An inspection robot

Abstract

The application relates to the technical field of robots, and discloses a patrol robot, which comprises a patrol vehicle, a fire-fighting system is installed on the patrol vehicle, the fire-fighting system comprises a dry powder fire extinguishing tank, a dry powder pipe of the dry powder fire extinguishing tank is connected with a dry powder spraying nozzle, a main gas pipe of the dry powder fire extinguishing tank is connected with a pressure reducer, the pressure reducer is connected with a driving gas bottle group, the driving gas bottle group is used for storing nitrogen or carbon dioxide, the driving gas bottle group is connected with a starting gas bottle group, the starting gas bottle group is connected with a control device, the control device is connected with a fire detector; a mechanical arm is installed on the patrol vehicle, a first strip plate is connected to the tail end of the mechanical arm, an end surface of the first strip plate is connected with a connecting rod, a free end of the connecting rod is connected with a second strip plate, and the dry powder pipe is fixed on the second strip plate through a pipe clamp; the mechanical arm drives the dry powder pipe to displace, the clamping stability is good, and the fire-fighting operation is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of robotic arms, specifically the field of special-operation robots, and particularly relates to an inspection robot. Background Technology

[0002] Dry powder fire extinguishing agents are fine particles made by grinding together a mixture of extinguishing base materials (such as baking soda, ammonium carbonate, ammonium salts of phosphate, etc.), appropriate amounts of lubricants (magnesium stearate, mica powder, talc powder, etc.), and a small amount of moisture-proofing agent (silica gel). They are propelled by carbon dioxide or nitrogen gas. The sprayed powder is dense and finely granulated, forming an insulating layer that hinders combustion when it covers solid burning materials. Simultaneously, it releases non-combustible gases, reducing the oxygen concentration in the air and extinguishing the flame.

[0003] Chinese patent application number 201520839171.3 discloses a dry powder canister fire extinguisher, which includes a base, a hollow shell mounted on the base, a first powder outlet pipe, a second powder outlet pipe, and an air inlet pipe, one end of which is located inside the shell and the other end of which is connected to the outside. The shell has a powder inlet at its top and is a horizontally placed cylindrical shape. The first, second, and air outlet pipes are located at one end of the shell. The bottom of the shell has two downward-recessed powder mixing chambers with openings at the bottom. Each mixing chamber has a bolt-fixed cover plate. The walls of the mixing chambers are arc-shaped. The first powder outlet pipe is Y-shaped, having one powder outlet and two powder inlets. The two powder inlets open downwards and are located in the middle of the two mixing chambers. However, existing dry powder pipes are manually operated, and due to the large impact force of the dry powder spray, operators often experience difficulty in holding the device securely. Summary of the Invention

[0004] The purpose of this invention is to provide an inspection robot that solves the problem of unstable human grip mentioned in the background art.

[0005] The technical solution adopted in this invention is as follows: An inspection robot includes an inspection vehicle equipped with a fire-fighting system. The fire-fighting system includes a dry powder fire extinguisher, a dry powder nozzle connected to the dry powder pipe of the dry powder fire extinguisher, a pressure reducer connected to the main gas pipe of the dry powder fire extinguisher, a driving gas cylinder group connected to the pressure reducer, a driving gas cylinder group for storing nitrogen or carbon dioxide, a starting gas cylinder group connected to the driving gas cylinder group, a control device connected to the starting gas cylinder group, and a fire detector connected to the control device. A robotic arm is installed on the inspection vehicle, a first plate connected to the end of the robotic arm, connecting rods connected to the end face of the first plate, four connecting rods arranged at equal angles, a second plate connected to the free end of the connecting rods, a dry powder pipe fixed to the second plate by a pipe clamp, the dry powder pipe being made of rubber, and the pipe clamp being U-shaped.

[0006] The beneficial effects of this invention are as follows: This application uses a robotic arm to move the dry powder tube, which has good clamping stability and facilitates fire fighting operations. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the main structure of the present invention.

[0008] Figure 2 This is a schematic diagram of the main sectional view of the tank.

[0009] Figure 3 This is a schematic diagram of the three-dimensional structure of the tank.

[0010] Figure 4 This is a schematic diagram of the front cross-sectional structure of the anti-stick coating.

[0011] Figure 5 This is a schematic diagram of the front cross-sectional structure of the gas injection assembly.

