Valve opening device and fire-fighting water intake robot

Abstract

The present invention relates to the field of fire-fighting technology, and specifically refers to a valve-opening device and a fire-fighting water intake robot. A valve-opening device includes a fixed seat. An intake channel is provided inside the fixed seat, and an outlet channel is provided on one side of the fixed seat. A transmission shaft, a screw, a nut, and a sliding water-pressing plate are provided inside the intake channel. A fire-fighting water intake robot includes a chassis and a track. A control system, a water cannon, and the above-mentioned valve-opening device are provided on the chassis. At least one track water valve is provided on the track. A docking water intake mechanism is provided between the valve-opening device and the track water valve. The docking water intake mechanism includes a sliding sealing sleeve, a sealing ring, a left rack plate, a right rack plate, a fixed frame, a left gear, a left worm gear, a right gear, a right worm gear, and a worm motor. A limit fixing mechanism is provided on the track water valve, and a same-pressure valve-opening mechanism is provided inside the track water valve. The structure of the present invention is simple, the use cost is low, it can intake water under the same pressure, the valve-opening pressure is small, the sealing effect is good, and the fire-fighting efficiency is high.

Description

Technical Field

[0001] The present invention relates to the field of fire protection technology, and specifically refers to a valve opening device and a fire fighting water intake robot. Background Art

[0002] A fire refers to combustion that gets out of control in terms of time or space. Among various disasters, fire is one of the main disasters that most commonly threaten public safety and social development. Fire hazards exist in many places and industries. For fire fighting and extinguishing methods, firefighters often carry fire extinguishers into the fire scene for manual fire fighting operations. Such fire fighting methods are highly dangerous and pose a great threat to the personal safety of firefighters. At the same time, manual fire fighting operations are inefficient, slow, and lack flexibility. After searching, Chinese Patent CN209670994U discloses a tunnel fire fighting water intake device and a fire fighting water intake device. A tunnel fire fighting water intake device includes a wheeled chassis, a control cabinet and a booster pump arranged on the chassis, a protective cover that shields the control cabinet and the booster pump, and a water cannon arranged on the protective cover. The water inlet of the water cannon is communicated with the water outlet of the booster pump. The control cabinet and the booster pump are arranged front and back, and the water cannon is arranged above the control cabinet. It also includes a battery for power supply. A sprinkler head communicated with the booster pump is arranged on the protective cover. It further includes a filtering mechanism and a water intake pipe that are sequentially communicated with the water inlet of the booster pump. The water intake pipe is connected to a fire storage tank or a water intake faucet. It also includes a high-temperature resistant camera communicated with the controller in the control cabinet and a remote controller wirelessly communicated with the controller in the control cabinet. A display screen is arranged on the remote controller. A fire fighting water intake device includes a locomotive and a fire fighting transport vehicle towed by the locomotive. The above-mentioned tunnel fire fighting water intake device is arranged on the fire fighting transport vehicle. The tunnel fire fighting water intake device is fixed at the front end of the fire fighting transport vehicle. A large-capacity fire storage tank is arranged at the rear end of the fire fighting transport vehicle. A heat insulation cover is arranged on the locomotive. A plurality of locomotive sprinkler heads communicated with the booster pump are arranged outside the heat insulation cover. The fire fighting transport vehicle is located in front of the locomotive. A rescue transport vehicle is also arranged at the rear of the locomotive. A rescue cabin is arranged on the rescue transport vehicle. The locomotive includes a PLC, a data acquisition module communicated with the PLC, a solenoid valve drive module controlled by the PLC, a control panel communicated with the PLV, and a throttle motor controlled by the PLC. The throttle motor is driven to increase or decrease the throttle. Among them, the data acquisition module includes a ranging sensor, a stereo camera, and an operating parameter sensor;The solenoid valve of the solenoid valve driving module is connected in series to the warning circuit and the brake control circuit. It also includes a remote controller and a wireless transmission module corresponding to the remote controller and communicatively connected to the PLC. The drawback of the above patent is that the water intake pipe is connected to the fire storage tank or the water intake faucet, but the water in the fire storage tank or the water intake faucet is limited, which is like a drop in the bucket for a large fire. After retrieval, Chinese Patent CN1695751B discloses an orbital water intake fire extinguishing water cannon vehicle, which mainly consists of a water delivery track and a water cannon vehicle composed of a driving system, a docking water intake system, a steering system, a control system, and a communication system. Its main features are: a water pipe is installed in the water delivery track, and one-way valve pieces and water valves are installed at intervals in the water pipe. A water valve water outlet is opened on the lower plane of the track. Parallel tracks are installed on both sides of the water pipe. Conductive bars and positioning pieces are installed on the upper part of the track. A docking plate with guide pieces is installed on the side. Water cannon vehicle wheels are installed in both tracks. A stepping motor on the vehicle frame is equipped with a driving gear, and is linked through an engaged transmission gear with a wheel gear fixed on the axle. In the middle of the water cannon vehicle frame, a guiding pipe is installed. A horizontal rotating pipe is installed under the guiding pipe, and a docking pipe is installed on the upper part. A reciprocating oil seal groove is designed inside the docking pipe. A valve piece ejector rod and a gasket are arranged on its pipe plane. Two rows of teeth are arranged on the side and are engaged with two forward and reverse turbine gear rods. The turbine teeth on the other side of the turbine gear rod are engaged with a worm with forward and reverse threads. When docking, the worm rotates to drive the two forward and reverse turbine gear rods to rotate, and it drives the docking pipe to rise to open the water valve to complete the docking. The vehicle senses the position of the positioning piece by the positioning switch on the vehicle frame, that is, the docking position of the water valve water intake. Sealing gaskets are installed around the bottom water outlet of the one-way water valve box, and a sealing gasket is also installed on the bottom surface of the valve piece. A guiding rod is arranged at the center of the valve piece and is strung through the round holes at the centers of the single-piece guiding frame and the four-side guiding frame. A compression spring is strung on the guiding rod. A signal docking plate is installed on the vehicle frame, with contacts on it. A camshaft and a motor are installed behind it. A gear ring is installed on the horizontal rotating pipe and is engaged with a worm gear fixed on the vehicle frame. A longitudinal rotating motor is installed in the middle of the horizontal rotating pipe. The turbine fixed on the motor shaft drives the gear ring on the water cannon pipe to rotate through a transmission wheel. A wire slot is designed on the horizontal rotating pipe and a wire is fixed. A wire coiling box is installed at the horizontal position of the wire slot. A wire coiling wheel is installed on the shaft of the box, with a coiled spring inside. The wire is wound around the wire coiling wheel. Two pulleys are installed at the entrance of the wire coiling box. The gear on the wire coiling wheel shaft is engaged with a timing gear, and a cam is installed coaxially. A signal switch is installed at the parallel position of the cam. A spiral wire is installed at the wire outlet of the wire coiling wheel. A rack is installed in the track. The driving gear on the stepping motor shaft of the water cannon vehicle is engaged with the rack. A synchronous wheel installed on the motor shaft is linked through a synchronous belt with the synchronous wheel and the driving gear on the other side. Water cannons are installed at the front and back of the water cannon vehicle, which are connected through a water pipe. A docking pipe is installed in the middle of the water pipe. The drawbacks of the above patent are: first, the structure of the above patent is complex. The worm and worm gear transmission is used to drive the docking pipe to rise to open the water valve to complete the docking. However, the worm and worm gear transmission generates a large amount of heat, the tooth surface is easily worn, and being underwater for a long time will exacerbate the wear due to corrosion, and the equipment cost is high;Second, an in-vehicle docking pipe is used to lift and open the top-opening water valve and press it onto the lower plane with a track to connect to the water source. However, the water pressure in the track is different from the water pressure inside the water cannon vehicle. Directly pushing open the water valve to draw water requires too much pressure, is laborious to operate, and has a high usage cost. Third, the above patent only uses a gasket for sealing, with a simple structure and unstable sealing. Slight shaking of the track or the water cannon vehicle will cause the seal to fail, resulting in water overflow and inability to extinguish fires in a timely manner. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the prior art and provide a valve opening device and a fire-fighting water intake robot with a simple structure, low usage cost, same-pressure water intake, small valve opening pressure, good sealing effect, and high fire extinguishing efficiency.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is:

[0005] A valve opening device, characterized in that it includes a fixed seat. An inlet channel is provided inside the fixed seat. An outlet channel is provided on one side of the fixed seat. The outlet channel is connected to the inlet channel. A transmission shaft, a screw, a nut, and a sliding water pressure plate are provided inside the inlet channel. A screw hole is axially provided in the transmission shaft. A screw is provided inside the transmission shaft. A nut is provided at the lower end of the transmission shaft. The transmission shaft is fixedly connected to the nut. A sliding water pressure plate is provided below the transmission shaft. The upper part of the transmission shaft passes through the inlet channel and is driven by a transmission motor. The upper part of the transmission shaft is hermetically and fixedly connected to a bearing seat through a bearing. The lower end of the bearing seat is hermetically and fixedly connected to the fixed seat. The lower end of the screw sequentially passes through the transmission shaft, the nut and is fixedly connected to the sliding water pressure plate. The screw is threadedly connected to the nut. The sliding water pressure plate is slidably connected to the inner wall of the inlet channel. The lower end of the sliding water pressure plate extends out of the fixed seat to form a valve opening extrusion end, so as to facilitate the transmission motor to drive the transmission shaft to rotate. The transmission shaft drives the nut to rotate. The nut is threadedly connected to the screw. The screw is fixedly connected to the sliding water pressure plate. The sliding water pressure plate is slidably connected to the inner wall of the inlet channel, so that the screw drives the sliding water pressure plate to axially move up and down under the drive of the nut.

[0006] A ring sleeve is provided at the lower end of the screw of the present invention. A connection groove is provided at the upper end of the sliding water pressure plate. The lower end of the screw is placed in the connection groove. The inner wall of the ring sleeve is fixedly connected to the screw. The outer wall of the ring sleeve is fixedly connected to the sliding water pressure plate, so as to facilitate the replacement and repair of the sliding water pressure plate.

