gun head, water cannon stand pipe, water cannon body and hosepipe articulate becomes integrative, the water cannon stand pipe is the return bend for connect each subassembly of water cannon, the setting of injection transform subassembly is between water cannon big gun head and water cannon stand pipe, vertical transform subassembly and horizontal steering subassembly all connect on the water cannon body through the water cannon stand pipe, the water cannon body of hosepipe articulate, the water cannon body sets up in the chassis casing, the hosepipe connects and sets up in the rear of the chassis casing of robot, spray assembly sets up in the top of water cannon stand pipe, spray assembly includes spray thrower and relay, the spray thrower passes through the water cannon stand pipe water intaking, the cooling that sprays to the robot is realized to the cooperation relay, relay connection director.

Specifically, the camera and the gas sensor are arranged side by side, the camera is arranged on the lifting assembly, and the reconnaissance mechanism body is arranged outside the lifting assembly.

Another object of the present invention is to provide a working method of a fire-fighting reconnaissance robot, comprising the following steps:

(1) the robot moves, walks, senses and avoids obstacles:

the controller receives a wireless command from a remote place through the wireless transmission assembly, and the command is analyzed and decided by the controller and then controls the driving assembly on the robot to realize the rotation control of the driving wheel, thereby realizing the motion control of the robot, including the front and back, backward movement, turning and sudden stop of the robot;

when the robot advances, the controller also controls the obstacle avoidance assembly to work in real time, acquires image video information and environmental parameter information in front of the robot, and sends the image video information and the environmental parameter information to a remote control console through the wireless transmission assembly for a fire fighter to check, analyze and make a decision;

when the controller detects that an obstacle exists in a short distance in front of the robot through the ultrasonic ranging module, if the distance between the obstacle and the robot is smaller than a preset safety threshold value, the controller directly controls the driving assembly to realize emergency braking action on the robot without being controlled by a stopping control instruction from a fire fighter from a remote console; when the obstacle judgment is carried out, in order to improve error correction redundancy, the obstacle avoidance camera can work in cooperation with the ultrasonic ranging module, so that auxiliary judgment on the obstacle in front of the robot is realized;

(2) and (3) a robot reconnaissance step:

the controller controls a camera and a gas sensor in the reconnaissance mechanism to work, collects image videos and specific gas parameters around the site robot, and sends the collected parameters to a remote control console through a wireless transmission assembly, so that fire fighters can analyze the site environment state to make further decisions; the controller can also transmit the working condition parameters of the robot to a remote control console for operators to check and analyze the working state of the robot in real time; the controller can also control the obstacle avoidance camera to work to collect the low-level image video in front of the robot; the controller can also control the searchlight and provide enough ambient illumination brightness during field parameter acquisition and field rescue;

(3) and (3) a robot fire extinguishing step:

when the controller receives a fire-fighting and fire-extinguishing instruction through the wireless transmission assembly, the controller controls the vertical conversion assembly and the horizontal steering assembly to adjust the angle of the water cannon, and a remote console controls and adjusts the water cannon in real time according to an image acquired by a reconnaissance mechanism, so that a water column sprayed by the fire-fighting and fire-extinguishing water cannon falls into a fire source to extinguish fire;

according to the on-site fire extinguishing requirement, the controller can also control the spray conversion assembly to work to convert the spray form of the water cannon, and in addition, the controller can also control the spray assembly to work to realize the water curtain spray to cool the robot body;

(4) and tensioning the robot crawler:

after the fire-fighting robot leaves the factory or works for a period of time, the problem of over-tightness or looseness can occur to the crawler belt assembly, and the adjusting process is as follows: the shifting fastening screw is loosened, the tensioning screw is rotated, the auxiliary wedge-shaped sliding block moves backwards or forwards relative to the main wedge-shaped sliding block, the front baffle plate drives the driven wheel and the driven displacement sliding plate to move backwards or forwards, accordingly, the tightness of the crawler belt is adjusted, and the shifting fastening screw is tightened after the adjustment is finished.