[0012] Figure 6 This is a schematic diagram of the front cross-sectional structure of the driving component in Embodiment 1.

[0013] Figure 7 This is a schematic diagram of the main cross-sectional structure of the second branch pipe.

[0014] Figure 8 This is a schematic diagram of the front cross-sectional structure of the shaking component.

[0015] Figure 9 This is a three-dimensional structural diagram of the shaking component.

[0016] Figure 10 This is a schematic diagram of the front cross-sectional structure of the ball head.

[0017] Figure 11 This is a schematic diagram of the front cross-sectional structure of the rubber hose.

[0018] Figure 12 This is a schematic diagram of the main structure of the stirring component in Example 2.

[0019] Figure 13 This is a schematic diagram of the front cross-sectional structure of the stirring component in Embodiment 2.

[0020] Figure 14 This is a schematic diagram of the main structure of the stirring component in Embodiment 3.

[0021] Figure 15 This is a schematic diagram of the front cross-sectional structure of the stirring component in Embodiment 3.

[0022] Figure 16 This is a top-view cross-sectional structural diagram of the casing.

[0023] Figure 17 This is a schematic diagram of the front cross-sectional structure of the stirring rod.

[0024] Figure 18 This is a schematic diagram of the front cross-sectional structure of a propeller blade.

[0025] Figure 19 This is a top-view cross-sectional diagram of the fan blade.

[0026] Figure 20 This is a schematic diagram of the main cross-sectional structure of the support rod.

[0027] Figure 21 This is a schematic diagram of the main cross-sectional structure of the pores.

[0028] Figure 22 Schematic diagram of the front cross-sectional structure of the airbag Figure 1 .

[0029] Figure 23 Schematic diagram of the front cross-sectional structure of the airbag Figure 2 .

[0030] Figure 24 This is a schematic diagram of the main structure of the driving component in Embodiment 5.

[0031] Figure 25 This is a schematic diagram of the three-dimensional structure of a ring.

[0032] Figure 26 This is a top-view cross-sectional diagram of the ring and the turntable.

[0033] Figure 27 This is a top view of the rotating arm.

[0034] Figure 28 This is a schematic diagram of the front cross-sectional structure of the C-shaped ring.

[0035] Figure 29 This is a schematic diagram of the three-dimensional structure of a C-shaped ring.

[0036] Figure 30 This is a schematic diagram of the front view structure of the inspection robot.

[0037] Figure 31 This is a flowchart of a fire protection system.

[0038] In the diagram: 1. Tank body; 2. Support base; 3. Bolt holes; 4. Anti-stick coating; 5. Powder inlet pipe; 6. First cover plate; 7. Siphon pipe; 8. First branch pipe; 9. Second cover plate; 10. Gas injection assembly; 11. Main gas pipe; 12. Drive assembly; 13. Branch pipe; 14. Nozzle; 15. Driven gear; 16. Drive gear; 17. First motor; 18. Shaft seat; 19. Sealed bearing; 20. Shaft cover; 21. Second branch pipe; 22. Third cover plate; 23. Shaking mechanism; 24. Rotating shaft; 25. Second motor; 26. Pin shaft; 27. Eccentric seat; 28. Eccentric shaft; 29. ​​Circular 30. Ball head; 31. Ball head seat; 32. Spherical groove; 33. Pressure block; 34. Conical groove; 35. Carrier plate; 36. First compression spring; 37. Spring seat; 38. Flange ring; 39. Bellows; 40. First retaining ring; 41. Rubber hose; 42. Second retaining ring; 43. Second retaining ring; 44. Sealed air chamber; 45. Fourth branch pipe; 46. Agitator assembly; 47. Cover; 48. Slide pipe; 49. Bottom cover; 50. Telescopic rod; 51. Push plate; 52. First air supply pipe; 53. First air distribution pipe; 54. Machine casing; 55. Circular groove; 56. Slide rail; 57. Sealing cover 58. Cylinder; 59. U-shaped groove; 60. Shaft; 61. Connecting rod; 62. Rotary wheel; 63. Optical shaft; 64. Third motor; 65. Rotating plate; 66. Second air distribution pipe; 67. Second air supply pipe; 68. Stirring rod; 69. Reinforcing rod; 70. Propeller blade; 71. Fan blade; 72. Support rod; 73. Guide sleeve; 74. Air hole; 75. Positioning bolt; 76. Air bag; 77. Intake pipe; 78. Grid strip; 79. Positioning nut; 80. Foot; 81. Ring; 82. Sliding hole; 83. Wedge block; 84. Second compression spring; 85. Turntable; 86. Through hole; 87. Wedge groove; 88. Drive shaft; 89. Fourth motor; 90. Vertical rod; 91. Tension spring; 92. Rotating arm; 93. Limiting rod; 94. Bypass port; 95. C-ring; 96. Air inlet gap; 97. Air inlet connector; 98. Robotic arm; 99. First plate; 100. Connecting rod; 101. Second plate; 102. Pipe clamp; 103. Dry powder pipe; 104. Inspection vehicle; 105. Fire protection system; 106. Dry powder nozzle; 107. Dry powder fire extinguisher; 108. Pressure regulator; 109. Drive gas cylinder group; 110. Starter gas cylinder group; 111. Control device; 112. Fire detector. Detailed Implementation