[0007] Guide limiting blocks are fixedly provided on both sides of the inner wall of the inlet channel of the present invention. The sliding water pressure plate is slidably connected to the guide limiting blocks, so as to limit the rotation of the sliding water pressure plate through the guide limiting blocks and enable the sliding water pressure plate to axially move up and down.

[0008] A fire-fighting water intake robot, comprising a chassis and a track. A control cabin and a water cannon are provided on the chassis. A traveling mechanism is provided at the lower end of the chassis, and the traveling mechanism cooperates with the track. A control system is provided in the control cabin. It is characterized in that: the above-mentioned valve opening device is provided on the chassis, at least one track water valve is provided on the track, and a docking water intake mechanism is provided between the valve opening device and the track water valve. The valve opening device docks with the track water valve through the docking water intake mechanism to take water. The fixed seat is fixedly connected to the frame of the chassis, and the water outlet channel on the fixed seat is communicated with the water inlet of the water cannon. The driving motor is fixed on the frame and is controlled and driven by the control system. The track water valve is fixedly connected to the track, so as to facilitate the valve opening device to take water from the track water valve and supply it to the water cannon to complete the fire-fighting operation.

[0009] The docking water intake mechanism of the present invention includes a sliding seal sleeve, a sealing ring, a left rack plate, a right rack plate, a fixed frame, a left gear, a left gear shaft, a left worm gear, a right gear, a right gear shaft, a right worm gear, a worm shaft and a worm motor. A sliding seal sleeve is provided outside the fixed seat, and the inner wall of the sliding seal sleeve is in sealed sliding connection with the outer wall of the fixed seat. A sealing ring is fixedly provided at the lower end of the sliding seal sleeve. When the sliding seal sleeve drops and abuts against the upper end face of the track water valve through the sealing ring, docking is achieved. The left rack plate and the right rack plate are provided on the left and right sides of the sliding seal sleeve, and fixed frames are respectively provided on the front and back sides of the sliding seal sleeve. The fixed frames are fixedly connected to the frame. The right end of the left rack plate is fixedly connected to the sliding seal sleeve, and a left gear is provided at the left end of the left rack plate. The left gear meshes with the rack on the left rack plate. The left gear is fixed on the left gear shaft, and both ends of the left gear shaft are fixedly connected to the two side fixed frames through bearings. One end of the left gear shaft penetrates through the fixed frame and is fixedly provided with a left worm gear. The left end of the right rack plate is fixedly connected to the sliding seal sleeve, and a right gear is provided at the right end of the right rack plate. The right gear meshes with the rack on the right rack plate. The right gear is fixed on the right gear shaft, and both ends of the right gear shaft are fixedly connected to the two side fixed frames through bearings. One end of the right gear shaft penetrates through the fixed frame and is fixedly provided with a right worm gear. A worm shaft is provided on the left worm gear and the right worm gear. Left helical teeth and right helical teeth are fixedly spaced on the worm shaft. The helical direction of the left helical teeth is opposite to the helical direction of the right helical teeth. The left helical teeth mesh with the left worm gear, and the right helical teeth mesh with the right worm gear. Both ends of the worm shaft are fixedly connected to the fixed frame through bearings. One end of the worm shaft penetrates through the fixed frame and is driven by the worm motor. The worm motor is fixed on the frame and is connected to the control system, so as to facilitate starting the worm motor. The worm motor drives the worm shaft, drives the left gear and the right gear to rotate through the worm and worm gear transmission, and then drives the left rack plate and the right rack plate to move up and down synchronously, realizing the up and down movement of the sliding seal sleeve. When the sealing ring at the lower end of the sliding seal sleeve abuts against the upper end face of the track water valve, the sliding seal sleeve is docked with the track water valve.

[0010] A limit fixing mechanism is provided on the track water valve of the present invention. The limit fixing mechanism includes a hook plate frame, a guiding sliding mechanism, a hook plate, a limit plate, and an eccentric wheel. Hook plate frames are respectively provided in front of and behind the sliding seal sleeve. At least one guiding sliding mechanism is provided between the hook plate frame and the fixed frame. The hook plate frame is slidably connected to the fixed frame through the guiding sliding mechanism. The lower end of the hook plate frame extends towards the center of the sliding seal sleeve to form a hook plate. The front and rear sides of the upper end of the track water valve respectively extend outwards to form limit plates. Limit wheel holes are spaced on the hook plate frame. Eccentric wheels are respectively fixedly provided at the front and rear ends of the left gear shaft, and eccentric wheels are respectively fixedly provided at the front and rear ends of the right gear shaft. The eccentric wheels are placed in the limit wheel holes. When the top of the eccentric wheel turns from the proximal end to the distal end, the hook plate frame moves upwards with the eccentric wheel, and the upper end face of the hook plate abuts against the lower end face of the limit plate to realize the limit fixed connection between the fixed frame and the track water valve, which is beneficial for starting the worm motor. The worm motor drives the worm shaft, and drives the left gear shaft and the right gear shaft to rotate through the worm and worm gear transmission, and then drives the eccentric wheels to rotate. While the sliding seal sleeve moves downwards, the hook plate rises under the action of the eccentric wheel. When the sealing ring at the lower end of the sliding seal sleeve abuts against the upper valve cover of the track water valve, the upper end face of the hook plate abuts against and fixes the lower end face of the limit plate, realizing the sealing and fixing of the hook plate and the track water valve.

[0011] Limit baffles are respectively provided on the front and rear sides of the lower end of the limit wheel hole of the present invention. The limit baffles are fixedly connected to the hook plate frame. A lubricating oil groove is formed between the two limit baffles and the limit wheel hole. Lubricating oil is provided in the lubricating oil groove. When the eccentric wheel rotates, the eccentric wheel contacts the lubricating oil in the lubricating oil groove, which is beneficial for improving the smoothness of the rotation of the eccentric wheel through the lubricating oil.

[0012] At least one pressing mechanism is provided at the upper end of the hook plate frame of the present invention. The pressing mechanism includes an upper connecting seat, a lower connecting seat, and a spring. At least one lower connecting seat is provided on the hook plate frame. The lower connecting seat is fixedly connected to the hook plate frame. At least one spring is provided on the lower connecting seat. An upper connecting seat is provided on the fixed frame. The upper connecting seat is fixedly connected to the fixed frame. The upper connecting seat is opposite to the lower connecting seat. The spring is in a compressed state. One end of the spring is fixedly connected to the upper connecting seat, and the other end is fixedly connected to the lower connecting seat, which is beneficial for when the eccentric wheel drives the hook plate to move downwards, the spring expands after being squeezed and pushes the hook plate frame downwards, realizing the separation of the hook plate and the limit plate.

[0013] At least one upper spring groove with an opening downwards is provided on the upper connecting seat of the present invention, and at least one lower spring groove with an opening upwards is provided on the lower connecting seat. One end of the spring is placed in the upper spring groove and fixedly connected to the upper spring groove, and the other end is placed in the lower spring groove and fixedly connected to the lower spring groove, which is beneficial for guiding the spring through the upper and lower spring grooves to prevent the spring from skewing.

[0014] The guiding sliding mechanism of the present invention includes a first sliding bar and a sliding limit block. A sliding limit block is provided in the middle of the fixed frame. A guiding groove is provided in the middle of the hook plate frame. The first sliding bars are respectively fixedly provided on the left and right sides of the inner wall of the guiding groove. The sliding limit block is placed in the guiding groove and is slidably connected to the guiding groove through the first sliding bar. The sliding limit block is fixedly connected to the fixed frame, so as to limit the position of the hook plate frame through the sliding limit block, and the hook plate frame cannot move left and right through the guiding groove, the sliding limit block and the first sliding bar.

[0015] The guiding sliding mechanism of the present invention further includes a front-back limit sliding mechanism. The front-back limit sliding mechanism includes a second sliding bar and a sliding limit seat. The sliding limit seats are respectively provided at both ends of the fixed frame. The sliding limit seats are fixedly connected to the fixed frame. An opening limit groove facing the hook plate frame is provided between the sliding limit seat and the fixed frame. The second sliding bars are respectively fixedly provided on the front and back sides of the opening limit groove. The left and right ends of the hook plate frame are respectively placed in the opening limit groove and are slidably connected to the opening limit groove through the second sliding bar, so as to limit the front and back positions of the hook plate frame through the sliding limit seat, and the hook plate frame cannot move back and forth.

