Valve opening mechanism and firefighting robot

Abstract

The present application relates to the field of fire fighting technology, and particularly relates to a valve opening mechanism and a fire fighting robot. The valve opening mechanism comprises a fixed seat and a valve shaft. The upper end of the valve shaft is provided with a lifting and rotating mechanism and the lower end of the valve shaft is provided with a valve opening wrench. The valve shaft is provided with a position sensor and a position probe. The lifting and rotating mechanism comprises a ball spline pair, a bearing, a bearing seat, a spline pulley, a ball screw pair, a transmission connecting rod and a driving mechanism. The fire fighting robot comprises a chassis and a track. The chassis is provided with a control bin and a water cannon. The chassis is provided with the valve opening mechanism. The track is provided with at least one spiral water taking valve. The valve opening mechanism and the spiral water taking valve are provided with a butt joint water taking mechanism. The valve opening wrench and the valve core of the spiral water taking valve are matched to drive the valve core to rotate. The spiral water taking valve and the valve opening mechanism are provided with a limiting and fixing mechanism. The present application is maintenance-free, can automatically align, is accurate and fast in alignment, has good sealing effect and long service life.

Description

Technical Field

[0001] This invention relates to the field of fire protection technology, specifically to a valve opening mechanism and a fire-fighting robot. Background Technology

[0002] A fire is a combustion that becomes uncontrolled in time or space. Among various disasters, fire is one of the most common major threats to public safety and social development. Fire hazards exist in many places and industries. Currently, firefighting methods often rely on manual firefighting operations, where firefighters carry fire extinguishers into the scene. This method is highly dangerous, posing a significant threat to the personal safety of firefighters. Furthermore, manual firefighting is inefficient, slow, and lacks flexibility. A search reveals that Chinese patent CN209670994U discloses a tunnel fire-fighting water intake device and a fire-fighting water intake system. A tunnel fire-fighting water intake device includes a wheeled chassis, a control cabinet and a booster pump mounted on the chassis, a protective cover shielding the control cabinet and booster pump, and a water cannon mounted on the protective cover. The inlet of the water cannon is connected to the outlet of the booster pump. The control cabinet and booster pump are arranged front to back, and the water cannon is positioned above the control cabinet. The device also includes a battery for power supply. The protective cover has sprinkler heads connected to the booster pump. Furthermore, it includes a filter mechanism and a water intake pipe sequentially connected to the inlet of the booster pump. The water intake pipe is connected to a fire-fighting storage tank. The system includes a tank or water tap connection, a high-temperature resistant camera communicating with a controller inside the control cabinet, and a remote control wirelessly connected to the controller inside the control cabinet. The remote control has a display screen. A fire-fighting water intake device includes a locomotive, a fire transport vehicle towed by the locomotive, and the aforementioned tunnel fire-fighting water intake device mounted on the fire transport vehicle. The tunnel fire-fighting water intake device is fixed to the front end of the fire transport vehicle. A large-capacity fire storage tank is located at the rear end of the fire transport vehicle. A heat insulation cover is installed on the locomotive, and multiple pressure boosting devices are installed outside the heat insulation cover. The locomotive is connected to a pump-driven sprinkler head. The fire transport vehicle is located at the front of the locomotive, and a rescue transport vehicle is also installed at the rear of the locomotive. The rescue transport vehicle is equipped with a rescue cabin. The locomotive includes a PLC, a data acquisition module that is communicatively connected to the PLC, a solenoid valve drive module controlled by the PLC, a control panel that is communicatively connected to the PLV, and a throttle motor controlled by the PLC. The throttle motor is driven to increase or decrease the throttle. The data acquisition module includes a distance sensor, a stereo camera, and an operating parameter sensor.The solenoid valve driving module described above has its solenoid valve connected in series with the alarm circuit and the brake control circuit. It also includes a remote control and a wireless transmission module corresponding to the remote control and connected to the PLC. The shortcoming of the above patent is that the water intake pipe is connected to a fire-fighting storage tank or water tap, but the water in the fire-fighting storage tank or water tap is limited, which is insufficient for large fires. A search reveals that Chinese patent CN1695751B discloses a track-mounted water intake fire-fighting water cannon vehicle, which mainly consists of a water conveying track and a water cannon vehicle composed of a drive system, a docking water intake system, a steering system, a control system, and a communication system. Its main feature is that water pipes are installed inside the water conveying track, with one-way valve plates installed at intervals on the water pipes, and water valves are opened on the lower plane of the track. The water inlet and water pipe are equipped with parallel rails on both sides. Conductive strips and positioning plates are mounted on the upper part of the rails, and docking plates with guide plates are mounted on the sides. The water cannon vehicle wheels are mounted within the rails on both sides. A stepper motor on the frame is equipped with a drive gear, which is linked to the wheel gears fixed to the axle through meshing transmission gears. A guide tube is mounted in the middle of the water cannon vehicle frame, with a horizontal rotating tube below it and a docking pipe above it. The inner ring of the docking pipe is designed with a reciprocating oil seal groove. Its pipe surface has a valve plate push rod and a sealing gasket. Two rows of teeth on the side mesh with two forward and reverse worm gear rods. The worm gear teeth on the other side mesh with a worm gear with forward and reverse threads. During docking, the worm gear rotates, driving the two forward and reverse worm gear rods to rotate, which in turn drives the docking pipe to rise and open the water supply. After the valves are docked, the vehicle senses the position of the positioning plate (i.e., the docking position of the water valve inlet) via a positioning switch on the chassis. Sealing gaskets are installed around the outlet on the bottom surface of the one-way water valve box, and also on the bottom surface of the valve plate. A guide rod is located at the center of the valve plate, threaded onto the circular holes in the center of the single-piece guide frame and the four-sided guide frame. A compression spring is threaded onto the guide rod. A signal docking plate with contacts is mounted on the chassis, followed by a camshaft and motor. A gear ring is mounted on the transverse rotating tube, meshing with a worm gear fixed to the chassis. A longitudinal rotating motor is mounted in the middle of the transverse rotating tube. A turbine fixed to the motor shaft drives the gear ring on the water cannon tube to rotate via a transmission wheel. A cable tray is designed on the transverse rotating tube and a cable is fixed therein. A cable reel is mounted horizontally in the cable tray, with a cable reel on the central shaft containing a coil spring. The reel is wound with a cable, and the inlet of the reel box is equipped with two pulleys. The gear on the reel shaft meshes with the timing gear, and a cam is mounted on the same axis. A signal switch is mounted parallel to the cam. The reel outlet is equipped with a spiral wire, and a rack is mounted in the track. The stepper motor shaft of the water cannon vehicle is equipped with a drive gear that meshes with the rack. The synchronous pulley on the motor shaft is linked to the synchronous pulley and drive gear on the other side through a synchronous belt. The water cannon vehicle is equipped with water cannons at the front and rear, which are connected by water pipes. A connecting pipe is installed in the middle of the water pipes. The shortcomings of the above patent are: First, the above patent has a complex structure. It uses a worm gear drive to drive the connecting pipe to rise and open the water valve to complete the docking. However, the worm gear drive generates a lot of heat, and the tooth surface is prone to wear. Long-term underwater operation will cause corrosion to accelerate wear, resulting in high equipment costs.Secondly, the method uses a vehicle-mounted connecting pipe to lift and open the water valve, pressing it onto the lower plane with a track to connect to the water source. However, the water pressure inside the track differs from the water pressure inside the water cannon vehicle. Directly opening the water valve results in excessive pressure, making operation laborious and increasing operating costs. Thirdly, the aforementioned patent only uses a sealing gasket for sealing, resulting in a simple structure and unstable sealing. Even slight shaking of the track or water cannon vehicle can cause the seal to fail, leading to water overflow and preventing timely fire extinguishing. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a valve opening mechanism and fire-fighting robot that is ingeniously structured, maintenance-free, automatically aligned, accurately and quickly aligned, has a good sealing effect, and a long service life.

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

[0005] A valve opening mechanism is characterized by comprising a fixed base and a valve shaft. The fixed base has a valve shaft hole and a water inlet channel. One side of the fixed base has a water outlet channel connected to the water inlet channel. The valve shaft is placed in the valve shaft hole and is slidably sealed to the valve shaft hole. The upper end of the valve shaft extends out of the fixed base and is provided with a lifting and rotating mechanism. The lower end of the valve shaft extends out of the water inlet channel to form an opening end. The valve shaft is connected to the lifting and rotating mechanism to facilitate the opening and closing of the water valve by a spiral mechanism. It is maintenance-free, has a long service life, and its performance does not degrade.

[0006] The valve shaft of the present invention is provided with a valve opening wrench at the lower end. The upper end of the valve opening wrench is fixedly connected to the valve shaft, and the lower end extends out of the water inlet channel to form the valve opening end, so as to facilitate the valve core of the water valve to rotate by the valve opening wrench and thus realize the valve opening.

[0007] The valve shaft of this invention is provided with a detection hole along its axial direction. A positioning sensor and a positioning probe are arranged from top to bottom inside the valve shaft. The positioning sensor is fixedly connected to the inner wall of the valve shaft. A positioning probe is located below the positioning sensor. A retaining ring is fixedly arranged on the inner wall of the valve shaft below the positioning sensor. The outer diameter of the upper part of the positioning probe is smaller than the outer diameter of the middle part of the positioning probe, and the outer diameter of the middle part of the positioning probe is smaller than the inner diameter of the retaining ring. A limiting spring is provided between the upper part of the positioning probe and the retaining ring. The limiting spring is compressed and sleeved on the upper part of the positioning probe. The upper end of the positioning probe passes through the limiting spring and the retaining ring and is positioned below the positioning sensor. The positioning probe is slidably connected to the valve shaft. The lower end of the positioning probe passes through the valve shaft and connects to the valve opening wrench. This allows the positioning probe to rise under the pressure of the valve core when the valve opening wrench aligns with the valve core, be sensed by the positioning sensor, and align in place.