[0039] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] Furthermore, the terms “first,” “second,” “third,” and “fourth” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] like Figure 1 , Figure 30 and Figure 31 As shown in Embodiment 1, an inspection robot includes an inspection vehicle 104, on which a fire suppression system 105 is installed. The fire suppression system 105 includes a dry powder fire extinguisher tank 107. The dry powder pipe 103 of the dry powder fire extinguisher tank 107 is connected to a dry powder nozzle 106. The main gas pipe 11 of the dry powder fire extinguisher tank 107 is connected to a pressure regulator 108. The pressure regulator 108 is connected to a driving gas cylinder group 109, which is used to store nitrogen or carbon dioxide. The driving gas cylinder group 109 is connected to a starting gas cylinder group 110, which is connected to a control device 111. The control device 111 is connected to a fire detector 112. This application enables free inspection of the factory area to ensure fire safety. The inspection vehicle 104 is equipped with a robotic arm 98, model RM65-B. The end of the robotic arm 98 is connected to a first plate 99, and the end face of the first plate 99 is connected to a connecting rod 100. The four connecting rods 100 are arranged at equal angles. The free end of the connecting rod 100 is connected to a second plate 101. A dry powder pipe 103 is fixed on the second plate 101 by a pipe clamp 102. The dry powder pipe 103 is made of rubber. The pipe clamp 102 is U-shaped. The mechanical arm 98 drives the dry powder pipe 103 to move, which has good clamping stability and facilitates fire fighting operations.

[0044] like Figures 2-4As shown, as an optimization of Embodiment 1, the dry powder fire extinguishing canister 107 includes a canister body 1, which can be vertical or horizontal. The canister body 1 has a support base 2 with bolt holes 3 for easy fixing and installation. The inner wall of the canister body 1 is coated with an anti-stick coating 4, which can be UV1800. The anti-stick coating 4 is a nano-coating agent used for metals to prevent sticking to the wall and can cover metal debris or oil stains to ensure the preservation quality of the dry powder. The canister body 1 has a powder inlet pipe 5, and a first cover plate 6 is connected to the powder inlet pipe 5 via a flange. The canister body 1 has a siphon pipe 7. The siphon pipe 7 extends into the tank 1, and its lower end is sloping. The siphon pipe 7 is used to discharge the dry powder in the tank 1. The siphon pipe 7 is connected to the dry powder pipe 103. The top of the tank 1 has a first branch pipe 8, preferably located at the center of the tank 1. A second cover plate 9 is connected to the first branch pipe 8 through a flange. An air injection component 10 is installed on the second cover plate 9. The air injection component 10 is used to inject nitrogen or carbon dioxide into the tank 1. By using gas agitation, the dry powder is made more fluffy and uniform. This application avoids the problem of dry powder sticking to the wall by coating the inside of the tank 1 with an anti-stick coating 4, ensuring that all the dry powder can be discharged.

