Rail type fire extinguishing robot fire extinguishing bomb automatic replacement device and replacement method thereof

Abstract

The application discloses a track type fire extinguishing robot fire extinguishing bomb automatic replacement device and a replacement method thereof, which comprises a robot body, a bomb replacement movement mechanism and a fire extinguishing bomb assembly. The robot body is arranged on a hanging rail track, and the robot bottom is provided with a fire extinguishing bomb pressing structure. The fire extinguishing bomb assembly is automatically replaced through the bomb replacement movement mechanism, and the fire extinguishing bomb assembly is fixedly arranged on the robot bottom through the fire extinguishing bomb pressing structure. The bomb removal support is controlled by the horizontal and vertical movement device to go to the working position, and the old fire extinguishing bomb is taken out from the lower part of the robot. The bomb loading support carries the new fire extinguishing bomb and is controlled by the horizontal and vertical movement device to go to the working position, and the new fire extinguishing bomb is hung on the lower part of the robot. The automatic replacement is realized. The application is used for the track type fire extinguishing robot, and can automatically replace various fire extinguishing bombs carried by the robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to an automatic fire extinguishing bomb replacement device and replacement method for a track-mounted fire extinguishing robot. Background Technology

[0002] With my country's rapid economic growth and infrastructure development, various scenarios, including mine shafts, traffic tunnels, power lines, urban underground utility tunnels, and parking garages, face fire safety challenges. In relatively narrow and enclosed spaces, fires pose a significant threat to personal safety and property. As automatic control and intelligent technologies mature, mobile firefighting robots are increasingly emerging and active in various scenarios.

[0003] Fire extinguishing bombs are convenient and powerful firefighting tools. Currently, most firefighting robots on the market use multiple small, throwable fire extinguishing bombs. While this seems like a large capacity, they must be thrown one by one, making it impossible to quickly create an effective firefighting force and potentially missing the optimal time to extinguish the fire. Even some robots equipped with large, suspended dry powder fire extinguishing bombs are difficult to install due to their size, and can only be pre-loaded with one bomb, requiring manual replacement after use. Summary of the Invention

[0004] Purpose of the invention: To address the problems existing in the prior art, the present invention provides an automatic fire extinguishing bomb replacement device and method for a track-mounted fire extinguishing robot, which can automatically replace various types of fire extinguishing bombs carried by the robot.

[0005] Technical solution: To solve the above technical problems, the present invention provides an automatic fire extinguishing bomb replacement device for a track-type fire extinguishing robot, including a robot body, a bomb replacement mechanism and a fire extinguishing bomb assembly. The robot body is set on a track, and a fire extinguishing bomb clamping structure is set at the bottom of the robot. The fire extinguishing bomb assembly is automatically replaced by the bomb replacement mechanism, and the fire extinguishing bomb assembly is fixedly set at the bottom of the robot by the fire extinguishing bomb clamping structure.

[0006] Furthermore, the cartridge changing mechanism includes a horizontal motion device and two vertical motion devices. The two vertical motion devices are mounted on the horizontal motion device via a vertical movable plate. Each of the two vertical motion devices consists of a vertical motor, a vertical guide rail, and a vertical lead screw. One of the vertical motion devices is equipped with a loading bracket, and the other vertical motion device is equipped with a dismantling bracket.

[0007] Furthermore, the horizontal motion device includes a horizontal fixed plate, a horizontal motor, a horizontal lead screw, and a horizontal guide rail. The horizontal fixed plate is provided with a horizontal guide rail, and the horizontal lead screw is provided on the horizontal guide rail. The horizontal lead screw achieves horizontal movement through the horizontal motor.

[0008] Furthermore, the fire extinguishing bomb clamping mechanism includes a robot fixing component, a fire extinguishing bomb carrier component is provided above the robot fixing component, a fire extinguishing bomb clamping component is provided on one side of the robot fixing component, a rack is provided on one side of the fire extinguishing bomb clamping component, the rack is meshed with a gear, the gear is connected to a guide wheel through a swing arm, and a tension spring is provided between the top of the swing arm and the top of the fire extinguishing bomb carrier component.

[0009] Furthermore, the fire extinguishing bomb assembly includes a fire extinguishing bomb fixing component and a fire extinguishing bomb, wherein the fire extinguishing bomb fixing component is disposed on the top of the fire extinguishing bomb and the fire extinguishing bomb fixing component is disposed on the fire extinguishing bomb clamping structure.

[0010] Furthermore, a sensor plate is provided at the bottom of the robot fixture.

[0011] Furthermore, the swing arm is fixed to the gear via a rotating shaft, the rotating shaft is fixed to the gear via a key, the two ends of the rotating shaft are bearings, and the inner side of the bearing is the rotating shaft.