[0008] The valve opening wrench of this invention has a probe hole in the middle, which is connected to a detection hole. The lower end of the valve opening wrench has a valve core docking groove, the upper end of which is connected to the probe hole. The outer diameter of the lower part of the positioning probe is smaller than the outer diameter of the middle part of the positioning probe, and the probe hole is smaller than the outer diameter of the middle part of the positioning probe. The lower end of the positioning probe passes through the probe hole and is placed in the valve core docking groove. This allows the valve core to push against the positioning probe when the valve opening wrench and the valve core are docked in place, causing the positioning probe to move upward and be sensed by the positioning sensor, thus completing the docking.

[0009] The valve opening wrench of the present invention is a universal socket. The lower end of the positioning probe passes through the valve shaft and is fixedly connected to the core rod of the universal socket. This facilitates that when the universal socket and the valve core are in place, the valve core presses upward against the core rod of the universal socket, and the core rod moves upward with the positioning probe, which is then sensed by the positioning sensor, and the connection is complete.

[0010] The lifting and rotating mechanism of this invention includes a ball spline pair, a bearing, a bearing housing, a spline pulley, a ball screw pair, a transmission connecting rod, and a drive mechanism. The upper end of the valve shaft is provided with a ball spline pair, and the upper end of the valve shaft is fixedly connected to the lower end of the spline shaft of the ball spline pair. The upper end of the spline shaft is fixedly connected to the bearing housing via a bearing. The spline shaft nut of the ball spline pair is fixedly connected to a fixed seat via a bearing. A spline pulley is fixedly mounted on the outer wall of the spline shaft nut. A ball screw pair is provided on one side of the bearing housing, and the bearing housing is connected to the drive mechanism via a transmission connecting rod. The rod is fixedly connected to the nut of the ball screw pair. The screw of the ball screw pair is connected to the fixed seat via bearings, brackets, and a drive mechanism. The spline pulley and the screw of the ball screw pair are driven by a drive mechanism to facilitate the rotation of the screw of the ball screw pair through the drive mechanism, which drives the nut to move up and down. The nut drives the spline shaft and valve shaft to move up and down through the transmission connecting rod to achieve alignment. The spline pulley is driven to rotate by the drive mechanism, which in turn drives the outer spline cylinder to rotate, thereby realizing the rotation of the spline shaft. The spline shaft drives the valve shaft to rotate, realizing the helical switching valve.

[0011] The drive mechanism of the present invention can be composed of a ball screw drive motor and a ball spline drive motor. The screw of the ball screw pair is driven by the ball screw drive motor, and the spline pulley is driven by the ball spline drive motor through gear transmission, so as to facilitate the valve shaft to move up and down through the ball screw drive motor, and realize the rotation of the valve shaft to open and close the valve through the ball spline drive motor.

[0012] The spline pulley of the present invention is connected to a spline drive pulley via a synchronous belt. The spline drive pulley is fixed on the spline drive pulley shaft. A bidirectional torque limiter is installed on the spline drive pulley shaft to prevent overload of the ball spline drive motor.

[0013] The drive mechanism of this invention can also consist of a main drive motor, a first drive gear, a clutch, a second drive gear, a first driven gear, a synchronous belt, a spline drive pulley, a spline drive pulley shaft, and a second driven gear. The main drive motor is located on one side of the fixed base and is connected to the fixed base via a bracket. A first drive gear and a clutch are spaced apart on the output shaft of the main drive motor. The first drive gear is fixedly connected to the output shaft of the main drive motor and meshes with the first driven gear. The first driven gear is fixedly connected to the screw of the ball screw assembly. The clutch... The clutch is fixedly connected to the output shaft of the main drive motor. A second drive gear is fixedly mounted on the output shaft of the clutch. The spline pulley is connected to a spline drive pulley via a synchronous belt. The spline drive pulley is fixed on the spline drive pulley shaft. A second driven gear is provided at the lower end of the spline drive pulley shaft. The second driven gear is fixedly connected to the spline drive pulley shaft. The second driven gear meshes with the second drive gear to facilitate the main drive motor driving the screw of the ball screw pair and the spline pulley to rotate. When the valve shaft rotation is not required, the clutch can be activated to disengage, so that the spline drive pulley shaft does not rotate.

[0014] The valve shaft hole of the present invention is fixedly provided with a sealing plate at the lower end, and the valve shaft is sealed to the sealing plate to prevent water from entering between the valve shaft hole and the valve shaft.

[0015] The ball screw assembly of the present invention has a screw fixedly connected to a support via a bearing, a screw bearing seat, and a bracket. The support is fixedly connected to a fixed base. A valve retraction sensor is provided on the screw bearing seat at the upper end of the screw. A sensing block is fixedly provided on the transmission connecting rod. The sensing block cooperates with the valve retraction sensor so that when the screw rises and the valve shaft returns to its position, the sensing block touches the valve retraction sensor, and the valve retraction sensor senses the sensing block to determine that the valve retraction is in place.

[0016] A firefighting robot includes a chassis and a track. The chassis has a control compartment and a water cannon. A walking mechanism is located at the lower end of the chassis and works in conjunction with the track. A control system is located within the control compartment. The robot is characterized by: a valve opening mechanism as described above on the chassis; at least one spiral water valve on the track; a docking water intake mechanism between the valve opening mechanism and the spiral water valve; a valve opening lever of the valve opening mechanism engaging with the valve core of the spiral water valve to rotate the valve core; the valve opening mechanism connecting with the spiral water valve via the docking water intake mechanism to draw water; a fixed base fixedly connected to the chassis frame; a water outlet channel on the fixed base communicating with the water inlet of the water cannon; a lifting and rotating mechanism fixed to the frame and controlled and driven by the control system; and the spiral water valve fixedly connected to the track to facilitate the valve opening mechanism drawing water from the spiral water valve to supply the water cannon, thus completing the firefighting operation.

[0017] The valve opening wrench of the present invention has a limiting block extending radially outward from the lower outer wall, and a stop block is fixedly provided on the valve core seat of the valve core. After the valve opening wrench is inserted into the valve core, the limiting block and the stop block abut against each other, driving the valve core to rotate, so that the valve opening wrench drives the valve core to move synchronously through the limiting block and the stop block.

[0018] The water intake mechanism of this invention includes a sliding sealing 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 sealing sleeve is provided on the outer side of the fixed base. The inner wall of the sliding sealing sleeve is slidably connected to the outer wall of the fixed base. A sealing ring is fixedly provided at the lower end of the sliding sealing sleeve. The sliding sealing sleeve falls and abuts against the upper surface of the spiral water intake valve via the sealing ring to achieve docking. The sliding sealing sleeve has [missing information - likely related to the valve's design]. The left and right rack plates have fixed brackets on their front and rear sides, respectively, which are fixedly connected to the frame. The right end of the left rack plate is fixedly connected to the sliding seal sleeve. A left gear is provided on the left end of the left rack plate, which meshes with the rack on the left rack plate. The left gear is fixed on a left gear shaft, and both ends of the left gear shaft are fixedly connected to the fixed brackets on both sides via bearings. A left worm gear is fixedly mounted on one end of the left gear shaft through the fixed bracket. The left end of the right rack plate is fixedly connected to the sliding seal sleeve, and a left worm gear is provided on the right end of the right rack plate. The device includes a right gear that meshes with a rack on a right rack plate. The right gear is fixed to a right gear shaft, and both ends of the right gear shaft are fixedly connected to two side brackets via bearings. A right worm gear is fixedly mounted on one end of the right gear shaft, extending out of the brackets. A worm shaft is mounted on both the left and right worm gears. Left and right helical teeth are fixedly spaced on the worm shaft, with the helix direction of the left helical teeth opposite to that 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. The worm shaft has two ends... The worm shaft is fixedly connected to the frame via bearings. One end of the worm shaft extends out of the frame and is driven by a worm motor. The worm motor is fixed on the frame and connected to the control system to facilitate starting the worm motor. The worm motor drives the worm shaft, which in turn drives the left and right gears to rotate through the worm gear transmission. This, in turn, drives the left and right rack plates to move up and down synchronously, thus realizing the up and down movement of the sliding sealing sleeve. When the sealing ring at the lower end of the sliding sealing sleeve abuts against the upper end face of the spiral water valve, the sliding sealing sleeve and the spiral water valve are connected.

[0019] The present invention provides a limiting and fixing mechanism between the spiral water intake valve and the valve opening mechanism. The limiting and fixing mechanism includes a hook plate frame, a guide sliding mechanism, a hook plate, a limiting plate, and an eccentric wheel. Hook plate frames are respectively provided at the front and rear of the sliding sealing sleeve. A guide sliding mechanism is provided between the hook plate frame and the fixing frame. The hook plate frame is slidably connected to the fixing frame via the guide sliding mechanism. The lower end of the hook plate frame extends towards the center of the sliding sealing sleeve to form a hook plate. The upper end of the spiral water intake valve extends outwards on both the front and rear sides to form limiting plates. Limiting wheel holes are spaced apart on the hook plate frame. Eccentric wheels are fixedly provided at the front and rear ends of the left gear shaft, and eccentric wheels are fixedly provided at the front and rear ends of the right gear shaft. An eccentric wheel is fixedly installed and placed inside the limiting wheel hole. When the top of the eccentric wheel turns from the proximal end to the distal end, the hook plate frame moves upward with the eccentric wheel. The upper surface of the hook plate abuts against the lower surface of the limiting plate to achieve a fixed connection between the fixed frame and the spiral water valve, which facilitates the start of the worm motor. The worm motor drives the worm shaft, which drives the left and right gears to rotate through the worm gear transmission, thereby driving the eccentric wheel to rotate. As the sliding sealing sleeve moves downward, the hook plate rises under the action of the eccentric wheel. When the sealing ring at the lower end of the sliding sealing sleeve abuts against the upper valve cover of the spiral water valve, the upper surface of the hook plate abuts against the lower surface of the limiting plate and is fixed, thus achieving a sealed fixation between the hook plate and the spiral water valve.