The invention has the following beneficial effects:

the fire-fighting reconnaissance fire-extinguishing robot adopts the gear shaping driving wheel and the crawler belt matched with the gear shaping driving wheel, solves the problems of slipping, falling and the like between the driving wheel and the crawler belt, realizes high-efficiency transmission between the driving wheel and the crawler belt, reduces the manufacturing difficulty of the crawler belt and the driving wheel, and obviously reduces the manufacturing cost of key parts of the robot;

by adopting the double-row and double-column composite approach wheels, the bonding performance between the suspension system and the track in the obstacle crossing process is ensured, the stability of the robot in obstacle crossing and slope climbing can be improved, the slipping risk of the track is reduced, and the obstacle crossing and slope climbing capability of the robot is obviously improved;

by adopting the wedge-shaped tensioning mechanism, the tensioning function of the robot upper suspension system is realized, and the moving tightness of the robot crawler is ensured, so that the moving safety and stability performance of the robot is further improved, and the robot maintenance difficulty and application cost are reduced.

Drawings

Fig. 1 is a three-dimensional structure view of a fire-fighting reconnaissance and extinguishing robot according to the present invention.

Fig. 2 is a main view structural diagram of a fire-fighting reconnaissance fire-extinguishing robot according to the invention.

FIG. 3 is a left side view of the fire fighting robot according to the present invention.

FIG. 4 is a right view of the fire fighting robot according to the present invention.

Fig. 5 is a rear view structural view of a fire-fighting reconnaissance fire-extinguishing robot according to the present invention.

Fig. 6 is a bottom view of the fire fighting robot according to the present invention.

FIG. 7 is a partial structure view of a crawler chassis of a fire-fighting scouting and extinguishing robot according to the present invention.

FIG. 8 is a partial structure view of a crawler chassis of a fire-fighting scouting and extinguishing robot according to the present invention.

Fig. 9 is a partial structure view of a tensioning mechanism of a fire-fighting reconnaissance and extinguishing robot according to the present invention.

Detailed Description

The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.

As shown in figure 1, the fire-fighting and reconnaissance robot comprises a crawler chassis 1, a fire-fighting water cannon 2 and a reconnaissance mechanism 3, wherein the fire-fighting water cannon 2 and the reconnaissance mechanism 3 are both arranged on the crawler chassis 1.

As shown in fig. 2-6, the crawler chassis 1 is composed of a chassis body 1-1, a chassis shell 1-2, suspension cross beams 1-3, driving wheels 1-4, driven wheel sets 1-5, belt supporting wheel sets 1-6, bearing wheel sets 1-7, shock absorbing plate sets 1-8, elastic elements 1-9, approaching wheel sets 1-10, tensioning mechanisms 1-11, obstacle avoiding assemblies 1-12, warning assemblies 1-13, driving assemblies 1-14, controllers 1-15, wireless transmission assemblies 1-16, crawler assemblies 1-17, dust-proof cover plates 1-18, searchlights 1-19 and lithium batteries 1-20.

The chassis body 1-1 is arranged at the lower half section of the crawler chassis 1 and used for supporting and connecting the suspension system and the electric control system, and the chassis shell 1-2 is arranged at the upper half section of the crawler chassis 1, is also of a hollow thin plate structure and is matched with the chassis body 1-1 to form a closed three-dimensional space.

The two sets of suspension cross beams 1-3 are respectively arranged on two sides of the chassis body 1-1, each set of suspension cross beam 1-3 comprises two harrow-shaped long plates 1-3a which are stacked at intervals, and two protrusions are arranged at the upper ends of the harrow-shaped long plates 1-3a and used for arranging rotating shafts so as to fix the belt supporting wheel sets 1-6; the lower end of the harrow-shaped long plate 1-3a is provided with four bulges for arranging a rotating shaft so as to fix the damping plate group 1-8, and four through holes are uniformly arranged on the harrow-shaped long plate 1-3a close to the center in the transverse direction so as to fix the suspension connecting shaft 1-3 b. The number of the suspension connecting shafts 1-3b is eight, the suspension connecting shafts are divided into a left group and a right group, the outer side of each group of suspension connecting shafts 1-3b is fixed on the harrow-shaped long plate 1-3a, and the inner side is connected and fixed on the chassis body 1-1, so that the connection and fixation of the suspension system and the vehicle body are realized.

The driving wheels 1-4 are of a single-row gear structure, the number of the driving wheels is two, the driving wheels 1-4 comprise gear shaping driving wheels 1-4a and driving shafts 1-4b, the gear shaping driving wheels 1-4a of the driving wheels 1-4 are arranged on the two sides of the rearmost side of the chassis body 1-1 through the driving shafts 1-4b, the driving shafts 1-4b are connected with output rotating shafts of the differential case 1-14b to obtain a power source, rear wheel rims of the gear shaping driving wheels 1-4a are inserted into the crawler assemblies 1-17, and teeth of the gear shaping driving wheels 1-4a are matched with the shifting blocks 1-17b to be shifted.