[0012] A method for replacing the automatic fire extinguishing bomb replacement device of the track-type fire extinguishing robot as described above, comprising the following specific steps:

[0013] Step 1: Take the robot carrying the used fire extinguishing bomb to the preset fire extinguishing bomb replacement location;

[0014] Step 2: Determine and confirm that all components in the system are in the zero position and that the robot has reached the working position;

[0015] Step 3: The bomb disposal bracket moves to the working position under the control of the horizontal and vertical motion devices, removes the old fire extinguishing bomb from the bottom of the robot, and then leaves the working position;

[0016] Step 4: The loading bracket, carrying the new fire extinguishing bomb, moves to the working position under the control of the horizontal and vertical motion devices, hangs the new fire extinguishing bomb on the lower part of the robot, and then leaves the working position;

[0017] Step 5: Once the fire extinguishing bomb replacement is complete, all components in the system return to their zero positions. The robot receives the signal that the fire extinguishing bomb replacement is complete, leaves the fire extinguishing bomb replacement location, and continues the fire extinguishing work.

[0018] Compared with the prior art, the advantages of the present invention are as follows:

[0019] This invention features fully automated control, requiring minimal manual intervention. It is highly scalable, enabling streamlined assembly and disassembly of fire extinguishing bombs. The mechanical fixing structure ensures high reliability, stability, and durability. The entire system is simple in structure, easy to assemble, and cost-effective. This invention is adaptable to different specifications and even different types of fire extinguishing bombs; only the appropriate fire extinguishing bomb fixing components need to be replaced. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 for Figure 1 A schematic diagram of the robot's main body;

[0022] Figure 3 for Figure 1 Schematic diagram of the intermediate cartridge changing mechanism;

[0023] Figure 4 for Figure 1 Schematic diagram of the structure of the fire extinguishing bomb clamping mechanism;

[0024] Figure 5 for Figure 4 A cross-sectional view of the AA plane;

[0025] Figure 6 This is a structural diagram of a fire extinguishing bomb assembly;

[0026] Figure 7 This is a schematic diagram illustrating the cooperation between the fire extinguishing bomb assembly and the fire extinguishing bomb clamping mechanism in a specific embodiment;

[0027] Figure 8 This is a schematic diagram of the movement of the guide wheel in the fire extinguishing bomb pressing mechanism in a specific embodiment.

[0028] 1. Guide wheel, 2. Swing arm, 3. Robot fixture, 4. Gear, 5. Rack, 6. Tension spring, 7. Fire extinguishing grenade clamping component, 8. Fire extinguishing grenade carrier, 9. Sensor plate, 10. Fire extinguishing grenade fixture, 11. Fire extinguishing grenade, 12. Horizontal motor, 13. Horizontal lead screw, 14. Horizontal guide rail, 15. Vertical guide rail, 16. Vertical movable plate, 17. Vertical lead screw, 18. Horizontal fixed plate, 19. Disarming bracket, 20. Vertical motor, 21. Loading bracket, 22. Bearing, 23. Key, 24. Rotary shaft, 25. Hanging rail, 26. Fire extinguishing grenade clamping mechanism, 27. Robot body, 28. Grenade changing mechanism, 29. Fire extinguishing grenade assembly. Detailed Implementation

[0029] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 and Figure 2 As shown, the present invention provides an automatic fire extinguishing bomb replacement device for a track-type fire extinguishing robot, including a robot body, a bomb replacement mechanism and a fire extinguishing bomb assembly. The robot body is mounted on a track, and a fire extinguishing bomb clamping structure is provided at the bottom of the robot. The fire extinguishing bomb assembly is automatically replaced by the bomb replacement mechanism, and the fire extinguishing bomb assembly is fixedly mounted at the bottom of the robot by the fire extinguishing bomb clamping structure.

[0031] like Figure 3 The shown ammunition changing mechanism includes an ammunition dismantling bracket and an ammunition loading bracket adapted to the fire extinguishing ammunition fixing component for moving the fire extinguishing ammunition assembly. There are two sets of vertical motors, vertical guide rails, and vertical lead screws. One set is equipped with the ammunition dismantling bracket, and the other set is equipped with the ammunition loading bracket. The two sets of vertical motion device structures are fixed to the vertical movable plate. One set is used to remove the old ammunition from the robot, and the other set is used to install the new ammunition onto the robot. The vertical movable plate is driven by the horizontal lead screw and can be driven by the horizontal motor to move in the horizontal direction. The horizontal fixed plate is the base fixing component, on which the horizontal guide rail is installed.