[0020] The present invention provides limiting baffles on the front and rear sides of the lower end of the limiting wheel hole, the limiting baffles are fixedly connected to the hook plate frame, and a lubricating oil groove is formed between the two limiting baffles and the limiting wheel hole. The lubricating oil groove contains lubricating oil. When the eccentric wheel rotates, the eccentric wheel comes into contact with the lubricating oil in the lubricating oil groove, so as to improve the smoothness of the rotation of the eccentric wheel through the lubricating oil.

[0021] The hook plate frame of the present invention is provided with at least one pressing mechanism at its upper end. The pressing mechanism includes an upper connecting seat, a lower connecting seat and a spring. The hook plate frame is provided with at least one lower connecting seat and is fixedly connected to the hook plate frame. The lower connecting seat is provided with at least one spring. The fixed frame is provided with an upper connecting seat and is fixedly connected to the fixed frame. The upper connecting seat and the lower connecting seat are opposite to each other. 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. This is to facilitate the spring to open after being compressed and push the hook plate frame downward when the eccentric wheel drives the hook plate to move downward, so as to separate the hook plate from the limiting plate.

[0022] The upper connecting seat of the present invention has at least one upper spring groove with an opening facing downward, and the lower connecting seat has at least one lower spring groove with an opening facing upward. 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, so as to facilitate the guidance of the spring through the upper and lower spring grooves and prevent the spring from tilting.

[0023] The guiding sliding mechanism of the present invention includes a first sliding strip and a sliding limiting block. The fixed frame has a sliding limiting block in the middle, and the hook plate frame has a guide groove in the middle. The first sliding strip is fixed on the left and right sides of the inner wall of the guide groove. The sliding limiting block is placed in the guide groove and slidably connected to the guide groove via the first sliding strip. The sliding limiting block is fixedly connected to the fixed frame to facilitate limiting the position of the hook plate frame by the sliding limiting block. The guide groove, the sliding limiting block and the first sliding strip prevent the hook plate frame from moving left or right.

[0024] The guide sliding mechanism of the present invention further includes a front and rear limiting sliding mechanism, which includes a second sliding bar and a sliding limiting seat. The fixed frame is provided with sliding limiting seats at both ends. The sliding limiting seats are fixedly connected to the fixed frame. An opening limiting groove facing the hook plate frame is provided between the sliding limiting seat and the fixed frame. The front and rear sides of the opening limiting groove are respectively fixedly provided with second sliding bars. The left and right ends of the hook plate frame are respectively placed in the opening limiting groove and slidably connected to the opening limiting groove through the second sliding bars, so as to limit the front and rear of the hook plate frame through the sliding limiting seat, so that the hook plate frame cannot move back and forth.

[0025] The present invention provides a positioning mechanism between the spiral water intake valve and the valve opening 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 of the spiral water intake valve. The positioning blocks are fixedly connected to the upper valve cover. A positioning proximity sensor is provided on the frame above the positioning blocks. The positioning proximity sensor cooperates with the positioning blocks and is fixedly connected to the frame. The positioning proximity sensor is connected to the control system so that when the frame approaches the spiral water intake valve from one side, the positioning block on the left or right side of the spiral water intake valve is sensed by the positioning proximity sensor on the frame, and the frame begins to decelerate. As the frame moves, when the positioning block on the right or left side of the spiral water intake valve is sensed by the positioning proximity sensor on the frame, the frame stops.

[0026] The spiral water valve of the present invention has a sealing groove on its upper end face. The lower end of the sealing ring is embedded in the sealing groove to seal the sliding sealing sleeve and the spiral water valve, so as to facilitate the sealing ring to be fixed by the sealing groove and increase the stability of the connection.

[0027] The frame of the present invention is fixedly equipped with a video intercom device and a flame detector. The video intercom device and the flame detector are respectively connected to the control system to facilitate early detection of fire sources.

[0028] The frame of the present invention is fixedly provided with a protective cover on the outside to protect the components on the frame.

[0029] Due to the above-mentioned structure, this invention has the advantages of ingenious structure, maintenance-free operation, automatic alignment, accurate and fast alignment, good sealing effect, and long service life. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of one structure of the valve opening mechanism of the present invention.

[0031] Figure 2 This is the present invention. Figure 1 A sectional view.

[0032] Figure 3 This is another structural schematic diagram of the valve opening mechanism of the present invention.

[0033] Figure 4 This is the present invention. Figure 3 A cross-sectional view of the drive mechanism.

[0034] Figure 5 This is a schematic diagram of the valve opening mechanism of the present invention, in which the valve opening wrench is a universal socket.

[0035] Figure 6 This is a structural schematic diagram of the firefighting robot of the present invention.

[0036] Figure 7 This is the present invention. Figure 6 Remove the side view of the track.

[0037] Figure 8 This is a schematic diagram of the fire-fighting robot of the present invention with the protective cover and spiral water valve removed.

[0038] Figure 9 A cross-sectional view of the firefighting robot of the present invention from one angle.

[0039] Figure 10 This is a cross-sectional view of the firefighting robot of the present invention from another angle.

[0040] Figure 11 This is a schematic diagram of a valve wrench and valve core in the fire-fighting robot of the present invention.

[0041] Figure 12 This is a schematic diagram of another valve opening wrench and valve core in the fire-fighting robot of the present invention.

[0042] Figure 13 This is the present invention. Figure 12 A sectional view.

[0043] Figure 14 A schematic diagram of the structure in which the valve opening mechanism of this invention is connected to the spiral water intake valve.

[0044] Figure 15 This is a schematic diagram showing the state of the spiral water intake valve after the valve opening mechanism of the present invention is connected to the spiral water intake valve.

[0045] Figure 16This is a schematic diagram of the water intake mechanism of the present invention.

[0046] Figure 17 This is the present invention. Figure 16 Side sectional view.

[0047] Figure 18 This is a schematic diagram showing the state in which the hook plate and the limiting plate are spaced apart and opposite each other in the limiting and fixing mechanism of the present invention.

[0048] Figure 19 This is a schematic diagram showing the state in which the hook plate and the limiting plate abut against each other in the limiting and fixing mechanism of the present invention.

[0049] Figure 20 This is a schematic diagram of the hook plate frame in this invention.

[0050] Reference numerals: 1. Fixed base; 2. Valve shaft; 3. Inlet channel; 4. Outlet channel; 5. Valve shaft hole; 6. Lifting and rotating mechanism; 7. Valve opening wrench; 8. Position sensor; 9. Position probe; 10. Retaining ring; 11. Limit spring; 12. Valve core mating groove; 13. Universal sleeve; 14. Chassis; 15. Rail; 16. Valve core; 17. Water cannon; 18. Walking mechanism; 19. Spiral water intake valve; 20. Water intake mechanism; 21. Frame; 22. Sliding sealing sleeve; 23. Sealing ring; 24. Left rack plate. 25. Right rack plate; 26. Fixing bracket; 27. Left gear; 28. Left gear shaft; 29. ​​Left worm gear; 30. Right gear; 31. Right worm gear; 32. Worm shaft; 33. Worm motor; 34. Left helical gear; 35. Right helical gear; 36. Limiting and fixing mechanism; 37. Hook plate frame; 38. Guide sliding mechanism; 39. Hook plate; 40. Limiting plate; 41. Eccentric wheel; 42. Limiting wheel hole; 43. Pressing mechanism; 44. Upper connecting seat; 45. Lower connecting seat; 46. Spring; 47. Ball spline pair; 48. Bearing seat. 48. Splined pulley; 49. Ball screw pair; 50. Transmission connecting rod; 51. Drive mechanism; 52. Splined shaft; 53. Splined shaft nut; 54. Nut; 55. Screw; 56. Ball screw drive motor; 57. Ball spline drive motor; 58. Main drive motor; 59. First drive gear; 60. Second drive gear; 61. First driven gear; 62. Synchronous belt; 63. Splined drive pulley; 64. Splined drive pulley shaft; 65. Second driven gear; 66. Clutch; 67. Bidirectional torque... Force limiter 68, sealing plate 69, screw bearing seat 70, valve closing sensor 71, video intercom device 72, flame detector 73, protective cover 74, positioning mechanism 75, positioning block 76, upper valve cover 77, positioning proximity sensor 78, limit block 79, stop block 80, guide groove 94, limit baffle 95, front and rear limit sliding mechanism 96, first sliding bar 97, sliding limit block 98, second sliding bar 99, valve opening mechanism 100, sliding limit seat 101. Detailed Implementation

[0051] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0052] A valve opening mechanism is characterized by comprising a fixed base 1 and a valve shaft 2. The fixed base 1 has a valve shaft hole 5 and a water inlet channel 3. One side of the fixed base 1 has a water outlet channel 4, which is connected to the water inlet channel 3. The valve shaft 2 is placed in the valve shaft hole 5 and is slidably connected to the valve shaft hole 5 in a sealed manner. The upper end of the valve shaft 2 extends out of the fixed base 1 and is provided with a lifting and rotating mechanism 6. The lower end of the valve shaft 2 extends out of the water inlet channel 3 to form a valve opening end. The valve shaft 2 is connected to the lifting and rotating mechanism 6 to facilitate the opening and closing of the water valve by a spiral method. It is maintenance-free, has a long service life, and its performance does not degrade.

[0053] The valve shaft 2 of the present invention is provided with a valve opening wrench 7 at its lower end. The upper end of the valve opening wrench 7 is fixedly connected to the valve shaft 2, and the lower end extends out of the water inlet channel to form the valve opening end, so as to facilitate the valve core of the water valve to rotate by the valve opening wrench and thus realize the valve opening.