[0016] The track water valve of the present invention comprises a valve body, in which a same-pressure valve opening mechanism is provided. The same-pressure valve opening mechanism includes a main valve core, a pre-opening valve mechanism, a main valve fixing sleeve and a main spring. The pre-opening valve mechanism includes a pilot valve, a pilot base and a pilot spring. The valve body is fixedly connected to the track. A water intake channel is provided in the middle of the upper valve cover of the valve body. A water flow channel is provided along the extending direction of the track on the valve body. A main valve core is provided below the upper valve cover of the valve body. A pilot valve is provided in the main valve core. The main valve core includes a main valve connecting seat and a main valve guiding seat. A pilot channel is axially provided in the main valve connecting seat. The upper end of the main valve connecting seat is hermetically abutted against the lower end of the upper valve cover. The lower end of the main valve connecting seat is fixedly connected to the upper end of the main valve guiding seat. Water inlet holes are spacedly provided on the outer wall of the upper end of the main valve guiding seat. A pilot base is provided at the lower end of the main valve guiding seat. A guiding channel is axially provided in the main valve guiding seat. The guiding channel, the pilot channel and the water intake channel are communicated with each other. The guiding channel is communicated with the water flow channel through the water inlet holes. The diameter of the guiding channel is larger than that of the pilot channel. The pilot valve is located below the sliding water pressing plate. The upper end of the pilot valve extends out of the main valve connecting seat and is placed in the water intake channel. The middle part of the pilot valve is hermetically and slidably connected to the pilot channel. The lower end of the pilot valve extends into the guiding channel and is slidably connected to the guiding channel. The outer diameter of the upper end of the pilot valve is smaller than that of the middle part of the pilot valve. A pilot spring is provided at the lower end of the pilot valve. The upper end of the pilot spring abuts against the lower end face of the pilot valve, and the lower end abuts against the pilot base. After the pilot valve is pressed by the sliding water pressing plate, the pilot valve squeezes the pilot spring and moves downward. The water in the water flow channel enters the guiding channel and the pilot channel through the water inlet holes, and flows into the water inlet channel through the water intake channel. The pilot base is fixedly connected to the main valve guiding seat. A main valve fixing sleeve is provided on the outer wall of the main valve guiding seat. The main valve guiding seat is slidably connected to the main valve fixing sleeve. A main spring is sleeved on the outer walls of the main valve guiding seat and the main valve fixing sleeve. The lower end of the main valve fixing sleeve is fixedly connected to the lower valve cover of the valve body. The upper end of the main spring abuts against the lower end face of the main valve connecting seat, and the lower end abuts against the upper end face of the lower valve cover. After the main valve connecting seat is pressed, the main valve connecting seat squeezes the main spring and moves downward. The main valve connecting seat is separated from the upper valve cover. The water flow channel is communicated with the water intake channel. When in use, it is beneficial that the sliding water pressing plate first squeezes the pilot valve downward. The water in the water flow channel enters the guiding channel, the pilot channel, flows into the water inlet channel through the water intake channel and then enters the water cannon through the water outlet channel. When the water pressure inside the valve opening device is the same as the water pressure inside the track water valve, the sliding water pressing plate continues to move downward. The sliding water valve presses against the main valve connecting seat. The main valve connecting seat moves downward. The water in the water flow channel directly enters the water intake channel and then enters the water inlet channel, providing a continuous water source for the water cannon.

[0017] On one side of the upper end of the water inlet channel of the present invention, a pressure sensor is provided. The pressure sensor is fixedly connected to the fixing seat, so as to facilitate monitoring the water pressure inside the valve opening device through the pressure sensor.

[0018] The rack of the present invention is provided with a pilot valve opening detection mechanism to facilitate detecting the position where the sliding water pressing plate presses down through the pilot valve opening detection mechanism.

[0019] The pilot valve opening detection mechanism of the present invention can be a water pressing plate proximity sensor and an outlet connector. A water pressing plate proximity sensor is provided on one side of the lower end of the sliding water pressing plate. A wire hole is provided on the sliding water pressing plate. A wire perforation is provided on the screw rod. A sealing cover is provided at the upper end of the transmission shaft. A wire passing hole is provided in the middle of the sealing cover. The water pressing plate proximity sensor is located above the main valve core. The wire of the water pressing plate proximity sensor passes through the sliding water pressing plate, the screw rod and the sealing cover and is fixedly connected to the outlet connector. The outlet connector is fixedly connected to the sealing cover. The sealing cover is hermetically connected to the transmission shaft. The sealing cover is fixedly connected to the bearing seat. The wire of the outlet connector is connected to the control system, so that when the sliding water pressing plate moves down, the sliding water pressing plate presses the pilot valve. When the water pressing plate proximity sensor senses the main valve core, it stops descending. When the water pressure inside the valve opening device is the same as the water pressure inside the track water valve, the sliding water pressing plate continues to move down.

[0020] The pilot valve opening detection mechanism of the present invention can also be a magnetostrictive displacement sensor. A magnetostrictive displacement sensor is provided at the upper end of the bearing seat. A pipe hole is axially provided on the screw rod. The magnetostrictive displacement sensor is fixedly connected to the bearing seat. The waveguide of the magnetostrictive displacement sensor passes through the screw hole and the pipe hole and is placed inside the screw rod. The movable magnetic ring of the magnetostrictive displacement sensor is fixedly connected to the screw rod. The magnetostrictive displacement sensor is connected to the control system to facilitate detecting the position where the screw rod descends through the magnetostrictive displacement sensor, and further knowing the position where the sliding water pressing plate presses down.

[0021] The track water valve of the present invention is provided with a positioning mechanism. The positioning mechanism includes a positioning block and a positioning proximity sensor. Positioning blocks are respectively provided at the left and right ends of the upper valve cover. The positioning blocks are fixedly connected to the upper valve cover. A positioning proximity sensor is provided on the rack above the positioning blocks. The positioning proximity sensor cooperates with the positioning blocks. The positioning proximity sensor is fixedly connected to the rack. The positioning proximity sensor is connected to the control system, so that when the rack approaches the track water valve from one side of the track water valve, the positioning block on the left or right side of the track water valve is sensed by the positioning proximity sensor on the rack, and the rack starts to decelerate. As the rack moves forward, when the positioning block on the right or left side of the track water valve is sensed by the positioning proximity sensor on the rack, the rack stops.

[0022] The rack of the present invention is provided with a control valve mechanism to facilitate controlling the opening and closing of the track water valve through the control valve mechanism.

[0023] The control valve mechanism described in the present invention may be a globe valve and a connecting end. One end of the globe valve communicates with the water outlet channel through the connecting end, and the other end is connected to the water inlet of the water cannon through the connecting end. The globe valve is connected to the control system to facilitate controlling the opening and closing of the track water valve through the globe valve.

[0024] The control valve mechanism described in the present invention may also be a ball valve. The ball valve is fixedly arranged in the water cannon or the water outlet channel and is controlled by the control system to facilitate controlling the opening and closing of the water outlet channel through the ball valve.

[0025] A shock absorption mechanism is provided on the traveling mechanism described in the present invention. The shock absorption mechanism includes a shock absorption frame and a shock absorption component. A shock absorption frame is provided on the hub of each wheel in the traveling mechanism. The shock absorption frame is fixedly connected to the hub through a bearing. Shock absorption components are respectively provided on both sides of the shock absorption frame. The shock absorption component includes a shock absorption rod, a linear bearing, and a shock absorption spring. The shock absorption spring is sleeved on the shock absorption rod. The upper end of the shock absorption rod is fixedly connected to the frame, and the lower end of the shock absorption rod is slidably connected to the shock absorption frame through the linear bearing. The upper end of the shock absorption spring abuts against the frame, and the lower end abuts against the shock absorption frame to facilitate making the wheels safer and more stable when walking on the track through the shock absorption mechanism.

[0026] A limit nut is provided at the lower end of the shock absorption rod passing through the linear bearing. The limit nut is placed below the linear bearing and threadedly connected to the shock absorption rod. The linear bearing is fixedly connected to the shock absorption frame. The outer diameter of the limit nut is larger than the inner diameter of the linear bearing to facilitate limiting the rising distance of the shock absorption rod through the limit nut.

[0027] A wheel pressing and sticking mechanism is provided at the lower end of the frame described in the present invention. The wheel pressing and sticking mechanism includes a sticking frame and a sticking component. At least one sticking frame is provided on each side at the lower end of the frame. The sticking frame is fixedly connected to the frame. Two sticking components are spacedly provided on the sticking frame. The sticking component includes a guide rod, a guide sleeve, a sticking spring, a cushion block, a nut, a pressing wheel frame, and a pressing wheel. Two through holes are spacedly provided on the sticking frame. Two guide sleeves are spacedly provided on the sticking frame. The guide sleeve is fixedly connected to the sticking frame. A guide rod is provided in the middle of the guide sleeve. The upper end of the guide rod passes through the cushion block and is locked and fixedly connected to the nut, and the lower end passes through the guide sleeve and is fixedly connected to the pressing wheel frame at the lower end of the sticking frame. The guide rod is slidably connected to the guide sleeve. The sticking spring is sleeved on the guide rod. The upper end of the sticking spring abuts against the cushion block, and the lower end abuts against the sticking frame. A pressing wheel is provided on the surface of the pressing wheel frame facing the track. The pressing wheel is fixedly connected to the pressing wheel frame through a bearing. A pressing walking track is provided at the lower end of the track. The pressing wheel is placed at the lower end of the track and is in rolling connection with the pressing walking track to facilitate making the wheels always stick to the track by pressing the pressing wheel against the lower end of the track. At the same time, when the wheels are lifted when encountering an obstacle during walking, they can fall in time due to the action of the pressing wheel, improving the safety and stability of the wheel travel.

[0028] The upper end surface of the track water valve of the present invention is provided with a sealing groove, and the lower end of the sealing ring is embedded in the sealing groove to seal and connect the sliding sealing sleeve and the track water valve, so as to facilitate limiting and fixing the sealing ring through the sealing groove and increase the stability of the butt joint.

[0029] A torque limiter is provided on the drive motor of the present invention to prevent the drive motor from being overloaded.

[0030] Due to the adoption of the above structure, the present invention has the advantages of simple structure, low use cost, water intake under the same pressure, small valve opening pressure, good sealing effect, high fire extinguishing efficiency, etc. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of the valve opening device and a pilot valve opening detection mechanism on the valve opening device in the present invention.

[0032] Figure 2 It is a schematic structural diagram of the valve opening device and another pilot valve opening detection mechanism on the valve opening device in the present invention.

[0033] Figure 3 It is a schematic structural diagram of a fire fighting water intake robot in the present invention.

[0034] Figure 4 It is the present invention Figure 3 A cross-sectional view of the control valve mechanism.

[0035] Figure 5 It is the present invention Figure 3 Front view.

[0036] Figure 6 It is the present invention Figure 5 B-B cross-sectional view.

[0037] Figure 7 It is the present invention Figure 6 Enlarged view at C in the present invention.

[0038] Figure 8 It is another schematic structural diagram of a fire fighting water intake robot in the present invention.

[0039] Figure 9 It is the present invention Figure 8 Schematic diagram of the valve opening device, the butt joint water intake mechanism and the track water valve after removing the chassis and the track in the present invention.

[0040] Figure 10 It is the present invention Figure 8 Cross-sectional view.

[0041] Figure 11 It is the present invention Figure 10 Enlarged view at D in the present invention.

[0042] Figure 12 It is a schematic structural diagram of the water intake mechanism docked by the present invention.

[0043] Figure 13 It is a schematic diagram of the hook plate and the limit plate separated in the limit fixing mechanism of the present invention.