[0032] The working principle of the bomb changing mechanism is that the horizontal and vertical motion system composed of motor, screw and guide rail carries the aforementioned fire extinguishing bomb assembly, realizing the rapid installation and removal of the suspended dry powder fire extinguishing bomb at the bottom of the rail-mounted fire extinguishing robot. The lower structure of the robot can realize the mechanical placement, fixing and removal of the fire extinguishing bomb.

[0033] like Figure 2 , Figure 4 and Figure 5 The fire extinguishing grenade clamping mechanism shown has a robot fixing component fixedly connected to the robot body, a fire extinguishing grenade carrier connected to the robot fixing component, a guide wheel connected to the swing arm and gear, a rack connected to the fire extinguishing grenade clamping component, and a tension spring installed between the swing arm and the fire extinguishing grenade carrier. When the guide wheel is pushed, the swing arm rotates, causing the gear to rotate. The gear rotation causes the rack to rise, which in turn causes the fire extinguishing grenade clamping component to rise. As the gear rotates, the tension spring is gradually stretched, thus achieving the open state of the fire extinguishing grenade clamping component and the robot fixing component when the guide wheel is pushed. When the guide wheel is stopped, the fire extinguishing grenade clamping component and the robot fixing component achieve the closed state under the action of the tension spring. The sensing plate serves as a detection plate to detect whether the action is in place.

[0034] exist Figure 5 In this design, the guide wheel is fixed to the swing arm, which is fixed to the rotating shaft. The rotating shaft is fixed to the gear via a key. Bearings are located at both ends of the rotating shaft; the inner side of the bearing is the rotating shaft, and the outer side is the robot's fixed component. This structure allows the robot's fixed component to remain stationary, while the guide wheel's swinging motion drives the gear to rotate. The gear and rack have a meshing structure, and the back-and-forth rotation of the gear causes the rack to move back and forth up and down.

[0035] like Figure 8As shown, when the guide wheel is pushed by an external force, it rotates along the axis (action 1). Simultaneously, the end of the swing arm and the gear rotate (action 2). The end of the swing arm drives the left end of the tension spring, while the right end of the tension spring is fixed. This stretches the tension spring (action 4), causing the gear to rotate and the rack to move up and down. The rack then moves the fire extinguishing bomb clamping component up and down. Ultimately, when the guide wheel is pushed, the fire extinguishing bomb clamping component is lifted, the tension spring is stretched, and a gap is created between the fire extinguishing bomb clamping component and the robot fixing component, resulting in an open state. When the guide wheel is no longer pushed, under the restoring force of the tension spring itself, the swing arm and guide wheel swing back to their original positions, causing the fire extinguishing bomb clamping component to descend. The fire extinguishing bomb clamping component and the robot fixing component then close and adhere tightly again, resulting in a closed state.

[0036] like Figure 6 and Figure 7 The fire extinguishing bomb assembly shown has a fire extinguishing bomb fixed to a fire extinguishing bomb fixing component. The fire extinguishing bomb fixing component can serve as a structure to push the aforementioned guide wheel. When the aforementioned fire extinguishing bomb clamping component and robot fixing component are opened, the fire extinguishing bomb fixing component can be moved horizontally between the fire extinguishing bomb clamping component and the fire extinguishing bomb carrier component. When the fire extinguishing bomb fixing component reaches a certain position, it triggers the aforementioned induction plate. At this time, the fire extinguishing bomb fixing component is lowered and no longer maintains the pushing of the guide wheel. Then, the fire extinguishing bomb clamping component and the fire extinguishing bomb carrier component close, thereby realizing the fixing of the fire extinguishing bomb fixing component.

[0037] This structure is a fire extinguishing bomb assembly. Together with the aforementioned structure, it enables the rapid assembly and disassembly of various fire extinguishing bombs onto the robot body. The illustration shows a large-sized suspended dry powder fire extinguishing bomb.

[0038] A method for replacing the automatic fire extinguishing bomb replacement device of the track-type fire extinguishing robot as described above, comprising the following specific steps:

[0039] Step 1: Take the robot carrying the used fire extinguishing bomb to the preset fire extinguishing bomb replacement location;

[0040] Step 2: Determine and confirm that all components in the system are in the zero position and that the robot has reached the working position;

[0041] Step 3: The bomb disposal bracket moves to the working position under the control of the horizontal and vertical motion devices, removes the old fire extinguishing bomb from the bottom of the robot, and then leaves the working position;

[0042] Step 4: The loading bracket, carrying the new fire extinguishing bomb, moves to the working position under the control of the horizontal and vertical motion devices, hangs the new fire extinguishing bomb on the lower part of the robot, and then leaves the working position;

[0043] Step 5: Once the fire extinguishing bomb replacement is complete, all components in the system return to their zero positions. The robot receives the signal that the fire extinguishing bomb replacement is complete, leaves the fire extinguishing bomb replacement location, and continues the fire extinguishing work.