The driven wheel set 1-5 is a double-row single-wheel structure and comprises a driven wheel 1-5a, a driven wheel rotating shaft 1-5b and a driven displacement sliding plate 1-5 c. Driven wheels 1-5a span two ends of driven wheel rotating shafts 1-5b, driven wheel rotating shafts 1-5b penetrate two sides of the foremost end of driven displacement sliding plates 1-5c, driven displacement sliding plates 1-5c are rectangular plates, the number of the driven displacement sliding plates is four, two driven displacement sliding plates are stacked in a set, and the driven displacement sliding plates are arranged on the inner side of the foremost part of the suspension cross beams 1-3. The driven displacement sliding plate 1-5c is connected with the fixed tensioning mechanism 1-11, and the front wheel rim of the driven wheel 1-5a is contacted with the inner wall of the track assembly 1-17.

The belt supporting wheel groups 1-6 are of a double-row single-wheel structure, the number of the belt supporting wheel groups is eight, the belt supporting wheel groups are divided into two sets, the left set and the right set are symmetrically arranged, and each set is four pairs. The belt supporting wheel set 1-6 comprises a belt supporting wheel 1-6a and a belt supporting wheel shaft 1-6b, the belt supporting wheel 1-6a is fixed at the upper end of the harrow-shaped long plate 1-3a through the belt supporting wheel shaft 1-6b, and the upper rim of the belt supporting wheel 1-6a is contacted with the inner wall of the crawler belt assembly 1-17.

The bearing wheel sets 1-7 are eight groups of double-row single-row wheels, and the bearing wheel sets 1-7 comprise bearing wheels 1-7a and bearing wheel rotating shafts 1-7 b. The bearing wheels 1-7a are arranged at the lower ends of the shock absorption plates 1-8a through bearing wheel rotating shafts 1-7b, and the lower wheel rims of the bearing wheels 1-7a are in contact with the inner walls of the crawler belt assemblies 1-17.

The damping plate groups 1-8 are eight groups, each damping plate group 1-8 comprises two damping plates 1-8a, the damping plates 1-8a are long strip plates, the two damping plates are stacked into one group, the upper ends of the two damping plates are fixedly connected with the rake-shaped long plates 1-3a through damping plate swing shafts 1-8b, the lower ends of the two damping plates are connected with bearing wheel groups 1-7, and the damping plates 1-8a can swing around the damping plate swing shafts 1-8 b. Under the condition of no load, the included angle between the shock absorption plate groups 1-8 and the suspension cross beam 1-3 is between 30 degrees and 70 degrees, and the included angle is mainly determined by the elastic components 1-9 and the load of the robot.

As shown in FIG. 8, the elastic member 1-9 comprises an elastic member 1-9a and an elastic member rotating shaft 1-9b, the upper end of the elastic member 1-9a is fixed on the harrow-shaped long plate 1-3a through the elastic member rotating shaft 1-9b, and the lower end of the elastic member 1-9a is fixed at the center of the damping plate 1-8a through the elastic member rotating shaft 1-9 b. Ten elastic elements 1-9a are provided, eight of the elastic elements are matched with the damping plate 1-8a, the pressure between the pressure-bearing harrow-shaped long plate 1-3a and the bearing wheel 1-7a is relieved, and therefore the damping and shock absorption are realized, and the other two elastic elements 1-9a are matched with the approach wheel set 1-10.

The approach wheel set 1-10 comprises an approach bearing wheel 1-10a, an approach wheel 1-10b, an approach wheel shaft 1-10c and an approach wheel swing plate 1-10 d. The approach bearing wheels 1-10a and the approach wheels 1-10b are both of a double-row single-wheel structure, the approach bearing wheels 1-10 are the same as the bearing wheels 1-7a, and the inner diameter of the approach bearing wheels is larger than that of the approach wheels 1-10 b. The approach wheel swinging plates 1-10d are sickle-shaped plates, two approach wheel swinging plates are stacked into a group and are transversely placed, the uppermost ends of the approach wheel swinging plates are fixed at the foremost ends of the harrow-shaped long plates 1-3a through approach wheel shafts 1-10c, and the approach wheel swinging plates can swing around the harrow-shaped long plates 1-3 a. The approach wheels 1-10b are arranged at the outermost ends of the central bending parts of the approach wheel swing plates 1-10d through rotating shafts, and the front wheel rims of the approach wheels 1-10b contact the inner walls of the track assemblies 1-17, so that the deformation of the track assemblies 1-17 is reduced or even avoided when the robot moves forwards and encounters an obstacle. The lower rim close to the bearing wheels 1-10a contacts the inner wall of the crawler belt assembly 1-17 to play a role in bearing and supporting. Elastic elements 1-9a are arranged on the upper middle of the approach wheel swing plates 1-10d, so that elastic support of the approach wheel sets 1-10 and the suspension cross beams 1-3 is realized, and the shock absorption, obstacle avoidance and obstacle crossing performance of the approach wheel sets 1-10 is improved.