[0044] Figure 14 It is the present invention Figure 13 A schematic structural diagram of the relative positions of the fixing frame and the hook plate frame in it.

[0045] Figure 15 It is a schematic diagram of the hook plate hooking the limit plate in the limit fixing mechanism of the present invention.

[0046] Figure 16 It is the present invention Figure 15 A schematic structural diagram of the relative positions of the fixing frame and the hook plate frame in it.

[0047] Figure 17 It is a schematic structural diagram of the hook plate frame in the present invention.

[0048] Figure 18 It is a schematic structural diagram of the track water valve in the present invention.

[0049] Figure 19 It is the present invention Figure 18 Cross-sectional view.

[0050] Figure 20 It is the present invention Figure 19 Enlarged view at E in it.

[0051] Figure 21 It is a schematic diagram of the state where the pilot valve in the track water valve of the present invention is pressed down.

[0052] Figure 22 It is a schematic diagram of the state where the track water valve of the present invention is fully opened.

[0053] Figure 23 It is an enlarged schematic diagram of the shock absorption mechanism in the present invention.

[0054] Figure 24 It is an enlarged schematic diagram of the wheel pressing and adhering mechanism in the present invention.

[0055] Reference numerals: fixed seat 1, bearing seat 2, water inlet passage 3, water outlet passage 4, transmission shaft 5, screw 6, nut 7, collar 8, sliding water pressing plate 9, guiding and limiting block 10, screw hole 11, driving motor 12, connecting groove 13, chassis 14, track 15, control cabin 16, water cannon 17, traveling mechanism 18, track water valve 19, docking water intake mechanism 20, frame 21, sliding seal sleeve 22, sealing ring 23, left rack plate 24, right rack plate 25, fixing frame 26, left gear 27, left gear shaft 28, left worm gear 29, right gear 30, right worm gear 31, worm shaft 32, worm motor 33, left helical tooth 34, right helical tooth 35, limiting and fixing mechanism 36, hook plate frame 37, guiding and sliding mechanism 38, hook plate 39, limiting plate 40, eccentric wheel 41, limiting wheel hole 42, downward pressing mechanism 43, upper connecting seat 44, lower connecting seat 45, spring 46, valve body 47, same-pressure valve opening mechanism 48, main valve core 49, pre-opening valve mechanism 50, main valve fixing sleeve 51, main spring 52, pilot valve 53, pilot base 54, pilot spring 55, upper valve cover 56, water intake passage 57, water flow passage 58, main valve connecting seat 59, main valve guiding seat 60, pilot passage 61, water inlet hole 62, guiding passage 63, lower valve cover 64, pressure sensor 65, pilot valve opening detection mechanism 66, water pressing plate proximity sensor 67, wire outlet joint 68, sealing cover 69, magnetostrictive displacement sensor 70, waveguide 71, movable magnetic ring 72, positioning mechanism 73, positioning block 74, control valve mechanism 75, stop valve 76, connecting end 77, ball valve 78, shock absorption mechanism 79, shock absorption frame 80, shock absorption assembly 81, shock absorption rod 82, linear bearing 83, shock absorption spring 84, wheel downward pressing and pressing mechanism 85, pressing frame 86, pressing assembly 87, guiding rod 88, guiding sleeve 89, pressing spring 90, cushion block 91, pressing wheel frame 92, torque limiter 93, guiding groove 94, front and rear limiting and sliding mechanism 96, first sliding bar 97, sliding limiting block 98, second sliding bar 99, valve opening device 100, sliding limiting seat 101, limiting nut 102, wheel 103, pressing wheel 104, limiting baffle 105. Detailed implementation manners

[0056] The following further describes in detail the specific implementation manners of the present invention with reference to the drawings.

[0057] A valve opening device, characterized in that it comprises a fixed seat 1, a bearing seat 2 is provided at the upper end of the fixed seat 1, a water inlet channel 3 is provided in the fixed seat 1, a water outlet channel 4 is provided on one side of the fixed seat 1, the water outlet channel 4 is communicated with the water inlet channel 3, a transmission shaft 5, a screw 6, a nut 7 and a sliding water pressure plate 9 are provided in the water inlet channel 3, a screw hole 11 is axially provided in the transmission shaft 5, the screw 6 is provided in the transmission shaft 5, a nut 7 is provided at the lower end of the transmission shaft 5, the transmission shaft 5 is fixedly connected with the nut 7, a sliding water pressure plate 9 is provided below the transmission shaft 5, the upper part of the transmission shaft 5 passes through the water inlet channel 3 and is driven by a transmission motor 12, the upper part of the transmission shaft 5 is hermetically and fixedly connected with the bearing seat 2 through a bearing, the lower end of the bearing seat 2 is hermetically and fixedly connected with the fixed seat 1, the lower end of the screw 6 sequentially passes through the transmission shaft 5, the nut 7 and is fixedly connected with the sliding water pressure plate 9, the screw 6 is threadedly connected with the nut 7, the sliding water pressure plate 9 is slidably connected with the inner wall of the water inlet channel 3, and the lower end of the sliding water pressure plate 9 extends out of the fixed seat 1 to form a valve opening extrusion end, so as to facilitate the transmission motor to drive the transmission shaft to rotate, the transmission shaft drives the nut to rotate, the nut is threadedly connected with the screw, the screw is fixedly connected with the sliding water pressure plate, and the sliding water pressure plate is slidably connected with the inner wall of the water inlet channel, so that the screw drives the sliding water pressure plate to axially move up and down under the drive of the nut.

[0058] A ring sleeve 8 is provided at the lower end of the screw 6 of the present invention, a connecting groove 13 is provided at the upper end of the sliding water pressure plate 9, the lower end of the screw 6 is placed in the connecting groove 13, the inner wall of the ring sleeve 8 is fixedly connected with the screw 6, and the outer wall of the ring sleeve 8 is fixedly connected with the sliding water pressure plate 9, so as to facilitate the replacement and maintenance of the sliding water pressure plate.

[0059] Guide limiting blocks 10 are fixedly provided on both sides of the inner wall of the water inlet channel 3 of the present invention, and the sliding water pressure plate 9 is slidably connected with the guide limiting blocks 10, so as to limit the rotation of the sliding water pressure plate through the guide limiting blocks and enable the sliding water pressure plate to axially move up and down.

[0060] A fire-fighting water intake robot, comprising a chassis 14 and a track 15. A control cabin 16 and a water cannon 17 are provided on the chassis 14. A traveling mechanism 18 is provided at the lower end of the chassis 14. The traveling mechanism 18 is matched with the track 15. A control system is provided in the control cabin 16. It is characterized in that: an open valve device 100 as described above is provided on the chassis 14. At least one track water valve 19 is provided on the track 15. A docking water intake mechanism 20 is provided between the open valve device 100 and the track water valve 19. The open valve device 100 docks and takes water with the track water valve 19 through the docking water intake mechanism 20. The fixed seat 1 is fixedly connected to the frame 21 of the chassis 14. The water outlet channel 4 on the fixed seat 1 is communicated with the water inlet of the water cannon 17. The driving motor 12 is fixed on the frame 21 and is controlled and driven by the control system. The track water valve 19 is fixedly connected to the track 15, so as to facilitate the open valve device to take water from the track water valve and supply it to the water cannon to complete the fire-fighting operation.

[0061] The docking water intake mechanism 20 of the present invention includes a sliding seal sleeve 22, a sealing ring 23, a left rack plate 24, a right rack plate 25, a fixed frame 26, a left gear 27, a left gear shaft 28, a left worm gear 29, a right gear 30, a right gear shaft, a right worm gear 31, a worm shaft 32 and a worm motor 33. A sliding seal sleeve 22 is provided outside the fixed seat 1. The inner wall of the sliding seal sleeve 22 is in sealed sliding connection with the outer wall of the fixed seat 1. A sealing ring 23 is fixedly provided at the lower end of the sliding seal sleeve 22. When the sliding seal sleeve 22 drops and abuts against the upper end surface of the track water valve 19 through the sealing ring 23, docking is achieved. The left rack plate 24 and the right rack plate 25 are provided on the left and right sides of the sliding seal sleeve 22 respectively. Fixed frames 26 are provided on the front and rear sides of the sliding seal sleeve 22 respectively. The fixed frames 26 are fixedly connected to the frame 21. The right end of the left rack plate 24 is fixedly connected to the sliding seal sleeve 22. A left gear 27 is provided at the left end of the left rack plate 24. The left gear 27 meshes with the rack on the left rack plate 24. The left gear 27 is fixed on the left gear shaft 28. Both ends of the left gear shaft 28 are fixedly connected to the two-side fixed frames 26 through bearings. One end of the left gear shaft 28 penetrates through the fixed frame 26 and is fixedly provided with a left worm gear 29. The left end of the right rack plate 25 is fixedly connected to the sliding seal sleeve 22. A right gear 30 is provided at the right end of the right rack plate 25. The right gear 30 meshes with the rack on the right rack plate 25. The right gear 30 is fixed on the right gear shaft. Both ends of the right gear shaft are fixedly connected to the two-side fixed frames 26 through bearings. One end of the right gear shaft penetrates through the fixed frame 26 and is fixedly provided with a right worm gear 31. A worm shaft 32 is provided on the left worm gear 29 and the right worm gear 31. Left helical teeth 34 and right helical teeth 35 are fixedly spaced on the worm shaft 32. The helical direction of the left helical teeth 34 is opposite to that of the right helical teeth 35. The left helical teeth 34 mesh with the left worm gear 29, and the right helical teeth 35 mesh with the right worm gear 31. Both ends of the worm shaft 32 are fixedly connected to the fixed frame 26 through bearings. One end of the worm shaft 32 penetrates through the fixed frame 26 and is driven by the worm motor 33. The worm motor 33 is fixed on the frame 21 and connected to the control system, which is conducive to starting the worm motor. The worm motor drives the worm shaft, drives the left gear and the right gear to rotate through the worm and worm gear transmission, and further drives the left rack plate and the right rack plate to move up and down synchronously, realizing the up and down movement of the sliding seal sleeve. When the sealing ring at the lower end of the sliding seal sleeve abuts against the upper end surface of the track water valve, the sliding seal sleeve is docked with the track water valve.