[0054] The valve shaft 2 of this invention is provided with a detection hole in the axial direction. A positioning sensor 8 and a positioning probe 9 are arranged from top to bottom inside the valve shaft 2. The positioning sensor 8 is fixedly connected to the inner wall of the valve shaft 2. The positioning probe 9 is located below the positioning sensor 8. A retaining ring 10 is fixedly provided on the inner wall of the valve shaft 2 below the positioning sensor 8. The outer diameter of the upper part of the positioning probe 9 is smaller than the outer diameter of the middle part of the positioning probe 9, and the outer diameter of the middle part of the positioning probe 9 is smaller than the inner diameter of the retaining ring 10. A limiting spring 11 is provided between the upper part of the positioning probe 9 and the retaining ring 10. The limiting spring 11 is squeezed and sleeved on the upper part of the positioning probe 9. The upper end of the positioning probe 9 passes through the limiting spring 11 and the retaining ring 10 and is placed below the positioning sensor 8. The positioning probe 9 is slidably connected to the valve shaft 2. The lower end of the positioning probe 9 passes through the valve shaft 2 and connects to the valve opening wrench 7, so that when the valve opening wrench is docked with the valve core, the positioning probe is squeezed upward by the valve core and sensed by the positioning sensor, thus achieving docking.

[0055] The valve opening wrench 7 of the present invention has a probe hole in the middle, which is connected to the detection hole. The lower end of the valve opening wrench 7 has a valve core docking groove 12, the upper end of which is connected to the probe hole. The outer diameter of the lower part of the positioning probe 9 is smaller than the outer diameter of the middle part of the positioning probe 9, and the probe hole is smaller than the outer diameter of the middle part of the positioning probe. The lower end of the positioning probe 9 passes through the probe hole and is placed in the valve core docking groove 12, so that when the valve opening wrench and the valve core are docked in place, the valve core pushes against the positioning probe, the positioning probe moves upward, is sensed by the positioning sensor, and the docking is in place.

[0056] The valve opening wrench 7 described in this invention is a universal sleeve 13. The lower end of the positioning probe 9 passes through the valve shaft 2 and is fixedly connected to the core rod of the universal sleeve 13. This facilitates the valve core pressing the core rod of the universal sleeve upward when the universal sleeve and the valve core are in place. The core rod moves upward with the positioning probe and is sensed by the positioning sensor, thus completing the alignment.

[0057] The lifting and rotating mechanism 6 of this invention includes a ball spline pair 47, a bearing, a bearing housing 48, a spline pulley 49, a ball screw pair 50, a transmission connecting rod 51, and a drive mechanism 52. The upper end of the valve shaft 2 is provided with the ball spline pair 47, and the upper end of the valve shaft 2 is fixedly connected to the lower end of the spline shaft 53 of the ball spline pair 47. The upper end of the spline shaft 53 is fixedly connected to the bearing housing 48 via a bearing. The spline shaft nut 54 of the ball spline pair 47 is fixedly connected to the fixed seat 1 via a bearing. The spline pulley 49 is fixedly mounted on the outer wall of the spline shaft nut 54. The ball screw pair 50 is provided on one side of the bearing housing 48. The bearing housing 48 is fixedly connected to the nut 55 of the ball screw assembly 50 via the transmission connecting rod 51. The screw 56 of the ball screw assembly 50 is connected to the fixed seat 1 via the bearing and the bracket. The spline pulley 49 and the screw 56 of the ball screw assembly 50 are driven by the drive mechanism 52, so as to drive the screw of the ball screw assembly to rotate through the drive mechanism, thereby driving the nut to move up and down. The nut drives the spline shaft and the valve shaft to move up and down through the transmission connecting rod to achieve alignment. The spline pulley is driven to rotate by the drive mechanism, thereby driving the outer spline cylinder to rotate, thereby realizing the rotation of the spline shaft. The spline shaft drives the valve shaft to rotate, thereby realizing the helical switch valve.

[0058] The drive mechanism 52 of the present invention can be composed of a ball screw drive motor 57 and a ball spline drive motor 58. The screw 56 of the ball screw pair 50 is driven by the ball screw drive motor 57, and the spline pulley 49 is driven by the ball spline drive motor 58 via gear transmission, so as to facilitate the valve shaft to move up and down through the ball screw drive motor, and realize the rotation of the valve shaft to open and close the valve through the ball spline drive motor.

[0059] The spline pulley 49 of the present invention is connected to a spline drive pulley 64 via a synchronous belt 63. The spline drive pulley 64 is fixed on the spline drive pulley shaft 65. A bidirectional torque limiter 68 is installed on the spline drive pulley shaft 65 to prevent the ball spline drive motor from being overloaded.

[0060] The drive mechanism 52 of the present invention can also be composed of a main drive motor 59, a first drive gear 60, a clutch 67, a second drive gear 61, a first driven gear 62, a synchronous belt 63, a spline drive pulley 64, a spline drive pulley shaft 65, and a second driven gear 66. The main drive motor 59 is provided on one side of the fixed base 1. The main drive motor 59 is connected to the fixed base 1 via a bracket. The first drive gear 60 and the clutch 67 are spaced apart on the output shaft of the main drive motor 59. The first drive gear 60 is fixedly connected to the output shaft of the main drive motor 59. The first drive gear 60 meshes with the first driven gear 62, and the first driven gear 62 is fixedly connected to the screw 56 of the ball screw assembly 50. The clutch 67 is fixedly connected to the output shaft of the main drive motor 59. A second drive gear 61 is fixedly mounted on the output shaft of the clutch 67. The spline pulley 49 is connected to a spline drive pulley 64 via a synchronous belt 63. The spline drive pulley 64 is fixed on the spline drive pulley shaft 65. A second driven gear 66 is provided at the lower end of the spline drive pulley shaft 65. The second driven gear 66 is fixedly connected to the spline drive pulley shaft 65 and meshes with the second drive gear 61 to facilitate the main drive motor to drive the screw of the ball screw pair and the spline pulley to rotate. When the valve shaft rotation is not required, the clutch can be activated to disengage, so that the spline drive pulley shaft does not rotate.

[0061] The valve shaft hole 5 of the present invention is fixedly provided with a sealing plate 69 at the lower end, and the valve shaft 2 is sealed to the sealing plate 69 to prevent water from entering the valve shaft hole and between the valve shaft.

[0062] In the present invention, the screw 56 of the ball screw assembly 50 is fixedly connected to the bracket via a bearing, a screw bearing seat 70, and a fixed bracket to the fixed base 1. A valve retraction sensor 71 is provided on the screw bearing seat 70 at the upper end of the screw 56, and a sensing block is fixedly provided on the transmission connecting rod 51. The sensing block cooperates with the valve retraction sensor 71 so that when the screw rises and the valve shaft returns to its position, the sensing block touches the valve retraction sensor, and the valve retraction sensor senses the sensing block to determine that the valve retraction is in place.

[0063] A firefighting robot includes a chassis 14 and a track 15. The chassis 14 has a control compartment and a water cannon 17. A walking mechanism 18 is located at the lower end of the chassis 14 and cooperates with the track 15. A control system is located within the control compartment. The robot is characterized by: a valve opening mechanism 100 as described above on the chassis 14; at least one spiral water intake valve 19 on the track 15; a docking water intake mechanism 20 between the valve opening mechanism 100 and the spiral water intake valve 19; and a valve opening lever 7 of the valve opening mechanism 100. The valve core 16 of the spiral water intake valve 19 can be driven to rotate. The valve opening mechanism 100 connects with the spiral water intake valve 19 to take water through the docking water intake mechanism 20. The fixed base 1 is fixedly connected to the frame 21 of the chassis 14. The water outlet channel 4 on the fixed base 1 is connected to the water inlet of the water cannon 17. The lifting and rotating mechanism 6 is fixed on the frame 21 and controlled and driven by the control system. The spiral water intake valve 19 is fixedly connected to the track 15 to facilitate the valve opening mechanism to take water from the spiral water intake valve to supply the water cannon and complete the fire extinguishing operation.

[0064] The valve wrench 7 of the present invention has a limiting block 79 extending radially outward from the lower outer wall. The valve core seat of the valve core 16 is fixedly provided with a stop block 80. After the valve wrench 7 is inserted into the valve core 16, the limiting block 79 and the stop block 80 abut against each other, driving the valve core 16 to rotate, so that the valve wrench drives the valve core to move synchronously through the limiting block and the stop block.

[0065] The water intake mechanism 20 of this invention includes a sliding sealing 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. The fixed base 1 has a sliding sealing sleeve 22 on its outer side. The inner wall of the sliding sealing sleeve 22 is slidably connected to the outer wall of the fixed base 1. A sealing ring 23 is fixedly provided at the lower end of the sliding sealing sleeve 22. The sliding sealing sleeve 22 falls and abuts against the upper surface of the spiral water intake valve 19 via the sealing ring 23 to achieve docking. The sliding sealing sleeve 22 has a left rack plate 24 and a right rack plate 25 on its left and right sides. Fixing brackets 26 are provided on the front and rear sides of the sliding sealing sleeve 22, and the fixing brackets 26 are fixedly connected to the frame 21. The right end of the left rack plate 24 is fixedly connected to the sliding sealing sleeve 22. A left gear 27 is provided on the left end of the left rack plate 24, and 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 fixing brackets 26 on both sides via bearings. A left worm gear 29 is fixedly mounted on one end of the left gear shaft 28 through the fixing bracket 26. The left end of the right rack plate 25 is fixedly connected to the sliding sealing sleeve 22. The cover 22 is fixedly connected. 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 fixing brackets 26 via bearings. One end of the right gear shaft extends out of the fixing bracket 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. A left helical tooth 34 and a right helical tooth 35 are fixedly fixed at intervals 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 gear 29. The helical gear 35 meshes with the right worm gear 31. The two ends of the worm shaft 32 are fixedly connected to the fixed frame 26 via bearings. One end of the worm shaft 32 extends out of 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 to facilitate starting the worm motor. The worm motor drives the worm shaft, which drives the left and right gears to rotate through the worm gear transmission. This, in turn, drives the left and right rack plates to move up and down synchronously, realizing the up and down movement of the sliding sealing sleeve. When the sealing ring at the lower end of the sliding sealing sleeve abuts against the upper end face of the spiral water valve, the sliding sealing sleeve and the spiral water valve are connected.