As shown in figures 7 and 9, the tensioning mechanism 1-11 comprises tensioning screws 1-11a, shifting fastening screws 1-11b, main wedge-shaped sliding blocks 1-11c, auxiliary wedge-shaped sliding blocks 1-11d, front baffles 1-11e, rear baffles 1-11f and fastening plates 1-11 g. Two sets of tensioning mechanisms 1-11 are arranged between the driven displacement sliding plates 1-5c and the harrow-shaped long plates 1-3a on the left and right sides respectively.

The tensioning screws 1-11a penetrate through and are fixed on two sides of the front end of the rake-shaped long plate 1-3a through nuts, and the main wedge-shaped sliding blocks 1-11c are sleeved on the tensioning screws 1-11 a.

Six shifting fastening screws 1-11b are divided into two sets, three shifting fastening screws are distributed in a triangular mode, the front shifting fastening screw 1-11b penetrates through the driven shifting sliding plate 1-5c and the harrow-shaped long plate 1-3a, the rear shifting fastening screw 1-11b penetrates through the harrow-shaped long plate 1-3a and the front baffle plate 1-11e, and the tail portion of each shifting fastening screw 1-11b is fixed through the fastening plate 1-11 g.

The main wedge-shaped sliding blocks 1-11c and the auxiliary wedge-shaped sliding blocks 1-11d are both trapezoidal sliding blocks, through holes are formed in the middles of the main wedge-shaped sliding blocks 1-11c, threads matched with the tensioning screws 1-11a are arranged in the through holes, the main wedge-shaped sliding blocks 1-11c are sleeved on the tensioning screws 1-11a, the inclined surfaces of the main wedge-shaped sliding blocks 1-11c are in contact fit with the inclined surfaces of the auxiliary wedge-shaped sliding blocks 1-11d, and the main wedge-shaped sliding blocks 1-11c are driven to advance and retreat along the direction perpendicular to the axial lines of the tensioning screws 1-11a through rotation of the tensioning screws 1-11 a.

The rear end face of the auxiliary wedge-shaped sliding block 1-11d is provided with a through hole, the diameter of the through hole is larger than that of the shifting fastening screw 1-11b, the front end of the auxiliary wedge-shaped sliding block 1-11d is contacted and connected with the front baffle 1-11e, and when the auxiliary wedge-shaped sliding block 1-11d slides forwards and backwards, the front baffle 1-11e can be driven to move forwards and backwards.

The front baffle plates 1-11e are square plates and are vertical to and cross between the harrow-shaped long plates 1-3a, and the rear baffle plates 1-11f are the same as the front baffle plates 1-11e in structure and shape and are vertical to and cross between the harrow-shaped long plates 1-3 a; the fastening plates 1-11g are triangular plates, provided with threaded holes and matched with the shifting fastening screws 1-11 b.

The obstacle avoidance assembly 1-12 comprises an obstacle avoidance camera 1-12a and an ultrasonic ranging module 1-12 b. The obstacle avoidance camera 1-12a and the ultrasonic ranging module 1-12b are symmetrically arranged at the position, closest to the center, of the most front part of the chassis body 1-1 and can acquire image video information in front of the robot and information of obstacles in front of the robot respectively. The obstacle avoidance cameras 1-12a and the ultrasonic ranging modules 1-12b are connected with the controllers 1-15, and transmit acquired information to a control center for data analysis and decision making.

The warning component 1-13 comprises a warning lamp 1-13a and a warning whistle 1-13b, and the warning lamp 1-13a and the warning whistle 1-13b are respectively arranged on two sides of the rear end of the chassis shell 1-2 to play a warning role. The alarm lamps 1-13a and the alarm horns 1-13b are also connected with the controllers 1-15 and are controlled by the controllers to be switched on and off.