[0045] like Figure 5 As shown, as an optimization of Embodiment 1, considering that the existing gas injection method involves directly inserting the pipe into the dry powder, resulting in a single blowing point and good local dry powder agitation, the gas injection component 10 includes a main gas pipe 11 rotatably connected to the second cover plate 9. The main gas pipe 11 is barrel-shaped, and its upper end is used for air intake. A drive component 12 is installed on the main gas pipe 11 located above the second cover plate 9. A branch gas pipe 13 is installed on the main gas pipe 11 located below the second cover plate 9. The branch gas pipes 13 are arranged at equal angles and are connected to the main gas pipe 11. Preferably, the branch gas pipes 13 are perpendicular to the main gas pipe 11. The sidewall of the branch gas pipe 13 has nozzles 14 arranged at equal intervals. The nozzles 14 spray dry powder downwards, and the drive component 12 drives the main gas pipe 11 to rotate. Nitrogen or carbon dioxide is sprayed into the dry powder in a spiral pattern, which can agitate the dry powder as a whole, which is an improvement over the traditional gas injection method.

[0046] like Figure 6 As shown, as an optimization of Embodiment 1, the drive assembly 12 includes a driven gear 15 connected to the main air pipe 11, a drive gear 16 meshing on the driven gear 15, the drive gear 16 being driven by a first motor 17, a bearing 18 connected to the first motor 17, and the bearing 18 being fixed to the second cover plate 9; the upper end of the main air pipe 11 is connected to a shaft cover 20 via a sealed bearing 19, and the shaft cover 20 is fixed to the bearing 18; the shaft cover 20 is used to inject air into the main air pipe 11 without affecting the circumferential rotation of the main air pipe 11.

[0047] like Figures 7-10As shown, as an optimization of Embodiment 1, considering that dry powder will clump when it is in a static state for a long time, the bottom of the tank 1 has a second branch pipe 21. Preferably, the second branch pipe 21 is located in the center of the tank 1. A third cover plate 22 is connected to the second branch pipe 21 through a flange. A shaking mechanism 23 is installed on the third cover plate 22. The shaking mechanism 23 is used to shake the dry powder in the tank 1 to prevent the dry powder from clumping. The shaking mechanism 23 includes a rotating shaft 24 rotatably connected to the third cover plate 22. The rotating shaft 24 is driven by a second motor 25, which is fixed to the second cover plate 9. An eccentric seat 27 is hinged to the rotating shaft 24 above the third cover plate 22 via a pin 26. An eccentric shaft 28 is fixed to the eccentric seat 27, and a ball head 29 is connected to the upper end of the eccentric shaft 28. A ball head seat 30 is connected to the ball head 29. The ball head seat 30 has a T-shaped tubular cross-section. The top surface of the ball head seat 30 has a spherical groove 31, which is used to place the ball head 29. A pressure block 32 adapted to the ball head 29 is placed on the spherical groove 31. The bottom surface of the ball head seat 30 has a conical groove 33, which ensures that the eccentric shaft 28 can deflect at an angle. The top surface of the ball head seat 30 is connected to the eccentric seat 28 via a pin 26. A carrier plate 34 is bolted to the surface of the second branch pipe 21. The carrier plate 34 is a thin sheet structure used to support dry powder. The projected area of ​​the carrier plate 34 is larger than that of the second branch pipe 21. A first compression spring 35 is connected to the bottom surface of the carrier plate 34. There are at least four first compression springs 35, which are arranged at equal angles. A flexible hose can be fitted over the outer wall of the first compression spring 35 to prevent the dry powder from getting stuck and to enhance the swing of the first compression spring 35. A spring seat 36 is connected to the lower end of the first compression spring 35 and is fixed to the side wall of the second branch pipe 21. The second motor 25 drives the rotating shaft 24 to rotate, which in turn causes the eccentric shaft 28 to shake the carrier plate 34. The elasticity of the first compression spring 35 allows the carrier plate 34 to return to its original position and vibrate, preventing the dry powder from clumping together.

[0048] like Figure 11 As shown, preferably, considering that there is a gap between the second branch pipe 21 and the carrier plate 34, which makes it easy for dry powder to enter and affect the shaking of the dry powder, the side wall of the second branch pipe 21 has a flange ring 37, the bottom surface of the carrier plate 34 has a corresponding flange ring 37, and a corrugated pipe 38 is connected between the flange rings 37. The corrugated pipe 38 is made of rubber and can cover the eccentric shaft 28 and the rotating shaft 24.