[0066] A limiting and fixing mechanism 36 is provided between the spiral water intake valve 19 and the valve opening mechanism 100 of the present invention. The limiting and fixing mechanism 36 includes a hook plate frame 37, a guide sliding mechanism 38, a hook plate 39, a limiting plate 40, and an eccentric wheel 41. The sliding sealing sleeve 22 is provided with hook plate frames 37 at the front and rear, respectively. A guide sliding mechanism 38 is provided between the hook plate frame 37 and the fixing frame 26. The hook plate frame 37 is slidably connected to the fixing frame 26 via the guide sliding mechanism 38. The lower end of the hook plate frame 37 extends toward the center of the sliding sealing sleeve 22 to form a hook plate 39. The upper end of the spiral water intake valve 19 extends outward on both the front and rear sides to form a limiting plate 40. The hook plate frame 37 is provided with limiting wheel holes 42 at intervals. The left gear shaft 28 is fixed with eccentric wheels at both the front and rear ends. The right gear shaft has two eccentric wheels 41 fixed at its front and rear ends. The eccentric wheels 41 are placed in the limiting wheel hole 42. When the top of the eccentric wheel 41 moves from the proximal end to the distal end, the hook plate frame 37 moves upward with the eccentric wheel 41. The upper end face of the hook plate 39 abuts against the lower end face of the limiting plate 40 to achieve a limiting and fixed connection between the fixing frame 26 and the spiral water valve 19, which facilitates the start of the worm motor. The worm motor drives the worm shaft, which drives the left and right gears to rotate through the worm gear transmission, thereby driving the eccentric wheel to rotate. While the sliding sealing sleeve moves downward, the hook plate rises under the action of the eccentric wheel. When the sealing ring at the lower end of the sliding sealing sleeve abuts against the upper valve cover of the spiral water valve, the upper end face of the hook plate abuts against the lower end face of the limiting plate to achieve a sealed fixation between the hook plate and the spiral water valve.

[0067] The present invention provides limiting baffles 95 on the front and rear sides of the lower end of the limiting wheel hole 42. The limiting baffles 95 are fixedly connected to the hook plate frame 37. A lubricating oil groove is formed between the two limiting baffles 95 and the limiting wheel hole 42. The lubricating oil groove contains lubricating oil. When the eccentric wheel 41 rotates, the eccentric wheel 41 comes into contact with the lubricating oil in the lubricating oil groove, so as to improve the smoothness of the rotation of the eccentric wheel through the lubricating oil.

[0068] The hook plate frame 37 of the present invention is provided with at least one pressing mechanism 43 at its upper end. The pressing mechanism 43 includes an upper connecting seat 44, a lower connecting seat 45 and a spring 46. The hook plate frame 37 is provided with at least one lower connecting seat 45, which is fixedly connected to the hook plate frame 37. The lower connecting seat 45 is provided with at least one spring 46. The fixed frame 26 is provided with an upper connecting seat 44, which is fixedly connected to the fixed frame 26. The upper connecting seat 44 and the lower connecting seat 45 are opposite to each other. 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. This is so that when the eccentric wheel drives the hook plate to move down, the spring opens up after being compressed and pushes the hook plate frame downward, thereby separating the hook plate from the limiting plate.

[0069] The upper connecting seat 44 of the present invention has at least one upper spring groove with an opening facing downward, and the lower connecting seat 45 has at least one lower spring groove with an opening facing upward. 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 the guidance of the spring through the upper and lower spring grooves and prevent the spring from tilting.

[0070] The guide sliding mechanism 38 of the present invention includes a first sliding strip 97 and a sliding limiting block 98. The fixed frame 26 is provided with a sliding limiting block 98 in the middle, and the hook plate frame 37 is provided with a guide groove 94 in the middle. The first sliding strip 97 is fixedly provided on the left and right sides of the inner wall of the guide groove 94. The sliding limiting block 98 is placed in the guide groove 94 and is slidably connected to the guide groove (94) through the first sliding strip 97. The sliding limiting block 98 is fixedly connected to the fixed frame 26 so as to limit the position of the hook plate frame by the sliding limiting block. The guide groove, the sliding limiting block and the first sliding strip prevent the hook plate frame from moving left and right.

[0071] The guide sliding mechanism 38 of the present invention further includes a front and rear limiting sliding mechanism 96. The front and rear limiting sliding mechanism 96 includes a second sliding bar 99 and a sliding limiting seat 101. The fixed frame 26 is provided with sliding limiting seats 101 at both ends. The sliding limiting seats 101 are fixedly connected to the fixed frame 26. An opening limiting groove facing the hook plate frame 37 is provided between the sliding limiting seat 101 and the fixed frame 26. The front and rear sides of the opening limiting groove are respectively fixedly provided with the second sliding bar 99. The left and right ends of the hook plate frame 37 are respectively placed in the opening limiting groove and slidably connected to the opening limiting groove through the second sliding bar 99, so as to limit the front and rear of the hook plate frame through the sliding limiting seat, so that the hook plate frame cannot move back and forth.

[0072] A positioning mechanism 75 is provided between the spiral water intake valve 19 and the valve opening mechanism 100 of the present invention. The positioning mechanism 75 includes a positioning block 76 and a positioning proximity sensor 78. The upper valve cover 77 of the spiral water intake valve 19 is provided with positioning blocks 76 at both ends. The positioning blocks 76 are fixedly connected to the upper valve cover 77. The positioning proximity sensor 78 is provided on the frame 21 above the positioning blocks 76. The positioning proximity sensor 78 cooperates with the positioning blocks 76 and is fixedly connected to the frame 21. The positioning proximity sensor 78 is connected to the control system so that when the frame approaches the spiral water intake valve from one side, the positioning block on the left or right side of the spiral water intake valve is sensed by the positioning proximity sensor on the frame, and the frame begins to decelerate. As the frame moves, when the positioning block on the right or left side of the spiral water intake valve is sensed by the positioning proximity sensor on the frame, the frame stops.

[0073] The spiral water valve 19 of the present invention has a sealing groove on its upper end face. The lower end of the sealing ring 23 is embedded in the sealing groove to seal the sliding sealing sleeve 22 and the spiral water valve 19, so as to facilitate the sealing ring to be fixed by the sealing groove and increase the stability of the connection.

[0074] The frame 21 of the present invention is fixedly equipped with a video intercom device 72 and a flame detector 73. The video intercom device 72 and the flame detector 73 are respectively connected to the control system to facilitate early detection of fire sources.

[0075] The frame 21 of the present invention is fixedly provided with a protective cover 74 on the outside to protect the components on the frame.

[0076] As attached Figure 1 -Appendix Figure 5 The valve opening mechanism in this invention has two driving mechanisms, one of which is shown in the attached figure. Figure 1 and attached Figure 2 One method uses a ball screw drive motor to drive a ball screw pair, which in turn moves the valve shaft up and down. Another method uses a ball spline drive motor to drive a ball spline pair, which in turn rotates the valve shaft. A bidirectional torque limiter can be installed on the ball spline drive motor to protect it. The bidirectional torque limiter, the ball spline drive motor, and the ball screw drive motor are all connected to a control system, such as a PLC control system. Another driving method is shown in the attached diagram. Figure 3 and attached Figure 4 Both the ball screw assembly and the ball spline assembly are driven by the main drive motor through gear linkage. The use of the ball spline assembly is controlled by a clutch. The main drive motor and the clutch are controlled by the control system, and the two drive methods can be set as needed. In this invention, the position sensor is connected to the control system. The valve wrench is inserted into the valve core of the spiral water valve, driving the valve core to move up and down and rotate. This embodiment provides three types of valve wrenches.

[0077] The structure of the first type of valve opening wrench is shown in the attached figure. Figure 2 Appendix 12 Figure 15 The lower end of the valve opening wrench has a valve core mating groove. This groove is non-circular; it can be polyhedral or pyramidal, as shown in the attached image. Figure 2 In the middle, the valve core mating groove is pentagonal pyramidal in shape, and the inner diameter of the upper end of the valve core mating groove is smaller than the inner diameter of the lower end of the valve core mating groove. Correspondingly, as shown in the attached figure... Figure 12 The upper end of the valve core of the spiral water intake valve is also pentagonal pyramidal, which is inserted and fixed in conjunction with the valve core mating groove;

[0078] The structure of the second type of valve opening wrench is shown in the attached figure. Figure 9 and attached Figure 11The lower end of the valve opening wrench is provided with a valve core mating groove. This groove can be conical, with the inner diameter of the upper end being smaller than the inner diameter of the lower end. In this case, limit blocks are spaced apart on the outer wall of the valve opening wrench, as shown in the attached diagram. Figure 11 Correspondingly, the upper end of the valve core of the spiral water valve is conical. The valve core is fixed on the valve core seat, and the outer side of the valve core is provided with stop blocks at intervals. The stop blocks are fixed on the valve core seat and move and rotate together with the valve core. When the valve core is inserted into the valve core docking groove, the inner end of the limit block is fixedly connected to the outer wall of the valve opening wrench, and the outer end of the limit block abuts against the stop block, driving the stop block to rotate and move, thereby driving the valve core to rotate and move. This structure is easy to connect. After the valve opening wrench is lowered and the valve core docking groove is inserted into the valve core, the valve shaft is rotated to drive the valve opening wrench to rotate, and the limit block can abut against the stop block, driving the valve core to rotate and move. The connection is quick, convenient and accurate.