The driving assembly 1-14 comprises a driving motor 1-14a and a differential case 1-14b, the driving motor 1-14a and the differential case 1-14b are used in a matched mode, the driving motor 1-14a is installed on the rear portion inside the chassis body 1-1, the driving motor 1-14a is connected with a controller 1-15, and an output shaft of the differential case 1-14b is connected with a driving shaft 1-4 b.

The controller 1-15 is a control core of the robot and is arranged inside the chassis body 1-1, and the controller 1-15 is respectively connected with the obstacle avoidance assembly 1-12, the warning assembly 1-13, the driving assembly 1-14, the wireless transmission assembly 1-16, the searchlight 1-19, the vertical conversion assembly 2-3 in the fire-fighting water cannon 2, the horizontal steering assembly 2-4, the spraying assembly 2-8, the camera 3-1 in the reconnaissance mechanism 3, the gas sensor 3-2 and the lifting assembly 3-3. The controller 1-15 is connected with the driving motor 1-14a to realize the motion control function of the robot, the obstacle avoidance component 1-12 is connected to monitor the obstacle signal in front of the robot, the wireless transmission component 1-16 is connected to wirelessly transmit the parameters of the robot and the acquired environmental parameters, receive the control command from a remote console and realize intelligent sensing and control, the warning component 1-13 is connected to realize the alarm and warning functions, the searchlight 1-19 is connected to control the searchlight 1-19 to be on and off to realize the compensation function of on-site illumination, the relay 2-8b is controlled to realize the on-site cooling and switching functions, and the camera 3-1 and the gas sensor 3-2 are controlled to realize the acquisition of on-site image video and gas parameters.

The wireless transmission assembly 1-16 is close to the controller 1-15 and mainly sends the state parameters of the robot and the acquired ambient environment parameters to the console, the wireless transmission assembly 1-16 comprises an electric appliance module and a pair of antennas 1-16a which are respectively used for transmitting parameter information and image video information, and the antennas 1-16a are connected with the electric module in the wireless transmission assembly 1-16 to improve the information transmitting and receiving distance.

The left side and the right side of each crawler belt assembly 1-17 are respectively hung, each crawler belt assembly 1-17 comprises a crawler belt main body 1-17a and a shifting block 1-17b, each crawler belt main body 1-17a is of a closed flat strip-shaped structure, the shifting blocks 1-17b are transversely arranged in the centers of the crawler belt main bodies 1-17a, each shifting block 1-17b is of a square structure and is provided with a chamfer, each shifting block 1-17b is matched with the corresponding gear shaping driving wheel 1-4a, and the shifting blocks 1-17b are shifted to bear force through rotation of the gear shaping driving wheels 1-4a so as to drive the corresponding crawler belt main body 1-17a to rotate.

The dustproof cover plate 1-18 is of a round wheel structure, is provided with screw holes and is fixed with all driven wheels 1-5a and bearing wheels 1-7a through bolts.

The searchlights 1-19 are a pair and are arranged on the two sides of the foremost part of the chassis body 1-1 to play a role in searchlighting and improve the illumination brightness of a field.

The lithium batteries 1-20 are arranged inside the chassis body 1-1, and the lithium batteries 1-20 are electrically connected with power consumption devices on the robot respectively and provide electric energy for the power consumption devices.

As shown in figures 4 and 5, the fire-fighting water cannon 2 consists of a water cannon head 2-1, a jet conversion assembly 2-2, a vertical conversion assembly 2-3, a horizontal steering assembly 2-4, a water cannon guide pipe 2-5, a water cannon body 2-6, a water hose connector 2-7 and a spraying assembly 2-8.

The water cannon head 2-1, the water cannon guide pipe 2-5, the water cannon body 2-6 and the water hose connector 2-7 are connected into a whole, the water cannon guide pipe 2-5 is a bent pipe and used for connecting all components of the water cannon, and the jet conversion component 2-2 is arranged between the water cannon head 2-1 and the water cannon guide pipe 2-5 to realize the jet water flow form conversion function. The vertical conversion component 2-3 and the horizontal steering component 2-4 are connected to the water cannon body 2-6 through the water cannon guide pipe 2-5, and respectively realize the functions of adjusting the vertical angle and the horizontal angle. The water hose connector 2-7 is connected with the water cannon body 2-6, the water cannon body 2-6 is arranged in the chassis shell 1-2, and the water hose connector 2-7 is arranged behind the chassis shell 1-2 of the robot. The spraying assembly 2-8 is arranged on the uppermost portion of the water cannon guide pipe 2-5, the spraying assembly 2-8 comprises a sprayer 2-8a and a relay 2-8b, the sprayer 2-8a takes water through the water cannon guide pipe 2-5 and is matched with the relay 2-8b to achieve spraying and cooling of the robot, and the relay 2-8b is connected with the controller 1-15.