[0049] like Figure 11As shown in Embodiment 2, unlike Embodiment 1, considering that the corrugated pipe 38 can prevent dry powder from entering the second branch pipe 21, but the first compression spring 35 is still inside the dry powder, and the shaking performance is limited, the side wall of the carrier plate 34 has a first retaining ring 39. The first retaining ring 39 is connected to a rubber tube 41 through a first fixing ring 40. The rubber tube 41 is conical in shape. The bottom of the tank 1 has a second retaining ring 42, which is located inside the tank 1. The diameter of the second retaining ring 42 is larger than the diameter of the first retaining ring 39. The second retaining ring 42 is fixed to the rubber tube 41 through a second fixing ring 43. The rubber tube 41 and the carrier plate 34 form a closed air chamber 44. The rubber tube 41 can cover the first compression spring 35, the eccentric shaft 28, and the rotating shaft 24. In this way, there is no need to set the corrugated pipe 38, and the protection performance is better.

[0050] like Figure 12 and Figure 13 As shown, as an optimization of Embodiment 2, the bottom of the tank 1 has a fourth branch pipe 45. In this embodiment, there are two fourth branch pipes 45. The fourth branch pipe 45 is connected to the closed air chamber 44. An agitator 46 is installed on the fourth branch pipe 45. The agitator 46 is used to push the rubber tube 41 to move up and down reciprocally. The agitator 46 includes a cover 47. The cover 47 is connected to the fourth branch pipe 45 through a flange. A slide tube 48 is installed on the cover 47. The lower end of the slide tube 48 is threadedly connected to a bottom cover 49. A telescopic rod 50 is bolted to the bottom cover 49. The telescopic rod 50 can be selected from a hydraulic cylinder, a pneumatic cylinder, or an electric rod. A push plate 51 is connected to the piston end of the telescopic rod 50. The push plate 51 is slidably connected and adapted to the slide tube 48. The telescopic rod 50 drives the push plate 51 to move up and down reciprocally. When it rises, the rubber tube 41 bulges upward. When it falls, the rubber tube 41 returns to its original position, realizing the agitation of the dry powder and further eliminating the problem of dry powder clumping.

[0051] like Figures 14-16As shown, in Embodiment 3, unlike Embodiment 2, the agitator 46 includes a housing 47; the housing 47 is connected to the fourth branch pipe 45 via a flange, and the bottom surface of the left housing 47 is connected to a first gas distribution pipe 53 via a first gas supply pipe 52; a housing 54 is connected to the first gas distribution pipe 53, the housing 54 is cylindrical in shape, a circular groove 55 is formed in the center of the housing 54, and slides 56 are formed at the four quadrant points of the circular groove 55, with sealing caps 57 fixed at the ends of the slides 56; the slides 5... A cylinder 58 is slidably connected within the housing 54. A U-shaped groove 59 is formed on the opposite surface of the cylinder 58, and a shaft 60 is rotatably connected within the U-shaped groove 59. Adjacent shafts 60 are rotatably connected to connecting rods 61, forming a rhomboid structure with four connecting rods 61. A rotating wheel 62 is rotatably connected to the shaft 60. A light shaft 63 is rotatably connected to the center of the housing 54. The light shaft 63 is driven by a third motor 64, which is fixed to the housing 54. A rotating plate 65 is mounted on the light shaft 63, and the light shaft 63 is located on the rotating plate 65. In the middle of section 5, the rotating plate 65 is rounded rectangular in shape and rotates within the circular groove 55. The rotating plate 65 is in rolling connection with the rotating wheel 62. A second air distribution pipe 66 is connected to the housing 54, which is connected to two other slides 56. The second air distribution pipe 66 is connected to the right cover 47 through a second air supply pipe 67. When the arc section of the rotating plate 65 contacts the rotating wheel 62 in the front-rear direction, the cylinder 58 in the front-rear direction slides into the slide 56, and the gas in the slide 56 is... The gas is squeezed into the right-side cover 47, driving the rubber tube 41 to reciprocate up and down. When the arc segment of the rotating plate 65 contacts the left and right rotating wheel 62, the left and right cylinder 58 slides into the slide rail 56, and the gas in the slide rail 56 is squeezed into the left-side cover 47, driving the rubber tube 41 to reciprocate up and down. When rising, the rubber tube 41 bulges upward, and when falling, the rubber tube 41 returns to its original position, thus agitating the dry powder and further eliminating the problem of dry powder clumping.