[0079] In both of the above structures, after the valve core enters the valve core docking groove, the upper end of the valve core will touch and push up the positioning probe. The positioning probe rises and compresses the spring. The upper end of the positioning probe is sensed by the positioning sensor, which transmits the signal to the control system to achieve docking in place.

[0080] The structure of the third type of valve opening wrench is shown in the attached figure. Figure 5 The valve opening wrench is a universal socket, which can be used with valve cores of spiral water intake valves at different angles. It can complete the alignment in one go, and the alignment is accurate and fast. When this type of valve opening wrench is connected to the valve core of the spiral water intake valve, the valve core of the spiral water intake valve enters into the universal socket. The valve core moves upward against the core rod of the universal socket. The core rod drives the positioning probe to move upward. The positioning probe rises and compresses the spring. The upper end of the positioning probe is sensed by the positioning sensor, which transmits the signal to the control system to achieve the docking. The three types of valve opening wrenches can be selected and set as needed.

[0081] As attached Figure 6 -Appendix Figure 15 This is a schematic diagram of the fire-fighting robot of the present invention. In use, the valve opening mechanism is mounted on the chassis frame. A walking mechanism is installed on the chassis, cooperating with a track. The walking wheels on both sides of the fire-fighting robot are clamped inside the track, ensuring close contact between the wheels and the track for easy movement. Multiple spiral water valves can be installed on one track. In this invention, the track can be positioned above and the valve opening mechanism below, or vice versa. When the track is positioned above and the valve opening mechanism below, a groove can be provided in the middle of the walking wheels, as shown in the attached diagram. Figure 7 The corresponding track can be equipped with protrusions at the grooves of the walking wheels to facilitate the hanging of the walking wheels on the track, thus limiting the connection between the chassis and the track and preventing the fire-fighting robot from falling. The positional relationship between the track and the valve opening mechanism can be set according to actual needs. In this embodiment, the valve opening mechanism is described as being on top and the track is below.

[0082] When the present invention adopts the structure of the first type of valve wrench, the structure of the spiral water valve can refer to the utility model patent with patent number CN216343986U and title of spiral water valve applied for by the applicant on November 12, 2021. The valve core mentioned in the present invention is the docking joint in the above patent. When in use, the docking joint is inserted into the valve core docking groove of the valve wrench and docks with the valve wrench. The shape of the docking joint is not limited to the shape in the above patent drawings. The shape of the docking joint is determined by the shape of the valve core docking groove of the valve wrench in the present invention and matches it.

[0083] When the present invention employs the second type of valve opening wrench mechanism, as shown in the appendix... Figure 11 The spiral water valve has an added stop design based on the above patent. The valve core seat mentioned in this invention is the main valve sealing seat in the above patent. The stop is spaced on the outside of the docking joint. The stop is fixedly connected to the main valve sealing seat. The stop cooperates with the limiting block on the outside of the valve opening wrench and moves together with the docking joint. The docking joint is conical in shape. The valve core docking groove of the valve opening wrench is also conical. The valve opening wrench can rotate relative to the docking joint. The valve opening wrench drives the docking joint to rotate through the limiting block and the stop.

[0084] When the present invention adopts the structure of the third type of valve opening wrench, the structure of the spiral water intake valve can refer to the utility model patent with patent number CN216343986U and title of spiral water intake valve applied for by the applicant on November 12, 2021. The valve core mentioned in the present invention is the docking joint in the above patent. When in use, the docking joint only needs to be able to enter the universal sleeve, be able to lift the core rod of the universal sleeve, and be able to be fixed by the universal sleeve. The shape of the docking joint is not limited to the shape in the above patent drawings.

[0085] In use, the fire-fighting robot's walking mechanism patrols along a track. When the flame detector detects a fire, it transmits a signal to the control system. The control system then uses a positioning mechanism to sense the spiral water intake valve, as shown in the attached diagram. Figure 6 Appendix Figure 9 Appendix Figure 11 and attached Figure 12Specifically, two positioning blocks are set at the left and right ends of the upper valve cover, and correspondingly, two positioning proximity sensors are set on the frame. When the frame approaches the spiral water valve from one side, such as the left side of the spiral 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 begins 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, and 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 moving and begins to dock with the spiral water valve. The docking water intake mechanism is activated, the control system starts the worm gear motor, the worm motor drives the worm shaft, and through the worm gear transmission, drives the left gear to rotate clockwise and the right gear to rotate counterclockwise, thereby driving the left and right rack plates to move downwards synchronously. When the sealing ring at the lower end of the sliding sealing sleeve abuts against the upper surface of the spiral water valve, the sliding sealing sleeve docks with the spiral water valve, as shown in the attached diagram. Figure 10 At the same time, the left gear shaft rotates clockwise and the right gear shaft rotates counterclockwise, causing the top of the eccentric wheel to rotate from the proximal end to the distal end, as shown in the attached diagram. Figure 18 The hook plate frame rises as driven by the eccentric wheel, and the hook plate frame drives the hook plate to rise, as shown in the attached diagram. Figure 19 The hook plate engages with the limit plate, fixing the frame and the spiral water valve in place, thus completing the connection between the frame and the spiral water valve. Depending on the selected drive method, the screw of the ball screw assembly is first rotated. The nut of the ball screw assembly drives the spline shaft of the ball spline to move downwards via the transmission connecting rod. The spline shaft, along with the valve shaft and the valve opening wrench, moves downwards, and the valve core of the spiral water valve enters the valve opening wrench. When the position sensor detects the position probe, it transmits a signal to the control system.

[0086] When using the first or third type of valve opening wrench structure, as shown in the attached... Figure 14 The first type of valve wrench is used. The valve core is inserted into the valve core mating groove. The control system simultaneously drives the spline shaft of the ball spline pair to rotate. At this time, the screw of the ball screw pair also rotates. The lifting and rotation are synchronized. The spline shaft moves the valve shaft and the valve wrench downward and rotates. The valve wrench drives the valve core of the spiral water valve to rotate downward, as shown in the attached figure. Figure 15 When the valve core of the spiral water intake valve separates from the upper valve cover, the water flow inside the spiral water intake valve enters the inlet channel, shutting off the drive mechanism and preventing the valve shaft from rotating or moving downward, thus completing the valve opening operation.

[0087] When the second type of valve opening wrench structure is used, as shown in the attached... Figure 9 and attached Figure 11The upper end of the valve core is conical, and the valve core mating groove is also conical. After the valve core and the valve core mating groove are inserted into place, the control system controls the screw of the ball screw pair to stop rotating, and the valve opening wrench no longer moves down. At this time, the control system drives the spline shaft of the ball spline pair to rotate, which drives the valve opening wrench to rotate, so that the limit block on the outside of the valve opening wrench abuts against the stop block on the outside of the valve core. Then the control system drives the ball screw pair to synchronize the lifting and rotation. The spline shaft carries the valve shaft and the valve opening wrench down and rotates. The valve opening wrench rotates and moves down through the limit block and the stop block, which in turn causes the valve core to rotate and move down until the valve core of the spiral water valve separates from the upper valve cover. The water in the spiral water valve enters the water inlet channel, the drive mechanism is closed, and the valve shaft no longer rotates or moves down, completing the valve opening operation.

[0088] When closing the valve, the spiral water intake valve in patent CN216343986U has two structural types depending on the sealing position between the main valve core and the upper valve cover. One type seals the upper end of the main valve sealing seat with the lower end of the upper valve cover; the other type rises the main valve sealing seat into the water intake channel of the upper valve cover and seals against the inner wall of the water intake channel. When the spiral water intake valve uses the first structure, i.e., the upper end of the main valve sealing seat seals the lower end of the upper valve cover, the valve closing method differs depending on the type of valve opening wrench used.

[0089] When using the first or third type of valve opening wrench structure

[0090] The drive mechanism drives the screw of the ball screw assembly to rotate. The nut of the ball screw assembly drives the spline shaft of the ball spline to move upward through the transmission connecting rod. At the same time, the drive mechanism drives the spline shaft of the ball spline to rotate. The spline shaft, along with the valve shaft and valve wrench, rotates and moves upward, causing the connecting joint of the spiral water intake valve to rotate upward. When the upper end of the main valve sealing seat abuts against the lower end of the upper valve cover, depending on the selected drive mechanism (if a ball spline drive motor and a ball screw drive motor are selected), the current loop of the ball spline drive motor senses a current change and transmits the signal to the control system. If a bidirectional torque limiter is installed on the ball spline drive motor, the bidirectional torque limiter will disconnect when the limited torque is reached, and the bidirectional torque limiter will transmit the signal... The signal is sent to the control system, which stops driving the ball spline drive motor. If the main drive motor with clutch control is selected, the current loop of the main drive motor senses the current change and transmits the signal to the control system. The control system controls the clutch to disengage, the second drive gear stops rotating, and the ball spline pair stops rotating. The spline shaft continues to move the valve shaft and the valve opening wrench upwards. The valve opening wrench separates from the docking joint, the position probe is no longer squeezed, and the position probe moves downwards under the action of the limit spring's rebound force. The position sensor no longer senses the position probe, and the valve opening wrench continues to move upwards until the valve retraction sensor senses the sensing block on the transmission connecting rod and transmits the signal to the control system. The screw of the ball screw pair stops rotating, the spline shaft no longer rises, the valve is closed, and the valve shaft retracts to the position.