As shown in fig. 3 and 4, the reconnaissance mechanism 3 is composed of a camera 3-1, a gas sensor 3-2, a lifting assembly 3-3 and a reconnaissance mechanism body 3-4. The camera 3-1 and the gas sensor 3-2 are arranged side by side, and the camera 3-1 and the gas sensor 3-2 respectively realize the detection function of the image video and the gas parameter around the robot. The camera 3-1 and the gas sensor 3-2 are both connected with the controller 1-15 and transmit the acquired information to the control mechanism. The camera 3-1 is arranged on the lifting component 3-3, a lifting rod and the like are arranged in the lifting component 3-3, the lifting control effect on the camera 3-1 and the gas sensor 3-2 can be realized, and therefore the functions of detecting image videos and gas parameters of the robot at different heights are realized. The reconnaissance mechanism body 3-4 is arranged outside the lifting component 3-3 to realize the supporting and protecting functions.

The invention not only discloses a fire-fighting and reconnaissance robot, but also comprises corresponding robot motions, fire-fighting and reconnaissance and working methods corresponding to various functions of the robot, and the invention is as follows. It should be noted that, in the above process, the technical solution of the present invention has been elaborated, including the connection relationship, the working mode, and even the working effect of each component or module, and only the implementation of the general function of the robot is briefly elaborated below.

The working method of the fire-fighting reconnaissance and fire-extinguishing robot comprises the following steps:

(1) the robot moves, walks, senses and avoids obstacles:

the controller 1-15 receives a wireless command from a remote place through the wireless transmission component 1-16, the command is analyzed and decided by the controller 1-15, and then the driving component 1-14 on the robot is controlled to realize the rotation control of the driving wheel 1-4, so that the motion control of the robot is realized, including the front and back, the backward movement, the turning and the sudden stop of the robot.

When the robot moves forward, the controllers 1 to 15 also control the obstacle avoidance components 1 to 12 to work in real time, acquire image video information and environmental parameter information in front of the robot, and send the image video information and the environmental parameter information to a remote console through the wireless transmission components 1 to 16 for a fireman to check, analyze and make decisions.

When the controller 1-15 detects that an obstacle exists in a short distance in front of the robot through the ultrasonic ranging module 1-12b, if the distance between the obstacle and the robot is smaller than a preset safety threshold value, the controller 1-15 directly controls the driving assembly 1-14 to realize emergency braking action on the robot at the moment, and the robot is not controlled by a stop control instruction from a fire fighter from a remote console.

Preferably, when the obstacle is determined, in order to improve error correction redundancy, the obstacle avoidance cameras 1 to 12a can work in cooperation with the ultrasonic ranging modules 1 to 12b to realize auxiliary determination of the obstacle in front of the robot.

(2) And (3) a robot reconnaissance step:

the controllers 1-15 control the cameras 3-1 and the gas sensors 3-2 in the reconnaissance mechanism 3 to work, collect images and videos around the site robot and specific gas parameters, and send the collected parameters to a remote console through the wireless transmission assemblies 1-16, so that firefighters can analyze the site environment state to make decisions further. In the process, in order to improve the parameter acquisition range, the controllers 1 to 15 can also control the lifting components 3 to realize the lifting function, so that the acquisition of environmental parameters or image video information in the space with different heights of the robot is completed.

Preferably, the controllers 1 to 15 are further capable of transmitting the working condition parameters of the robot to a remote console, for example, the working speed, the temperature, the working state of the actuator and other parameters of the robot are transmitted to the remote console, so that an operator can check and analyze the working state of the robot in real time.

Preferably, in order to improve the richness of parameter acquisition, the controller 1-15 can also control the obstacle avoidance camera 1-12a to work to acquire the image video of the lower position in front of the robot. In order to improve the external illumination condition of the robot when collecting the surrounding environment parameters, the controllers 1 to 15 can also control the searchlights 1 to 19, so that the ambient illumination brightness of the robot when collecting the field parameters is improved, and meanwhile, a high-brightness environment can be provided for the rescue process, and the rescue efficiency is improved.