[0062] The track water valve 19 of the present invention is provided with a limit fixing mechanism 36. The limit fixing mechanism 36 includes a hook plate frame 37, a guiding sliding mechanism 38, a hook plate 39, a limit plate 40 and an eccentric wheel 41. Hook plate frames 37 are respectively arranged in front of and behind the sliding seal sleeve 22. A guiding sliding mechanism 38 is arranged between the hook plate frame 37 and the fixed frame 26. The hook plate frame 37 is slidably connected to the fixed frame 26 through the guiding sliding mechanism 38. The lower end of the hook plate frame 37 extends towards the center of the sliding seal sleeve 22 to form a hook plate 39. The front and rear sides of the upper end of the track water valve 19 respectively extend outwards to form limit plates 40. The hook plate frame 37 is provided with limit wheel holes 42 at intervals. Eccentric wheels 41 are respectively fixedly arranged at the front and rear ends of the left gear shaft 28. Eccentric wheels 41 are respectively fixedly arranged at the front and rear ends of the right gear shaft. The eccentric wheels 41 are placed in the limit wheel holes 42. When the top of the eccentric wheel 41 turns from the proximal end to the distal end, the hook plate frame 37 moves upwards along with the eccentric wheel 41, and the upper end face of the hook plate 39 abuts against the lower end face of the limit plate 40 to realize the limit fixed connection between the fixed frame 26 and the track water valve 19, which is beneficial to starting the worm motor. The worm motor drives the worm shaft, and drives the left gear and the right gear to rotate through the worm and worm gear transmission, and then drives the eccentric wheel to rotate. While the sliding seal sleeve moves downwards, the hook plate rises under the action of the eccentric wheel. When the sealing ring at the lower end of the sliding seal sleeve abuts against the upper valve cover of the track water valve, the upper end face of the hook plate abuts against the lower end face of the limit plate to be fixed, realizing the sealing and fixing of the hook plate and the track water valve.

[0063] Limit baffles 105 are respectively arranged at the front and rear sides of the lower end of the limit wheel holes 42 of the present invention. The limit baffles 105 are fixedly connected to the hook plate frame 37. Lubricating oil grooves are formed between the two limit baffles 105 and the limit wheel holes 42. Lubricating oil is arranged in the lubricating oil grooves. When the eccentric wheel 41 rotates, the eccentric wheel 41 contacts with the lubricating oil in the lubricating oil groove, which is beneficial to improving the smoothness of the rotation of the eccentric wheel through the lubricating oil.

[0064] At least one pressing mechanism 43 is arranged at the upper end of the hook plate frame 37 of the present invention. The pressing mechanism 43 includes an upper connecting seat 44, a lower connecting seat 45 and a spring 46. At least one lower connecting seat 45 is arranged on the hook plate frame 37. The lower connecting seat 45 is fixedly connected to the hook plate frame 37. At least one spring 46 is arranged on the lower connecting seat 45. An upper connecting seat 44 is arranged on the fixed frame 26. The upper connecting seat 44 is fixedly connected to the fixed frame 26. The upper connecting seat 44 faces the lower connecting seat 45. The spring 46 is in a compressed state. One end of the spring 46 is fixedly connected to the upper connecting seat 44, and the other end is fixedly connected to the lower connecting seat 45, which is beneficial to when the eccentric wheel drives the hook plate to move downwards, the spring expands after being extruded and pushes the hook plate frame downwards to separate the hook plate from the limit plate.

[0065] On the upper connecting seat 44 of the present invention, at least one upper spring groove with an opening downward is provided, and on the lower connecting seat 45, at least one lower spring groove with an opening upward is provided. One end of the spring 46 is placed in the upper spring groove and fixedly connected to the upper spring groove, and the other end is placed in the lower spring groove and fixedly connected to the lower spring groove, so as to facilitate guiding the spring through the upper and lower spring grooves and prevent the spring from skewing.

[0066] The guiding and sliding mechanism 38 of the present invention includes a first sliding strip 97 and a sliding limit block 98. A sliding limit block 98 is provided in the middle of the fixed frame 26, and a guiding groove 94 is provided in the middle of the hook plate frame 37. First sliding strips 97 are fixedly provided on the left and right sides of the inner wall of the guiding groove 94 respectively. The sliding limit block 98 is placed in the guiding groove 94 and is slidably connected to the guiding groove (94) through the first sliding strip 97. The sliding limit block 98 is fixedly connected to the fixed frame 26, so as to facilitate limiting the position of the hook plate frame through the sliding limit block, and preventing the hook plate frame from moving left and right through the guiding groove, the sliding limit block and the first sliding strip.

[0067] The guiding and sliding mechanism 38 of the present invention further includes a front and rear limit sliding mechanism 96. The front and rear limit sliding mechanism 96 includes a second sliding strip 99 and a sliding limit seat 101. Sliding limit seats 101 are provided at both ends of the fixed frame 26 respectively. The sliding limit seats 101 are fixedly connected to the fixed frame 26. An opening limit groove facing the hook plate frame 37 is provided between the sliding limit seats 101 and the fixed frame 26. Second sliding strips 99 are fixedly provided on the front and rear sides of the opening limit groove respectively. The left and right ends of the hook plate frame 37 are respectively placed in the opening limit groove and are slidably connected to the opening limit groove through the second sliding strip 99, so as to facilitate limiting the hook plate frame front and rear through the sliding limit seat and preventing the hook plate frame from moving back and forth.

[0068] The track water valve 19 of the present invention includes a valve body 47, and a same-pressure valve-opening mechanism 48 is provided in the valve body 47. The same-pressure valve-opening mechanism 48 includes a main valve core 49, a pre-opening valve mechanism 50, a main valve fixing sleeve 51, and a main spring 52. The pre-opening valve mechanism 50 includes a pilot valve 53, a pilot base 54, and a pilot spring 55. The valve body 47 is fixedly connected to the track 15. A water intake channel 57 is provided in the middle of the upper valve cover 56 of the valve body 47. A water flow channel 58 is provided along the extending direction of the track 15 in the valve body 47. The main valve core 49 is provided below the upper valve cover 56 of the valve body 47. The pilot valve 53 is provided in the main valve core 49. The main valve core 49 includes a main valve connection seat 59 and a main valve guiding seat 60. A pilot channel 61 is axially provided in the main valve connection seat 59. The upper end of the main valve connection seat 59 is hermetically abutted against the lower end of the upper valve cover 56. The lower end of the main valve connection seat 59 is fixedly connected to the upper end of the main valve guiding seat 60. Water inlet holes 62 are spaced on the outer wall of the upper end of the main valve guiding seat 60. The pilot base 54 is provided at the lower end of the main valve guiding seat 60. A guiding channel 63 is axially provided in the main valve guiding seat 60. The guiding channel 63, the pilot channel 61, and the water intake channel 57 communicate with each other. The guiding channel 63 communicates with the water flow channel 58 through the water inlet holes 62. The diameter of the guiding channel 63 is larger than that of the pilot channel 61. The pilot valve 53 is located below the sliding water pressing plate 9. The upper end of the pilot valve 53 extends out of the main valve connection seat 59 and is placed in the water intake channel 57. The middle part of the pilot valve 53 is hermetically and slidably connected to the pilot channel 61. The lower end of the pilot valve 53 extends into the guiding channel 63 and is slidably connected to the guiding channel 63. The outer diameter of the upper end of the pilot valve 53 is smaller than the outer diameter of the middle part of the pilot valve 53. A pilot spring 55 is provided at the lower end of the pilot valve 53. The pilot spring 55 is in a compressed state. The upper end of the pilot spring 55 abuts against the lower end face of the pilot valve 53, and the lower end abuts against the pilot base 54. After the pilot valve 53 is pressed by the sliding water pressing plate 9, the pilot valve 53 squeezes the pilot spring 55 and moves downward. The water in the water flow channel 58 enters the guiding channel 63 and the pilot channel 61 through the water inlet holes 62, and flows into the water inlet channel 3 through the water intake channel 57. The pilot base 54 is fixedly connected to the main valve guiding seat 60. A main valve fixing sleeve 51 is provided on the outer wall of the main valve guiding seat 60. The main valve guiding seat 60 is slidably connected to the main valve fixing sleeve 51. A main spring 52 is sleeved on the outer walls of the main valve guiding seat 60 and the main valve fixing sleeve 51. The lower end of the main valve fixing sleeve 51 is fixedly connected to the lower valve cover 64 of the valve body 47. The main spring 52 is in a compressed state. The upper end of the main spring 52 abuts against the lower end face of the main valve connection seat 59, and the lower end abuts against the upper end face of the lower valve cover 64. After the main valve connection seat 59 is pressed, the main valve connection seat 59 squeezes the main spring 52 and moves downward. The main valve connection seat 59 is separated from the upper valve cover 56, and the water flow channel 58 communicates with the water intake channel 57, which is beneficial for when in use, the sliding water pressing plate first squeezes the pilot valve downward,The water in the water flow channel enters the guiding channel through the water inlet hole, and the water in the pilot channel flows into the water inlet channel through the water intake channel, and then enters the water cannon through the water outlet channel. When the water pressure inside the valve opening device is the same as the water pressure inside the track water valve, the sliding water pressing plate continues to move downward, and the sliding water pressure valve presses against the main valve connecting seat. The main valve connecting seat moves downward, and the water in the water flow channel directly enters the water intake channel and then enters the water inlet channel to provide a continuous water source for the water cannon.

[0069] On one side of the upper end of the water inlet channel 3 of the present invention, a pressure sensor 65 is provided, and the pressure sensor 65 is fixedly connected to the fixed seat 1 to facilitate monitoring the water pressure inside the valve opening device through the pressure sensor.

[0070] A pilot valve opening detection mechanism 66 is provided inside the frame 21 of the present invention to facilitate detecting the position where the sliding water pressing plate presses down through the pilot valve opening detection mechanism.