[0091] When the second type of valve opening wrench structure is adopted, the valve core mating groove inside the valve opening wrench is conical, and the mating joint is also conical. Therefore, the valve opening wrench can rotate relative to the mating joint. The control system first drives the spline shaft of the ball spline to rotate in the opposite direction, causing the valve opening wrench to rotate in the opposite direction relative to the stop block. This causes the other side of the limit block on the outside of the valve opening wrench to abut against the stop block. The control system continues to drive the spline shaft of the ball spline to rotate. At the same time, it synchronously drives the screw of the ball screw to rotate, causing the valve opening wrench to rotate and move upward with the mating joint. When the upper end of the main valve sealing seat abuts against the lower end of the upper valve cover, depending on the selected drive mechanism, if a ball spline drive motor and a ball screw drive motor are selected, the current loop of the ball spline drive motor senses the current change. The ball spline drive motor transmits the signal to the control system. If a bidirectional torque limiter is installed on the ball spline drive motor... If the bidirectional torque limiter reaches the limit torque and disconnects, it sends a signal to the control system, which then stops driving the ball spline drive motor. If the main drive motor plus clutch control is selected, the current loop of the main drive motor senses the current change and sends a signal to the control system. The control system then controls the clutch to disengage, the second drive gear stops rotating, and the ball spline pair stops rotating. The spline shaft continues to move the valve shaft and the valve opening wrench upwards. The valve opening wrench separates from the docking joint, the position probe is no longer squeezed, and the position probe moves downwards under the action of the limit spring's rebound force. The position sensor no longer senses the position probe, and the valve opening wrench continues to move upwards until the valve retraction sensor senses the sensing block on the transmission connecting rod and sends a signal to the control system. The screw of the ball screw pair stops rotating, the spline shaft no longer rises, and the valve is closed, with the valve shaft retracted into position.

[0092] When the spiral water valve adopts the second type of structure, that is, the main valve sealing seat rises into the water intake channel of the upper valve cover and seals with the inner wall of the water intake channel, the valve closing method will also differ depending on the valve opening wrench used.

[0093] When using the first or third type of valve opening wrench structure

[0094] The drive mechanism drives the screw of the ball screw assembly to rotate. The nut of the ball screw assembly drives the spline shaft of the ball spline to move upward through the transmission connecting rod. At the same time, the drive mechanism drives the spline shaft of the ball spline to rotate. The spline shaft drives the valve shaft and the valve opening wrench to rotate and move upward. The motor of the drive mechanism can record the number of revolutions the valve opening wrench drives the mating joint to rotate when the valve is opened. Thus, when the valve is closed, the valve opening wrench drives the mating joint to rotate in the opposite direction by the same number of revolutions. The main valve sealing seat rises to the corresponding height and connects with the water intake channel of the upper valve cover. After the inner wall is sealed, the control system starts the clutch or shuts down the ball spline drive motor. The spline shaft continues to move the valve shaft and valve opening wrench upwards. The valve opening wrench separates from the docking joint, the positioning probe is no longer squeezed, and the positioning probe moves downwards under the action of the limit spring. The positioning sensor can no longer detect the positioning probe, and the valve opening wrench continues to move upwards until the valve retraction sensor senses the sensing block on the transmission connecting rod and transmits the signal to the control system. The screw of the ball screw pair stops rotating, the spline shaft no longer rises, the valve is closed, and the valve shaft is retracted to the position.

[0095] When the second type of valve opening wrench structure is adopted, the valve core mating groove inside the valve opening wrench is conical, and the mating joint is also conical. Therefore, the valve opening wrench can rotate relative to the mating joint. The control system first drives the spline shaft of the ball spline to rotate in the opposite direction, causing the valve opening wrench to rotate in the opposite direction relative to the stop block. This causes the other side of the limit block on the outside of the valve opening wrench to abut against the stop block. The control system continues to drive the spline shaft of the ball spline to rotate. At the same time, it synchronously drives the screw of the ball screw to rotate, causing the valve opening wrench to rotate and move upward with the mating joint.

[0096] The motor of the drive mechanism can record the number of rotations of the valve opening wrench and the docking joint when the valve is opened. Thus, when the valve is closed, when the valve opening wrench rotates in the opposite direction, the limit block and the stop block abut against each other. The valve opening wrench can then rotate the docking joint in the opposite direction by the same number of rotations. After the main valve sealing seat rises to the corresponding height and seals with the inner wall of the water intake channel of the upper valve cover, the control system starts the clutch or shuts down the ball spline drive motor. The spline shaft continues to move up with the valve shaft and the valve opening wrench. The valve opening wrench separates from the docking joint, and the positioning probe is no longer squeezed. The positioning probe moves down under the action of the limit spring's rebound force. The positioning sensor can no longer detect the positioning probe. The valve opening wrench continues to move up until the valve retraction sensor senses the sensing block on the transmission connecting rod and transmits the signal to the control system. The screw of the ball screw pair stops rotating, and the spline shaft no longer rises, thus closing the valve and retracting the valve shaft to the position.

[0097] In this invention, both the position sensor and the valve retraction sensor can be proximity switches, which offer fast response and stable performance. The first and second sliding bars can be made of PTFE to reduce friction between the hook plate frame and the fixed plate, resulting in smoother up-and-down movement of the hook plate frame. This invention has a simple structure; using two drive motors or one drive motor in conjunction with a clutch enables the lifting and lowering docking of the valve shaft and the spiral valve switching. It has a long service life, requires no maintenance, and exhibits no performance degradation. Compared to the direct-opening valve method in existing technologies, it offers better sealing and prevents water leakage. Furthermore, by adjusting the motor speed, different lead spiral movements can be achieved for rotating the valve, reducing the opening pressure. The use of a docking water intake mechanism and a limiting and fixing mechanism ensures accurate docking and good sealing. This invention can autonomously dock with a spiral track water valve, automatically open the valve, provide excellent sealing, and extinguish fires promptly.

[0098] Due to the above-mentioned structure, this invention has the advantages of ingenious structure, maintenance-free operation, automatic alignment, accurate and fast alignment, good sealing effect, and long service life.

Claims

1. A valve opening mechanism, characterized in that: The device includes a fixed base (1) and a valve shaft (2). The fixed base (1) has a valve shaft hole (5) and a water inlet channel (3). The fixed base (1) has a water outlet channel (4) on one side, which is connected to the water inlet channel (3). The valve shaft (2) is placed in the valve shaft hole (5) and is slidably connected to the valve shaft hole (5). The upper end of the valve shaft (2) extends out of the fixed base (1) and is provided with a lifting and rotating mechanism (6). The lower end of the valve shaft (2) extends out of the water inlet channel (3) to form the valve opening end. The valve shaft (2) is connected to the lifting and rotating mechanism (6). The lower end of the valve shaft (2) is provided with a valve opening wrench (7). The upper end of the valve opening wrench (7) is fixedly connected to the valve shaft (2), and the lower end extends out of the water inlet. The channel forms the valve opening end. The valve shaft (2) is provided with a detection hole in the axial direction. The valve shaft (2) is provided with a position sensor (8) and a position probe (9) from top to bottom. The position sensor (8) is fixedly connected to the inner wall of the valve shaft (2). The position probe (9) is provided below the position sensor (8). A retaining ring (10) is fixedly provided on the inner wall of the valve shaft (2) below the position sensor (8). The outer diameter of the upper part of the position probe (9) is smaller than the outer diameter of the middle part of the position probe (9). The outer diameter of the middle part of the position probe (9) is smaller than the inner diameter of the retaining ring (10). A limiting spring (11) is provided between the upper part of the position probe (9) and the retaining ring (10). The limiting spring (11) is squeezed and sleeved on the position probe (9). The upper end of the positioning probe (9) passes through the limiting spring (11) and the retaining ring (10) and is placed below the positioning sensor (8). The positioning probe (9) is slidably connected to the valve shaft (2). The lower end of the positioning probe (9) passes through the valve shaft (2) and is connected to the valve opening wrench (7). When the valve opening wrench is connected to the valve core, the positioning probe is squeezed and rises by the valve core and is sensed by the positioning sensor, thus connecting in place. The lifting and rotating mechanism (6) includes a ball spline pair (47), a bearing, a bearing seat (48), a spline pulley (49), a ball screw pair (50), a transmission connecting rod (51), and a drive mechanism (52). The upper end of the valve shaft (2) is provided with a ball spline pair (47). The upper end of the valve shaft (2) is connected to the ball spline pair (47). The lower end of the spline shaft (53) is fixedly connected, and the upper end of the spline shaft (53) is fixedly connected to the bearing seat (48) via a bearing. The spline shaft nut (54) of the ball spline pair (47) is fixedly connected to the fixed seat (1) via a bearing. The outer wall of the spline shaft nut (54) is fixedly provided with a spline pulley (49). A ball screw pair (50) is provided on one side of the bearing seat (48). The bearing seat (48) is fixedly connected to the nut (55) of the ball screw pair (50) via a transmission connecting rod (51). The screw (56) of the ball screw pair (50) is connected to the fixed seat (1) via a bearing and a bracket. The spline pulley (49) and the screw (56) of the ball screw pair (50) are driven by a drive mechanism (52) respectively.

2. The valve opening mechanism according to claim 1, characterized in that: The valve opening wrench (7) has a probe hole in the middle, which is connected to the detection hole. The valve opening wrench (7) has a valve core docking groove (12) at the lower end. The upper end of the valve core docking groove (12) is connected to the probe hole. The lower end of the positioning probe (9) passes through the probe hole and is placed in the valve core docking groove (12).

3. A valve opening mechanism according to claim 1 or 2, characterized in that: The valve opening wrench (7) is a universal sleeve (13), and the lower end of the positioning probe (9) passes through the valve shaft (2) and is fixedly connected to the core rod of the universal sleeve (13).

4. A valve opening mechanism according to claim 1 or 2, characterized in that: The drive mechanism (52) consists of a ball screw drive motor (57) and a ball spline drive motor (58). The screw (56) of the ball screw pair (50) is driven by the ball screw drive motor (57), and the spline pulley (49) is driven by the ball spline drive motor (58) via gear transmission.