(3) And (3) a robot fire extinguishing step:

after the controller 1-15 receives a fire-fighting and fire-extinguishing instruction through the wireless transmission component 1-16, the controller 1-15 controls the vertical conversion component 2-3 and the horizontal steering component 2-4 to adjust the angle of the water cannon, and the remote console controls and adjusts the water cannon in real time according to the image acquired by the reconnaissance mechanism 3, so that the water column sprayed by the fire-fighting and fire-extinguishing water cannon 2 falls into a fire source to extinguish fire and improve the fire-extinguishing efficiency.

According to the requirement of fire extinguishing on site, the controller 1-15 can also control the spray conversion component 2-2 to work to convert the spray form of the water cannon, for example, the fire extinguishing water cannon 2 can be controlled to spray water mist, so that fire extinguishing on small fire, large fire or dense smoke on site is realized or dense smoke is dissipated.

In addition, in order to protect the safety and stability of the robot during working, the controllers 1 to 15 can also control the spray assemblies 2 to 8 to work so as to realize water curtain spraying to cool the robot body and ensure the safety of the robot in a high-temperature environment.

(4) And tensioning the robot crawler:

when the fire-fighting robot leaves a factory or works for a period of time, the problem that the crawler belt assemblies 1-17 are over-tightened or loosened can occur, the crawler belt assemblies 1-17 are over-tightened to cause serious abrasion, the maintenance time and the maintenance cost of the robot are increased, and the problem that the crawler belt is easily slipped off when the crawler belt assemblies 1-17 are too loosened to seriously affect the safety of the robot. The adjustment process is as follows: the shifting fastening screws 1-11b are loosened, the tensioning screws 1-11a are rotated, the auxiliary wedge-shaped sliding blocks 1-11d move backwards or forwards relative to the main wedge-shaped sliding blocks 1-11c, the driven wheels 1-5a and the driven shifting sliding plates 1-5c are driven by the front baffle plates 1-11e to move backwards or forwards, accordingly, the tightness of the crawler belt is adjusted, and the shifting fastening screws 1-11b are tightened after the adjustment is finished.

The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims

1. A fire-fighting and reconnaissance robot is characterized by comprising a track chassis, a fire-fighting water cannon and a reconnaissance mechanism, wherein the fire-fighting water cannon and the reconnaissance mechanism are arranged on the track chassis, the track chassis comprises a chassis body, a chassis shell, a suspension cross beam, a driving wheel, a driven wheel group, a supporting wheel group, a bearing wheel group, a damping plate group, an elastic element, a proximity wheel group, a tensioning mechanism, a barrier avoiding component, a warning component, a driving component, a controller, a wireless transmission component, a track component, a dustproof cover plate, a searchlight and a lithium battery, the fire-fighting water cannon comprises a cannon head, a jet conversion component, a vertical conversion component, a horizontal steering component, a cannon guide pipe, a cannon body, a water hose joint and a spraying component, and the reconnaissance mechanism comprises a camera, a gas sensor, a;

in the crawler chassis, the suspension cross beam comprises a rake-shaped long plate and a suspension connecting shaft, the driving wheel comprises a gear shaping driving wheel and a driving shaft, the driven wheel group comprises a driven wheel, a driven wheel rotating shaft and a driven displacement sliding plate, the belt supporting wheel group comprises a belt supporting wheel and a belt supporting wheel shaft, the bearing wheel group comprises a bearing wheel and a bearing wheel rotating shaft, the damping plate group comprises a damping plate and a damping plate swinging shaft, the elastic component comprises an elastic element and an elastic component rotating shaft, the approach wheel group comprises an approach bearing wheel, an approach wheel, a proximity wheel shaft and a proximity wheel swinging plate, the tensioning mechanism comprises a tensioning screw, a displacement fastening screw, a main wedge-shaped sliding block, an auxiliary wedge-shaped sliding block, a front baffle, a rear baffle and a fastening plate, the obstacle avoidance component comprises an obstacle avoidance camera and an ultrasonic ranging module, the warning component comprises a warning lamp and a warning whistle, the driving component comprises a driving motor and, the crawler assembly comprises a crawler body and a shifting block;

in the fire-fighting water cannon, the spraying component comprises a sprayer and a relay;

the tensioning mechanisms are arranged between the driven displacement sliding plates and the rake-shaped long plates on the left side and the right side respectively, tensioning screws penetrate through the tensioning mechanisms and are fixed on the two sides of the front end of the rake-shaped long plate through nuts, and main wedge-shaped sliding blocks are sleeved on the tensioning screws;