[0071] The pilot valve opening detection mechanism 66 of the present invention can be a water pressing plate proximity sensor 67 and a wire outlet joint 68. On one side of the lower end of the sliding water pressing plate 9, a water pressing plate proximity sensor 67 is provided. A wire hole is provided on the sliding water pressing plate 9, a wire perforation is provided on the screw 6, a sealing cover 69 is provided at the upper end of the transmission shaft 5, and a wire passing hole is provided in the middle of the sealing cover 69. The water pressing plate proximity sensor 67 is located above the main valve core 49. The wire of the water pressing plate proximity sensor 67 passes through the sliding water pressing plate 9, the screw 6 and the sealing cover 69 and is fixedly connected to the wire outlet joint 68. The wire outlet joint 68 is fixedly connected to the sealing cover 69. The sealing cover 69 is hermetically connected to the transmission shaft 5. The sealing cover 69 is fixedly connected to the bearing seat 2. The wire of the wire outlet joint 68 is connected to the control system to facilitate that when the sliding water pressing plate moves downward, the sliding water pressing plate presses the pilot valve. When the water pressing plate proximity sensor senses the main valve core, it stops descending. When the water pressure inside the valve opening device is the same as the water pressure inside the track water valve, the sliding water pressing plate continues to move downward.

[0072] The pilot valve opening detection mechanism 66 of the present invention can also be a magnetostrictive displacement sensor 70. A magnetostrictive displacement sensor 70 is provided at the upper end of the bearing seat 2. A pipe hole is axially provided in the screw 6. The magnetostrictive displacement sensor 70 is fixedly connected to the bearing seat 2. The waveguide 71 of the magnetostrictive displacement sensor 70 passes through the screw hole 11 and the pipe hole and is placed inside the screw 6. The movable magnetic ring 72 of the magnetostrictive displacement sensor 70 is fixedly connected to the screw 6. The magnetostrictive displacement sensor 70 is connected to the control system to facilitate detecting the position where the screw descends through the magnetostrictive displacement sensor, and further knowing the position where the sliding water pressing plate presses down.

[0073] A positioning mechanism 73 is provided on the track water valve 19 of the present invention. The positioning mechanism 73 includes a positioning block 74 and a positioning proximity sensor. Positioning blocks 74 are respectively provided at the left and right ends of the upper valve cover 56. The positioning blocks 74 are fixedly connected to the upper valve cover 56. A positioning proximity sensor is provided on the frame 21 above the positioning block 74. The positioning proximity sensor is matched with the positioning block 74 and is fixedly connected to the frame 21. The positioning proximity sensor is connected to the control system, so that when the frame approaches the track water valve from one side of the track water valve, the positioning block on the left or right side of the track water valve is sensed by the positioning proximity sensor on the frame, and the frame starts to decelerate. As the frame moves forward, when the positioning block on the right or left side of the track water valve is sensed by the positioning proximity sensor on the frame, the frame stops.

[0074] A control valve mechanism 75 is provided on the frame 21 of the present invention to facilitate controlling the opening and closing of the track water valve through the control valve mechanism.

[0075] The control valve mechanism 75 of the present invention may be a globe valve 76 and a connecting end 77. One end of the globe valve 76 is connected to the water outlet channel 4 through the connecting end 77, and the other end is connected to the water inlet of the water cannon 17 through the connecting end 77. The globe valve 76 is connected to the control system to facilitate controlling the opening and closing of the track water valve through the globe valve.

[0076] The control valve mechanism 75 of the present invention may also be a ball valve 78. The ball valve 78 is fixedly arranged in the water cannon 17 or the water outlet channel 4 and is controlled by the control system to facilitate controlling the opening and closing of the water outlet channel through the ball valve.

[0077] A shock absorption mechanism 79 is provided on the traveling mechanism 18 of the present invention. The shock absorption mechanism 79 includes a shock absorption frame 80 and a shock absorption component 81. A shock absorption frame 80 is provided on the hub of each wheel 103 in the traveling mechanism 18. The shock absorption frame 80 is fixedly connected to the hub through a bearing. Shock absorption components 81 are respectively provided on both sides of the shock absorption frame 80. The shock absorption component 81 includes a shock absorption rod 82, a linear bearing 83, and a shock absorption spring 84. A shock absorption spring 84 is sleeved on the shock absorption rod 82. The upper end of the shock absorption rod 82 is fixedly connected to the frame 21, and the lower end of the shock absorption rod 82 is slidably connected to the shock absorption frame 80 through the linear bearing 83. The upper end of the shock absorption spring 84 abuts against the frame 21, and the lower end abuts against the shock absorption frame 80 to facilitate making the wheels walk more safely and stably on the track through the shock absorption mechanism.

[0078] The lower end of the shock-absorbing rod 82 of the present invention passes through a linear bearing 83 and is provided with a limit nut 102. The limit nut 102 is placed below the linear bearing 83 and is threadedly connected to the shock-absorbing rod 82. The linear bearing 83 is fixedly connected to the shock-absorbing frame 80. The outer diameter of the limit nut 102 is greater than the inner diameter of the linear bearing 83, so as to facilitate limiting the rising distance of the shock-absorbing rod by the limit nut.

[0079] The lower end of the frame 21 of the present invention is provided with a wheel pressing and pressing mechanism 85. The wheel pressing and pressing mechanism 85 includes a pressing frame 86 and a pressing assembly 87. At least one pressing frame 86 is provided on each side of the lower end of the frame 21. The pressing frame 86 is fixedly connected to the frame 21. Two pressing assemblies 87 are arranged at intervals on the pressing frame 86. The pressing assembly 87 includes a guide rod 88, a guide sleeve 89, a pressing spring 90, a cushion block 91, a nut, a pressing wheel frame 92 and a pressing wheel 104. Two through holes are arranged at intervals on the pressing frame 86. Two guide sleeves 89 are arranged at intervals on the pressing frame 86. The guide sleeve 89 is fixedly connected to the pressing frame 86. A guide rod 88 is arranged in the middle of the guide sleeve 89. The upper end of the guide rod 88 passes through the cushion block 91 and is fixedly connected to the nut by locking. The lower end passes through the guide sleeve 89 and is fixedly connected to the pressing wheel frame 92 at the lower end of the pressing frame 86. The guide rod 88 is slidably connected to the guide sleeve 89. The pressing spring 90 is sleeved on the guide rod 88. The pressing spring 90 is in a compressed state. The upper end of the pressing spring 90 abuts against the cushion block 91, and the lower end of the pressing spring 90 abuts against the pressing frame 86. A pressing wheel 104 is arranged on one side of the pressing wheel frame 92 facing the track 15. The pressing wheel 104 is fixedly connected to the pressing wheel frame 92 through a bearing. A pressing walking track is arranged at the lower end of the track 15. The pressing wheel 104 is placed at the lower end of the track 15 and is in rolling connection with the pressing walking track, so as to facilitate the pressing wheel to abut against the lower end of the track, so that the wheel is always in contact with the track. At the same time, when the wheel is lifted when encountering an obstacle during walking, it can fall in time due to the action of the pressing wheel, improving the safety and stability of the wheel movement.

[0080] A sealing groove is arranged on the upper end surface of the track water valve 19 of the present invention. The lower end of the sealing ring 23 is embedded in the sealing groove to seal and connect the sliding sealing sleeve 22 and the track water valve 19, so as to facilitate limiting and fixing the sealing ring through the sealing groove and increasing the docking stability.

[0081] A torque limiter 93 is arranged on the drive motor 12 of the present invention, so as to prevent the drive motor from being overloaded.

[0082] As attached Figure 1 - attached Figure 24 For the convenience of description, the orientation words such as "left", "right", "front" and "back" mentioned in the present invention are based on the attached Figure 12It is described based on this figure, and the orientations of other drawings are determined accordingly with reference to this figure. It should be noted that "left", "right", "front", and "back" are used to illustrate the positions of components for convenience of understanding, rather than limitations on the components.

[0083] As shown in the attached Figure 1 and the attached Figure 2 The valve opening device in the present invention can be connected between the transmission shaft and the driving motor by a transmission mechanism, such as a belt drive, and a corresponding belt tensioning mechanism is provided. A torque limiter can also be provided on the driving motor to protect the driving motor. During use, the valve opening device is installed on the fire water intake robot, as shown in the attached Figure 3 or the attached Figure 8 As shown. Different structures are set according to different control valve mechanisms. The structures shown in the attached Figure 3 to the attached Figure 7 use a ball valve as the control valve. The ball valve is an electric ball valve in the prior art and is controlled by a control system. The control system can adopt a PLC control system. Figure 8 - The structures shown in the attached Figure 11 use a globe valve as the control valve. The globe valve is controlled by a control system and is set according to requirements. There are two types of pilot valve opening detection mechanisms in the present invention. One is as shown in the attached Figure 1 , which uses a water pressure plate proximity sensor to sense the main valve core. When the water pressure plate proximity sensor senses the main valve core, the control system controls the driving motor to stop rotating, so that the sliding water pressure plate stops descending. The valve opening device with this type of pilot valve opening detection mechanism can be installed in a fire water intake robot controlled by a globe valve or a fire water intake robot controlled by a ball valve. The drawings in the present invention show the installation in a fire water intake robot controlled by a ball valve, as shown in the attached Figure 3 - The attached Figure 6 , but the valve opening device with this type of pilot valve opening detection mechanism can also be installed in a fire water intake robot controlled by a globe valve; the other type of pilot valve opening detection mechanism is as shown in the attached Figure 2 , which uses a magnetostrictive displacement sensor to sense the descending distance of the screw, and then knows the descending distance of the sliding water pressure plate. In this way, the distance between the sliding water pressure plate and the main valve core can be known in advance, and the corresponding descending distance of the screw can be set. The valve opening device with this type of pilot valve opening detection mechanism can be installed in a fire water intake robot controlled by a globe valve, as shown in the attached Figure 10 . When the valve opening device with this type of pilot valve opening detection mechanism is installed in a fire water intake robot controlled by a ball valve, only the waterproof work of the magnetostrictive sensor and the transmission shaft needs to be done; the water cannon in the present invention adopts a fire water cannon in the prior art, which can swing horizontally and vertically, and has a large rescue range.