[0044] The above description is merely an embodiment of the present invention and is not intended to limit the present invention. All equivalent substitutions made within the principles of the present invention should be included within the scope of protection of the present invention. Contents not described in detail in this invention are existing technologies known to those skilled in the art.

Claims

1. A device for automatic replacement of fire-extinguishing projectiles of a rail-mounted fire-extinguishing robot, characterized in that: The application relates to a robot for replacing fire extinguishing bombs, which comprises a robot body, a bomb replacing mechanism and a fire extinguishing bomb assembly, wherein the robot body is arranged on a hanging rail track, a fire extinguishing bomb pressing structure is arranged at the bottom of the robot body, the fire extinguishing bomb assembly is automatically replaced through the bomb replacing mechanism, and the fire extinguishing bomb assembly is fixedly arranged at the bottom of the robot body through the fire extinguishing bomb pressing structure. The bomb replacing mechanism comprises a horizontal moving device and two vertical moving devices, the two vertical moving devices are arranged on the horizontal moving device through vertical movable plates, a bomb loading support is arranged on one of the vertical moving devices, and a bomb unloading support is arranged on the other vertical moving device. The fire extinguishing bomb pressing mechanism comprises a robot fixing part, a fire extinguishing bomb bearing part is arranged above the robot fixing part, a fire extinguishing bomb pressing part is arranged on one side of the robot fixing part, a rack is arranged on one side of the fire extinguishing bomb pressing part, the rack is engaged with a gear, the gear is connected with a guide wheel through a swing arm, a tension spring is arranged between the top end of the swing arm and the top end of the fire extinguishing bomb bearing part, the fire extinguishing bomb fixing part is arranged as a structure for pushing the guide wheel, when the guide wheel is pushed, the swing arm rotates to drive the gear to rotate, the gear rotates to drive the rack to ascend, the rack ascends to drive the fire extinguishing bomb pressing part to ascend, the gear rotates to gradually stretch the tension spring, and the fire extinguishing bomb pressing part and the robot fixing part reach an open state. The fire extinguishing bomb assembly comprises a fire extinguishing bomb fixing part and a fire extinguishing bomb, the fire extinguishing bomb fixing part is arranged on the top of the fire extinguishing bomb, and the fire extinguishing bomb fixing part is arranged on the fire extinguishing bomb pressing structure.

2. The automatic replacement device for fire-extinguishing bullets of a rail-type fire-extinguishing robot according to claim 1, characterized in that: The two vertical moving devices are respectively composed of vertical motors, vertical guide rails and vertical lead screws.

3. The automatic replacement device for fire-extinguishing bullets of a rail-type fire-extinguishing robot according to claim 1, characterized in that: The horizontal moving device comprises a horizontal fixing plate, a horizontal motor, a horizontal lead screw and a horizontal guide rail, the horizontal guide rail is arranged on the horizontal fixing plate, the horizontal lead screw is arranged on the horizontal guide rail, and the horizontal lead screw realizes horizontal movement through the horizontal motor.

4. The automatic replacement device for fire-extinguishing bullets of a rail-type fire-extinguishing robot according to claim 1, characterized in that: A sensing plate is arranged at the bottom of the robot fixing part.

5. The automatic replacement device for fire-extinguishing bullets of a rail-type fire-extinguishing robot according to claim 1, characterized in that: The swing arm is fixed on the gear through a rotating shaft, the rotating shaft is fixed with the gear through a key, and bearings are arranged at the two ends of the rotating shaft.

6. A method of replacing the fire-extinguishing projectile automatic replacement device of the track-type fire-extinguishing robot according to any one of claims 1 to 5, characterized in that, The specific steps are as follows: Step 1: the robot carrying the used fire extinguishing bomb reaches a preset fire extinguishing bomb replacing position; Step 2: it is judged that all the components in the system are in zero position and the robot has reached the working position; Step 3: the bomb unloading support is controlled by the horizontal and vertical moving devices to go to the working position, the old fire extinguishing bomb is taken out from the lower part of the robot, and then the bomb unloading support leaves the working position; Step 4: the bomb loading support carrying the new fire extinguishing bomb is controlled by the horizontal and vertical moving devices to go to the working position, the new fire extinguishing bomb is hung on the lower part of the robot, and then the bomb loading support leaves the working position; Step 5: the fire extinguishing bomb replacing is completed, all the components in the system return to the zero position, the robot receives the signal that the fire extinguishing bomb replacing is completed, leaves the fire extinguishing bomb replacing position and continues the fire extinguishing work.

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