the fastening plate is a triangular plate, a threaded hole is formed in the fastening plate, and the fastening plate is matched with the shifting fastening screw;

the camera and the gas sensor are arranged side by side, the camera is arranged on the lifting assembly, and a reconnaissance mechanism body is arranged outside the lifting assembly;

the driven wheel set is of a double-row single-wheel structure, driven wheels of the driven wheel set span two ends of a driven wheel rotating shaft, the driven wheel rotating shaft penetrates through two sides of the foremost end of a driven displacement sliding plate, the driven displacement sliding plates are rectangular plates, the number of the driven displacement sliding plates is four, two driven displacement sliding plates are stacked in a set and are arranged on the inner side of the foremost part of the suspension cross beam, the driven displacement sliding plates are connected with a fixed tensioning mechanism, and a front wheel rim of each driven wheel is in contact;

and tensioning the robot crawler:

2. A fire-fighting reconnaissance robot as recited in claim 1 wherein the controller is a control core of the robot, and the controller is connected to the obstacle avoidance module, the warning module, the driving module, the wireless transmission module, the searchlight, the vertical conversion module in the fire-fighting monitor, the horizontal steering module, the spraying module, and the camera, the gas sensor and the lifting module in the reconnaissance mechanism, respectively.

3. A fire-fighting reconnaissance and fire-extinguishing robot as defined in claim 1, wherein the chassis body is disposed on a lower half section of the crawler chassis for supporting and connecting the suspension system and the electric control system, and the chassis housing is disposed on an upper half section of the crawler chassis and cooperates with the chassis body to form a closed three-dimensional space;

the damping plate groups comprise eight groups, each group of damping plate groups comprises two damping plates, each damping plate is a long strip plate, the two damping plates are stacked into one group, the upper ends of the two damping plates are fixedly connected with the rake-shaped long plate through a damping plate swing shaft, the lower ends of the two damping plates are connected with a bearing wheel group, and the damping plates can swing around the damping plate swing shaft; under the condition of no load, the included angle between the shock absorption plate group and the suspension cross beam is between 30 degrees and 70 degrees, and the included angle is mainly determined by the elastic component and the load of the robot;

4. A fire-fighting reconnaissance fire-extinguishing robot as recited in claim 1, wherein the approach bearing wheels and the approach wheels of the approach wheel set are both of a double-row single-wheel structure, the approach bearing wheels are the same as the bearing wheels, the inner diameter is larger than that of the approach wheels, the approach wheel swing plate is a sickle-shaped plate, two approach wheels are stacked into a group and are transversely placed, the uppermost end of the approach wheel swing plate is fixed at the foremost end of the rake-shaped long plate through an approach wheel shaft and can swing around the rake-shaped long plate, the approach wheels are installed at the outermost end of the central bending part of the approach wheel swing plate through rotating shafts, the approach wheel front wheel rim contacts with the inner wall of the track assembly, when the robot moves forwards and encounters obstacles, the deformation of the track assembly is reduced or even avoided, the approach wheel set contacts with the inner wall of the track assembly, and the elastic support.

5. The fire-fighting reconnaissance and fire-extinguishing robot as claimed in claim 1, wherein the track assembly is hung on each of the left and right sides, the track body of the track assembly is a closed flat strip-shaped structure, a shifting block is transversely arranged in the center of the track body, the shifting block is a square structure and is provided with a chamfer, the shifting block is matched with the gear-shaping driving wheel, and the shifting block is forced by the rotation of the gear-shaping driving wheel to drive the track body to rotate.

6. A fire-fighting reconnaissance and fire-extinguishing robot as recited in claim 1, wherein the monitor head, the monitor guiding tube, the monitor body and the hose connector are integrally connected, the monitor guiding tube is a bent tube for connecting the components of the monitor, the jet conversion component is disposed between the monitor head and the monitor guiding tube, the vertical conversion component and the horizontal steering component are both connected to the monitor body through the monitor guiding tube, the hose connector is connected to the monitor body, the monitor body is disposed in the chassis housing, the hose connector is disposed behind the chassis housing of the robot, the spray component is disposed on the top of the monitor guiding tube, the spray component comprises a sprayer and a relay, the sprayer realizes water taking and temperature reduction of the robot through the monitor guiding tube in cooperation with the relay, and the relay is connected to the controller.