[0084] In use, the traveling mechanism of the fire water intake robot travels and inspects on the track. When a fire is detected, the control system senses the track water valve through the positioning mechanism. Specifically, two positioning blocks are provided at the left and right ends of the upper valve cover, and two left and right positioning proximity sensors are also correspondingly provided on the frame. When the frame approaches from one side of the track water valve, such as the left side of the track water valve, the positioning block at the left end of the upper valve cover is sensed by the positioning proximity sensor on the right side of the frame, and the frame starts to decelerate. As the frame moves from left to right, the positioning block at the right end of the upper valve cover is sensed by the positioning proximity sensor on the right side of the frame. At the same time, the positioning block at the left end of the upper valve cover is sensed by the positioning proximity sensor on the left side of the frame, and the frame stops docking with the track water valve; start the docking water intake mechanism, the control system starts the worm gear motor, the worm gear motor drives the worm shaft, and drives the left gear to rotate clockwise and the right gear to rotate counterclockwise through the worm gear transmission, as shown in Appendix Figure 11 , Appendix Figure 12 , and then drives the left rack plate and the right rack plate to move downward synchronously. When the sealing ring at the lower end of the sliding seal sleeve abuts against the upper end surface of the track water valve, the sliding seal sleeve realizes docking with the track water valve. At the same time, the left gear shaft rotates clockwise and the right gear shaft rotates counterclockwise, driving the top of the eccentric wheel to rotate from the proximal end to the distal end, as shown in Appendix Figure 16 , the hook plate frame rises as it is driven by the eccentric wheel, and the hook plate frame drives the hook plate to rise, as shown in Appendix Figure 15, the hook plate hooks the limit plate, so that the fixed frame and the position of the track water valve are fixed, and the docking of the frame and the track water valve is completed; start the drive motor, the drive shaft drives the screw to rotate, and then drives the sliding water pressing plate to descend. The sliding water pressing plate presses on the pilot valve and drives the pilot valve to move downward. The seal between the pilot valve and the main valve core is lost, and the water in the water flow channel in the track enters the guide channel, the pilot channel, the water intake channel and then flows into the water inlet channel through the water inlet hole, realizing the opening of the first-stage valve of the track water valve. When the first-stage valve opening detection mechanism detects that the sliding water pressing plate is close to the main valve core, the drive motor is turned off. When the pressure sensor detects that the water pressure in the water inlet channel is the same as the water pressure in the track water valve, the drive motor is started, and the sliding water pressing plate continues to descend. The sliding water pressing plate presses on the pilot valve and the main valve core, driving the pilot valve and the main valve core to descend together. At this time, the main valve core is separated from the upper end cover of the track water valve, and the water in the water flow channel directly flows into the water intake channel and then into the water inlet channel, realizing the full opening of the track water valve; the control system starts the control valve mechanism, opens the ball valve or the globe valve, and the water cannon starts the water spraying fire extinguishing operation; when the fire is serious, more fire-fighting water intake robots without tracks can be dispatched. Place this fire-fighting water intake robot directly on the track of the existing fire-fighting water intake robot and dock it with other track water valves on the track according to the above method. In the present invention, a first-stage valve opening mechanism is provided. The cross-section of the pilot valve is small, and the pressure required to squeeze the pilot valve downward is small. Therefore, the pilot valve can be easily opened even when there is water in the track, realizing docking and water intake. By setting the two-stage valve opening mechanism, the first-stage valve opening pressure is small, while in the prior art, it is usually a one-stage valve opening, and the valve opening pressure required is relatively large. In this way, when water flows through the track, the water valve cannot be opened anymore. In this way, when the fire suddenly becomes serious, in the prior art, if new fire-fighting equipment is to be dispatched to join the fire extinguishing, new tracks must be correspondingly set up, new water valves and water pipes must be installed, the water valve is opened after docking, and then water is supplied to the track before the fire extinguishing can start. In comparison, the present invention greatly improves the fire extinguishing efficiency and reduces the fire extinguishing cost. In the present invention, the first sliding strip and the second sliding strip can be made of PTFE strips to reduce the friction between the hook plate frame and the fixed plate, making the up and down movement of the hook plate frame smoother.

[0085] Due to the adoption of the above structure, the present invention has the advantages of simple structure, low use cost, same-pressure water intake, small valve opening pressure, good sealing effect, high fire extinguishing efficiency, etc.

Claims

1. A fire water intake robot, comprising a chassis (14) and a track (15), a control cabin (16) and a water cannon (17) are provided on the chassis (14), a traveling mechanism (18) is provided at the lower end of the chassis (14), the traveling mechanism (18) is matched with the track (15), and a control system is provided in the control cabin (16), and is characterized in that: A valve opening device (100) is provided on the chassis (14). The valve opening device (100) includes a fixed seat (1). An inlet channel (3) is provided inside the fixed seat (1). An outlet channel (4) is provided on one side of the fixed seat (1). The outlet channel (4) communicates with the inlet channel (3). A transmission shaft (5), a screw (6), a nut (7), and a sliding water pressure plate (9) are provided inside the inlet channel (3). A screw hole (11) is axially provided on the transmission shaft (5). The screw (6) is provided inside the transmission shaft (5). A nut (7) is provided at the lower end of the transmission shaft (5). The transmission shaft (5) is fixedly connected to the nut (7). A sliding water pressure plate (9) is provided below the transmission shaft (5). The upper part of the transmission shaft (5) passes through the inlet channel (3) and is driven by a transmission motor (12). The upper part of the transmission shaft (5) is hermetically and fixedly connected to the fixed seat (1) through a bearing. The lower end of the screw (6) passes through the transmission shaft (5), the nut (7), and is fixedly connected to the sliding water pressure plate (9). The screw (6) is threadedly connected to the nut (7). The sliding water pressure plate (9) is slidably connected to the inlet channel (3). The lower end of the sliding water pressure plate (9) extends out of the fixed seat (1) to form a valve opening extrusion end. At least one track water valve (19) is provided on the track (15). A docking water intake mechanism (20) is provided between the valve opening device (100) and the track water valve (19). The valve opening device (100) docks and takes water with the track water valve (19) through the docking water intake mechanism (20). The fixed seat (1) is fixedly connected to the frame (21) of the chassis (14). The outlet channel (4) on the fixed seat (1) communicates with the water inlet of the water cannon (17). The transmission motor (12) is fixed on the frame (21) and is controlled and driven by a control system. The track water valve (19) is fixedly connected to the track (15). The track water valve (19) includes a valve body (47). A main valve core (49) is provided below the upper valve cover (56) of the valve body (47). A bearing seat (2) is provided at the upper end of the fixed seat (1). A pilot valve opening detection mechanism (66) is provided inside the frame (21). The pilot valve opening detection mechanism (66) consists of a water pressure plate proximity sensor (67) and a wire outlet joint (68). A water pressure plate proximity sensor (67) is provided on one side of the lower end of the sliding water pressure plate (9). A wire hole is provided on the sliding water pressure plate (9). A wire perforation is provided on the screw (6). A sealing cover (69) is provided at the upper end of the transmission shaft (5). A wire passing hole is provided in the middle of the sealing cover (69). The water pressure plate proximity sensor (67) is located above the main valve core (49). The wire of the water pressure plate proximity sensor (67) passes through the sliding water pressure plate (9), the screw (6), and the sealing cover (69) and is fixedly connected to the wire outlet joint (68). The wire outlet joint (68) is fixedly connected to the sealing cover (69). The sealing cover (69) is hermetically connected to the transmission shaft (5). The sealing cover (69) is fixedly connected to the bearing seat (2). The wire of the wire outlet joint (68) is connected to the control system.

2. The fire water intake robot according to claim 1, wherein: A ring sleeve (8) is provided at the lower end of the screw rod (6). A connecting groove (13) is provided at the upper end of the sliding water pressing plate (9). The lower end of the screw rod (6) is placed in the connecting groove (13). The inner wall of the ring sleeve (8) is fixedly connected to the screw rod (6), and the outer wall of the ring sleeve (8) is fixedly connected to the sliding water pressing plate (9).

3. The fire water intake robot according to claim 1 or 2, characterized in that: Guide limiting blocks (10) are fixedly provided on both sides of the inner wall of the water inlet channel (3). The sliding water pressing plate (9) is slidably connected to the guide limiting blocks (10).

4. A fire water intake robot according to claim 1 or 2, characterized in that: The butt joint water intake mechanism (20) includes a sliding seal sleeve (22), a sealing ring (23), a left rack plate (24), a right rack plate (25), a fixed frame (26), a left gear (27), a left gear shaft (28), a left worm wheel (29), a right gear (30), a right gear shaft, a right worm wheel (31), a worm shaft (32) and a worm motor (33). A sliding seal sleeve (22) is provided outside the fixed seat (1). The inner wall of the sliding seal sleeve (22) is in sealed sliding connection with the outer wall of the fixed seat (1). A sealing ring (23) is fixedly provided at the lower end of the sliding seal sleeve (22). The sliding seal sleeve (22) descends and abuts against the upper end surface of the track water valve (19) through the sealing ring (23) to achieve butt joint. Left and right rack plates (24) and (25) are provided on the left and right sides of the sliding seal sleeve (22). Fixed frames (26) are respectively provided on the front and rear sides of the sliding seal sleeve (22). The fixed frames (26) are fixedly connected to the frame (21). The right end of the left rack plate (24) is fixedly connected to the sliding seal sleeve (22). A left gear (27) is provided at the left end of the left rack plate (24). The left gear (27) meshes with the rack on the left rack plate (24). The left gear (27) is fixed on the left gear shaft (28). Both ends of the left gear shaft (28) are fixedly connected to the fixed frames (26) on both sides through bearings. One end of the left gear shaft (28) passes through the fixed frame (26) and is fixedly provided with a left worm wheel (29). The left end of the right rack plate (25) is fixedly connected to the sliding seal sleeve (22). A right gear (30) is provided at the right end of the right rack plate (25). The right gear (30) meshes with the rack on the right rack plate (25). The right gear (30) is fixed on the right gear shaft. Both ends of the right gear shaft are fixedly connected to the fixed frames (26) on both sides through bearings. One end of the right gear shaft passes through the fixed frame (26) and is fixedly provided with a right worm wheel (31). A worm shaft (32) is provided on the left and right worm wheels (29) and (31). Left and right helical teeth (34) and (35) are fixedly spaced on the worm shaft (32). The helical direction of the left helical tooth (34) is opposite to that of the right helical tooth (35). The left helical tooth (34) meshes with the left worm wheel (29), and the right helical tooth (35) meshes with the right worm wheel (31). Both ends of the worm shaft (32) are fixedly connected to the fixed frame (26) through bearings. One end of the worm shaft (32) passes through the fixed frame (26) and is driven by a worm motor (33). The worm motor (33) is fixed on the frame (21) and is connected to the control system.