[0052] like Figure 17 As shown in Embodiment 4, unlike Embodiment 1, considering that the main air pipe 11 is located at the upper part of the tank 1 and the dry powder is located at the lower part of the tank 1, the main air pipe 11 cannot stir the dry powder. The main air pipe 11 is inserted downward into the dry powder. A stirring rod 68 is fixed on the lower side wall of the main air pipe 11. There are two stirring rods 68. A reinforcing rod 69 is connected at the angle between the stirring rod 68 and the main air pipe 11. By setting the stirring rod 68, the dry powder in the tank 1 can be stirred while the nozzle 14 is blowing, and the clumps of dry powder can be further broken up.

[0053] like Figure 18 As shown, as an optimization of Embodiment 4, considering that the above stirring can only be axial, a propeller blade 70 is installed on the side wall of the main air pipe 11. The propeller blade 70 is located above the stirring rod 68 and below the nozzle 14. By setting the propeller blade 70, the dry powder can be driven to rise, generating vertical stirring, and the dry powder block can also be broken.

[0054] like Figure 19 As shown, as an optimization of Embodiment 4, the side wall of the stirring rod 68 is connected to a fan blade 71. The fan blade 71 can rotate into the dry powder, and the bottom surface of the dry powder forms a slit with the rising rubber tube 41. While stirring the dry powder, the fan blade 71 can crush the dry powder lumps.

[0055] like Figure 20 As shown, as an optimization of Embodiment 4, a support rod 72 is installed on the side wall of the tank 1, and a guide sleeve 73 is installed on the free end of the support rod 72. The guide sleeve 73 is rotatably connected to the main air pipe 11 to improve the stability of the rotation of the main air pipe 11.

[0056] like Figure 21 As shown, as an optimization of Embodiment 4, considering that the main air pipe 11 can spray from above the tank 1, in order to further improve the spraying effect, the side wall of the main air pipe 11 is provided with air holes 74. The air holes 74 are arranged at equal intervals from top to bottom. The air holes 74 can spray from the dry powder, which further improves the spraying effect.

[0057] like Figure 22 and Figure 23 As shown, preferably, considering that the dry powder can enter the main air pipe 11 through the air hole 74, in order to avoid affecting the blowing effect, a positioning bolt 75 is installed inside the main air pipe 11. The positioning bolt 75 is located on the bottom surface of the main air pipe 11, and an air bag 76 is fixed on the positioning bolt 75. The air bag 76 is used to control the opening and closing of the air hole 74. The air bag 76 is clearance-fitted with the main air pipe 11. The upper end of the air bag 76 is connected to an air inlet pipe 77. The side wall of the air inlet pipe 77 located outside the main air pipe 11 has The grid strip 78 prevents the positioning nut 79 from blocking the air inlet of the main air pipe 11. The air inlet pipe 77 is fixed to the opening of the main air pipe 11 by the positioning nut 79. The air inlet pipe 77 and the main air pipe 11 are fitted with a clearance. Under normal conditions, air is injected into the air bag 76 through the air inlet pipe 77. The air bag 76 seals the air hole 74 to prevent dry powder from entering the main air pipe 11. When dry powder is needed, the air bag 76 vents and injects nitrogen or carbon dioxide into the main air pipe 11 to achieve blowing.