5. The valve opening mechanism according to claim 4, characterized in that: The spline pulley (49) is connected to a spline drive pulley (64) via a synchronous belt (63). The spline drive pulley (64) is fixed on the spline drive pulley shaft (65). A bidirectional torque limiter (68) is installed on the spline drive pulley shaft (65).

6. A valve opening mechanism according to claim 1 or 2, characterized in that: The drive mechanism (52) consists of a main drive motor (59), a first drive gear (60), a clutch (67), a second drive gear (61), a first driven gear (62), a synchronous belt (63), a spline drive pulley (64), a spline drive pulley shaft (65), and a second driven gear (66). The main drive motor (59) is located on one side of the fixed base (1). The main drive motor (59) is connected to the fixed base (1) via a bracket. The output shaft of the main drive motor (59) is spaced between the first drive gear (60) and the clutch (67). The first drive gear (60) is fixedly connected to the output shaft of the main drive motor (59). The first drive gear (60) and the first driven gear (66) are... 62) Engagement: The first driven gear (62) is fixedly connected to the screw (56) of the ball screw pair (50). The clutch (67) is fixedly connected to the output shaft of the main drive motor (59). The output shaft of the clutch (67) is fixedly provided with a second drive gear (61). The spline pulley (49) is connected to a spline drive pulley (64) via a synchronous belt (63). The spline drive pulley (64) is fixed on the spline drive pulley shaft (65). The lower end of the spline drive pulley shaft (65) is provided with a second driven gear (66). The second driven gear (66) is fixedly connected to the spline drive pulley shaft (65). The second driven gear (66) meshes with the second drive gear (61).

7. A valve opening mechanism according to claim 1 or 2, characterized in that: The screw (56) of the ball screw pair (50) is fixedly connected to the bracket via a bearing and a screw bearing seat (70). The bracket is fixedly connected to the fixed seat (1). A valve retraction sensor (71) is provided on the screw bearing seat (70) at the upper end of the screw (56). A sensing block is fixedly provided on the transmission connecting rod (51). The sensing block cooperates with the valve retraction sensor (71).

8. A firefighting robot, comprising a chassis (14) and a track (15), wherein a control compartment and a water cannon (17) are provided on the chassis (14), and a walking mechanism (18) is provided at the lower end of the chassis (14), the walking mechanism (18) cooperating with the track (15), and a control system is provided in the control compartment, characterized in that: The chassis (14) is provided with a valve opening mechanism (100) as described in any one of claims 1-7. At least one spiral water valve (19) is provided on the track (15). A docking water intake mechanism (20) is provided between the valve opening mechanism (100) and the spiral water intake valve (19). The valve opening wrench (7) of the valve opening mechanism (100) cooperates with the valve core (16) of the spiral water intake valve (19) to drive the valve core (16) to rotate. The valve opening mechanism (100) docks with the spiral water intake valve (19) through the docking water intake mechanism (20) to take water. 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 connected to the water inlet of the water cannon (17). The lifting and rotating mechanism (6) is fixed on the frame (21) and controlled and driven by the control system. The spiral water intake valve (19) is fixedly connected to the track (15).

9. A firefighting robot according to claim 8, characterized in that: The lower outer wall of the valve wrench (7) is provided with a limiting block (79) extending radially outward. The valve core (16) is fixed with a stop block (80). After the valve wrench (7) and the valve core (16) are inserted, the limiting block (79) and the stop block (80) abut against each other, causing the valve core (16) to rotate.

10. A firefighting robot according to claim 8, characterized in that: The docking water intake mechanism (20) includes a sliding sealing 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). The fixed seat (1) is provided with a sliding sealing sleeve (22) on its outer side. The inner wall of the sliding sealing sleeve (22) is slidably connected to the outer wall of the fixed seat (1). The lower end of the sliding sealing sleeve (22) is fixedly provided with a sealing ring (23). The sliding sealing sleeve (22) falls through... The sealing ring (23) abuts against the upper end face of the spiral water valve (19) to achieve docking. The sliding sealing sleeve (22) is provided with a left rack plate (24) and a right rack plate (25) on the left and right sides. The sliding sealing sleeve (22) is provided with a fixing bracket (26) on the front and rear sides respectively. The fixing bracket (26) is fixedly connected to the frame (21). The right end of the left rack plate (24) is fixedly connected to the sliding sealing sleeve (22). The left end of the left rack plate (24) is provided with a left gear (27). 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). The left gear shaft (25) is fixed on the left gear shaft (28). 8) Both ends are fixedly connected to the two side fixing brackets (26) via bearings. One end of the left gear shaft (28) extends out of the fixing bracket (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 sealing sleeve (22). The right end of the right rack plate (25) is provided with a right gear (30). 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 fixing brackets (26) via bearings. One end of the right gear shaft extends out of the fixing bracket (26) and is fixedly provided with a right worm gear (31). The left worm gear (29) and the right... The worm gear (31) is provided with a worm shaft (32), on which a left helical tooth (34) and a right helical tooth (35) are fixed at intervals. 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 gear (29), and the right helical tooth (35) meshes with the right worm gear (31). Both ends of the worm shaft (32) are fixedly connected to the fixing frame (26) via bearings. One end of the worm shaft (32) passes through the fixing 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.

11. A firefighting robot according to claim 10, characterized in that: A limiting and fixing mechanism (36) is provided between the spiral water intake valve (19) and the valve opening mechanism (100). The limiting and fixing mechanism (36) includes a hook plate frame (37), a guide sliding mechanism (38), a hook plate (39), a limiting plate (40), and an eccentric wheel (41). The sliding sealing sleeve (22) is provided with hook plate frames (37) in front and behind respectively. A guide 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) via the guide sliding mechanism (38). The lower end of the hook plate frame (37) extends toward the center of the sliding sealing sleeve (22) to form a hook plate (39). The upper end of the spiral water valve (19) extends outward on both the front and rear sides to form a limiting plate (40). The hook plate frame (37) is provided with limiting wheel holes (42) at intervals. The front and rear ends of the left gear shaft (28) are respectively fixed with eccentric wheels (41). The front and rear ends of the right gear shaft are respectively fixed with eccentric wheels (41). The eccentric wheels (41) are placed in the limiting wheel holes (42). When the top of the eccentric wheel (41) moves from the proximal end to the distal end, the hook plate frame (37) moves upward with the eccentric wheel (41). The upper end face of the hook plate (39) abuts against the lower end face of the limiting plate (40) to achieve the limiting and fixed connection between the fixing frame (26) and the spiral water valve (19).

12. A firefighting robot according to claim 11, characterized in that: Limiting baffles (95) are provided on the front and rear sides of the lower end of the limiting wheel hole (42). The limiting baffles (95) are fixedly connected to the hook plate frame (37). A lubricating oil groove is formed between the two limiting baffles (95) and the limiting wheel hole (42). The lubricating oil groove contains lubricating oil. When the eccentric wheel (41) rotates, the eccentric wheel (41) comes into contact with the lubricating oil in the lubricating oil groove.

13. A firefighting robot according to claim 11 or 12, characterized in that: The hook plate frame (37) has at least one pressing mechanism (43) at its upper end. The pressing mechanism (43) includes an upper connecting seat (44), a lower connecting seat (45), and a spring (46). The hook plate frame (37) has at least one lower connecting seat (45), which is fixedly connected to the hook plate frame (37). The lower connecting seat (45) has at least one spring (46). The fixed frame (26) has an upper connecting seat (44), which is fixedly connected to the fixed frame (26). The upper connecting seat (44) and the lower connecting seat (45) are opposite to each other. 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).

14. A firefighting robot according to claim 11 or 12, characterized in that: The guide sliding mechanism (38) includes a first sliding strip (97), a sliding limit block (98), and a front and rear limit sliding mechanism (96). The fixed frame (26) has a sliding limit block (98) in the middle, and the hook plate frame (37) has a guide groove (94) in the middle. The first sliding strip (97) is fixed on the left and right sides of the inner wall of the guide groove (94). The sliding limit block (98) is placed in the guide groove (94) and is slidably connected to the guide groove (94) through the first sliding strip (97). The sliding limit block (98) is fixedly connected to the fixed frame (26). The limiting sliding mechanism (96) includes a second sliding bar (99) and a sliding limiting seat (101). The fixed frame (26) is provided with sliding limiting seats (101) at both ends. The sliding limiting seat (101) is fixedly connected to the fixed frame (26). An opening limiting groove facing the hook plate frame (37) is provided between the sliding limiting seat (101) and the fixed frame (26). The second sliding bar (99) is fixedly provided on the front and rear sides of the opening limiting groove. The left and right ends of the hook plate frame (37) are respectively placed in the opening limiting groove and are slidably connected to the opening limiting groove through the second sliding bar (99).

15. A firefighting robot according to claim 9, 10, 11, or 12, characterized in that: A positioning mechanism (75) is provided between the spiral water intake valve (19) and the valve opening mechanism (100). The positioning mechanism (75) includes a positioning block (76) and a positioning proximity sensor (78). The upper valve cover (77) of the spiral water intake valve (19) is provided with positioning blocks (76) at both ends. The positioning blocks (76) are fixedly connected to the upper valve cover (77). A positioning proximity sensor (78) is provided on the frame (21) above the positioning blocks (76). The positioning proximity sensor (78) cooperates with the positioning blocks (76). The positioning proximity sensor (78) is fixedly connected to the frame (21). The positioning proximity sensor (78) is connected to the control system.

16. A firefighting robot according to claim 9, 10, 11, or 12, characterized in that: The frame (21) is fixedly equipped with a video intercom device (72) and a flame detector (73), which are respectively connected to the control system.

17. A firefighting robot according to claim 9, 10, 11, or 12, characterized in that: A protective cover (74) is fixedly provided on the outside of the frame (21).

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