5. The fire water intake robot according to claim 4, wherein: A limit fixing mechanism (36) is provided on the track water valve (19). The limit fixing mechanism (36) includes a hook plate frame (37), a guiding sliding mechanism (38), a hook plate (39), a limit plate (40) and an eccentric wheel (41). Hook plate frames (37) are respectively provided in front of and behind the sliding sealing sleeve (22). A guiding sliding mechanism (38) is provided between the hook plate frame (37) and the fixed frame (26). The hook plate frame (37) is slidably connected to the fixed frame (26) through the guiding sliding mechanism (38). The lower end of the hook plate frame (37) extends towards the center of the sliding sealing sleeve (22) to form a hook plate (39). The front and rear sides of the upper end of the track water valve (19) respectively extend outwards to form limit plates (40). Limit wheel holes (42) are spaced on the hook plate frame (37). Eccentric wheels (41) are respectively fixedly provided at the front and rear ends of the left gear shaft (28). Eccentric wheels (41) are respectively fixedly provided at the front and rear ends of the right gear shaft. The eccentric wheels (41) are placed in the limit wheel holes (42). When the eccentric wheels (41) rotate, the hook plate frame (37) moves upwards with the eccentric wheels (41), and the upper end surface of the hook plate (39) abuts against the lower end surface of the limit plate (40) to realize the limit fixed connection between the fixed frame (26) and the track water valve (19).

6. A fire water intake robot according to claim 1 or 2 or 5, characterized in that: A same-pressure valve opening mechanism (48) is provided inside the valve body (47). The same-pressure valve opening mechanism (48) includes a main valve core (49), a pre-opening valve mechanism (50), a main valve fixing sleeve (51), and a main spring (52). The pre-opening valve mechanism (50) includes a pilot valve (53), a pilot base (54), and a pilot spring (55). The valve body (47) is fixedly connected to the track (15). A water intake channel (57) is provided in the middle of the upper valve cover (56) of the valve body (47). A water flow channel (58) is provided in the valve body (47) along the extending direction of the track (15). The pilot valve (53) is provided inside the main valve core (49). The main valve core (49) includes a main valve connecting seat (59) and a main valve guiding seat (60). A pilot channel (61) is axially provided in the main valve connecting seat (59). The upper end of the main valve connecting seat (59) is hermetically abutted against the lower end of the upper valve cover (56). The lower end of the main valve connecting seat (59) is fixedly connected to the upper end of the main valve guiding seat (60). Water inlet holes (62) are spacedly provided on the outer wall of the upper end of the main valve guiding seat (60). The pilot base (54) is provided at the lower end of the main valve guiding seat (60). A guiding channel (63) is axially provided in the main valve guiding seat (60). The guiding channel (63), the pilot channel (61), and the water intake channel (57) are communicated with each other. The guiding channel (63) is communicated with the water flow channel (58) through the water inlet holes (62). The diameter of the guiding channel (63) is larger than the diameter of the pilot channel (61). The pilot valve (53) is located below the sliding water pressing plate (9). The upper end of the pilot valve (53) extends out of the main valve connecting seat (59) and is placed in the water intake channel (57). The middle part of the pilot valve (53) is hermetically and slidably connected to the pilot channel (61). The lower end of the pilot valve (53) extends into the guiding channel (63) and is slidably connected to the guiding channel (63). The outer diameter of the upper end of the pilot valve (53) is smaller than the outer diameter of the middle part of the pilot valve (53). A pilot spring (55) is provided at the lower end of the pilot valve (53). The upper end of the pilot spring (55) abuts against the lower end face of the pilot valve (53), and the lower end abuts against the pilot base (54). After the pilot valve (53) is pressed by the sliding water pressing plate (9), the pilot valve (53) squeezes the pilot spring (55) and moves downward. The water in the water flow channel (58) enters the guiding channel (63) and the pilot channel (61) through the water inlet holes (62), and flows into the water inlet channel (3) through the water intake channel (57). The pilot base (54) is fixedly connected to the main valve guiding seat (60). A main valve fixing sleeve (51) is provided on the outer wall of the main valve guiding seat (60). The main valve guiding seat (60) is slidably connected to the main valve fixing sleeve (51). A main spring (52) is sleeved on the outer walls of the main valve guiding seat (60) and the main valve fixing sleeve (51). The lower end of the main valve fixing sleeve (51) is fixedly connected to the lower valve cover (64) of the valve body (47). The upper end of the main spring (52) abuts against the lower end face of the main valve connecting seat (59), and the lower end abuts against the upper end face of the lower valve cover (64). After the main valve connecting seat (59) is pressed,The main valve connecting seat (59) presses the main spring (52) and moves downward. The main valve connecting seat (59) separates from the upper valve cover (56), and the water flow channel (58) communicates with the water intake channel (57).

7. A fire water intake robot according to claim 1 or 2 or 5, characterized in that: A pressure sensor (65) is provided on one side of the upper end of the water inlet channel (3). The pressure sensor (65) is fixedly connected to the fixed seat (1).

8. A fire water intake robot according to claim 1 or 2 or 5, characterized in that: A positioning mechanism (73) is provided on the track water valve (19). The positioning mechanism (73) includes a positioning block (74) and a positioning proximity sensor. Positioning blocks (74) are respectively provided at the left and right ends of the track water valve (19). The positioning blocks (74) are fixedly connected to the track water valve (19). A positioning proximity sensor is provided on the frame (21) above the positioning block (74). The positioning proximity sensor cooperates with the positioning block (74). The positioning proximity sensor is fixedly connected to the frame (21). The positioning proximity sensor is connected to the control system.

9. A fire water intake robot according to claim 1 or 2 or 5, characterized in that: A control valve mechanism (75) is provided on the frame (21).

10. The fire water intake robot according to claim 9, characterized in that: The control valve mechanism (75) is composed of a globe valve (76) and a connecting end (77). One end of the globe valve (76) is communicated with the water outlet channel (4) through the connecting end (77), and the other end is connected to the water inlet of the water cannon (17) through the connecting end (77). The globe valve (76) is connected to the control system.

11. A fire water intake robot according to claim 9, characterized in that: The control valve mechanism (75) is a ball valve (78). The ball valve (78) is fixedly arranged in the water cannon (17) or the water outlet channel (4). The ball valve (78) is controlled by the control system.

12. A fire water intake robot according to claim 1 or 2 or 5 or 10 or 11, characterized in that: The walking mechanism (18) is provided with a shock absorption mechanism (79). The shock absorption mechanism (79) includes a shock absorption frame (80) and a shock absorption component (81). A shock absorption frame (80) is provided on the hub of each wheel (103) in the walking mechanism (18). The shock absorption frame (80) is fixedly connected to the hub through a bearing. Shock absorption components (81) are respectively provided on both sides of the shock absorption frame (80). The shock absorption component (81) includes a shock absorption rod (82) and a shock absorption spring (84). A shock absorption spring (84) is sleeved on the shock absorption rod (82). The upper end of the shock absorption rod (82) is fixedly connected to the frame (21), and the lower end of the shock absorption rod (82) is slidably connected to the shock absorption frame (80). The upper end of the shock absorption spring (84) abuts against the frame (21), and the lower end abuts against the shock absorption frame (80).

13. A fire water intake robot according to claim 1 or 2 or 5 or 10 or 11, characterized in that: A wheel pressing and adhering mechanism (85) is provided at the lower end of the frame (21). The wheel pressing and adhering mechanism (85) includes an adhering frame (86) and an adhering component (87). At least one adhering frame (86) is provided on each side at the lower end of the frame (21). The adhering frame (86) is fixedly connected to the frame (21). Two adhering components (87) are spacedly provided on the adhering frame (86). The adhering component (87) includes a guide rod (88), a guide sleeve (89), an adhering spring (90), a cushion block (91), a nut, a pressing wheel frame (92) and a pressing wheel (104). Two through holes are spacedly provided on the adhering frame (86). Two guide sleeves (89) are spacedly provided on the adhering frame (86). The guide sleeve (89) is fixedly connected to the adhering frame (86). A guide rod (88) is provided in the middle of the guide sleeve (89). The upper end of the guide rod (88) passes through the cushion block (91) and is fixedly connected to the nut by locking. The lower end passes through the guide sleeve (89) and is fixedly connected to the pressing wheel frame (92) at the lower end of the adhering frame (86). The guide rod (88) is slidably connected to the guide sleeve (89). The adhering spring (90) is sleeved on the guide rod (88). The upper end of the adhering spring (90) abuts against the cushion block (91), and the lower end abuts against the adhering frame (86). A pressing wheel (104) is provided on the surface of the pressing wheel frame (92) facing the track (15). The pressing wheel (104) is fixedly connected to the pressing wheel frame (92) through a bearing. A pressing walking track is provided at the lower end of the track (15). The pressing wheel (104) is placed at the lower end of the track (15) and is in rolling connection with the pressing walking track in cooperation.

14. A fire water intake robot according to claim 1 or 2 or 5 or 10 or 11, characterized in that: A torque limiter (93) is provided on the drive motor (12).

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