[0058] like Figures 24-29As shown in Embodiment 5, unlike Embodiment 1, considering that the aforementioned drive assembly 12 continuously drives the main air pipe 11, the drive assembly 12 includes a foot 80, which is fixed to the second cover plate 9 by bolts. A ring 81 is fixed to the foot 80 by bolts. Sliding holes 82 are provided at the four quadrant points of the inner ring 81. The sliding holes 82 are rectangular in shape, and wedge blocks 83 are slidably connected within the sliding holes 82. The wedge blocks 83 are right-angled trapezoids in shape. A connecting... A second compression spring 84 is connected to the wedge block 83, causing the wedge block 83 to extend out of the sliding hole 82; a turntable 85 is also included, which is fixed to the upper end of the main air pipe 11 and closes the main air pipe 11. The turntable 85 is circular in shape, and its top surface has through holes 86 arranged at equal angles. The side wall of the turntable 85 has a wedge-shaped groove 87 for accommodating the wedge block 83. A drive shaft 88 is rotatably connected to the top surface of the turntable 85, and the drive shaft 88 passes through... A fourth motor 89 drives the turntable 85, and the fourth motor 89 is fixed to the ring 81. The top surface of the turntable 85 has a vertical rod 90, and a tension spring 91 is connected to the vertical rod 90. The free end of the tension spring 91 is connected to a rotating arm 92. The rotating arm 92 is a right trapezoid and is used to push open the wedge block 83 and pull the turntable 85 to rotate 90 degrees. Preferably, the turntable 85 has a limiting rod 93, which is located at the angle between the rotating arm 92 and the vertical rod 90. The limiting rod 93 is used to limit the rotation arm. In the initial state, with a displacement of 92, a second compression spring 84 causes the corresponding wedge block 83 to be inserted into the wedge groove 87, while the remaining wedge blocks 83 abut against the side wall of the turntable 85. The fourth motor 89 drives the rotating arm 92 to rotate, and the rotating arm 92 pushes the wedge block 83 in the wedge groove 87 away. The tension spring 91 rotates the turntable 85 90 degrees, and the main air pipe 11 rotates 90 degrees synchronously, realizing the intermittent stirring of the dry powder. The next wedge block 83 is inserted into the wedge groove 87, and so on. Considering the air intake problem of the main air pipe 11, a bypass port 94 is provided on the side wall of the main air pipe 11. A C-ring 95 is connected to the side wall of the main air pipe 11 through a sealing bearing 19. One sealing bearing 19 is installed on each of the upper and lower sides of the bypass port 94. The C-ring 95 is fixed by bolts and fixed to the second cover plate 9. By setting the sealing bearing 19, an air intake gap 96 is provided between the C-ring 95 and the main air pipe 11. An air intake connector 97 is connected to the C-ring 95.

[0059] Although the present invention has been described in detail with reference to the foregoing examples, those skilled in the art can still make and modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An inspection robot, comprising an inspection vehicle (104), characterized in that: The inspection vehicle (104) is equipped with a fire protection system (105), which includes a dry powder fire extinguisher (107). The dry powder pipe (103) of the dry powder fire extinguisher (107) is connected to a dry powder nozzle (106). The main gas pipe (11) of the dry powder fire extinguisher (107) is connected to a pressure regulator (108). The pressure regulator (108) is connected to a driving gas cylinder group (109). The driving gas cylinder group (109) is used to store nitrogen or carbon dioxide. The driving gas cylinder group (109) is connected to a starting gas cylinder group (110). The starting gas cylinder group (110) is connected to a control device (111). The control device (111) is connected to a fire detector (112). The inspection vehicle (104) is equipped with a robotic arm (98). 8) The end is connected to a first plate (99), the end face of the first plate (99) is connected to a connecting rod (100), the free end of the connecting rod (100) is connected to a second plate (101), a dry powder pipe (103) is fixed on the second plate (101) by a pipe clamp (102), the dry powder pipe (103) is made of rubber, and the pipe clamp (102) is U-shaped; the dry powder fire extinguisher (107) includes a tank body (1), the tank body (1) has a siphon pipe (7), the siphon pipe (7) extends into the tank body (1), the siphon pipe (7) is used to discharge the dry powder in the tank body (1), the siphon pipe (7) is connected to the dry powder pipe (103); the bottom of the tank body (1) has a second branch pipe (21), the second branch pipe (21) is provided with a third cover plate (22), the third cover plate (22) is provided with a second branch pipe (21) at the bottom of the tank body (1), and the third cover plate (22) is provided with a third cover plate (22) at the bottom of the tank body (1). A shaking mechanism (23) is installed on the plate (22). The shaking mechanism (23) is used to shake the dry powder in the can (1) to prevent the dry powder from clumping. The shaking mechanism (23) includes a rotating shaft (24) that is rotatably connected to the third cover plate (22). The rotating shaft (24) is driven by a second motor (25). An eccentric seat (27) is hinged on the rotating shaft (24) above the third cover plate (22). An eccentric shaft (28) is provided on the eccentric seat (27). A ball head (29) is connected to the upper end of the eccentric shaft (28). A ball head seat (30) is connected to the ball head (29). A carrier plate (34) is provided on the top surface of the ball head seat (30). A first compression spring (35) is connected to the bottom surface of the carrier plate (34). A spring seat (36) is connected to the lower end of the first compression spring (35). The spring seat (36) is fixed to the side wall of the second branch pipe (21); the side wall of the carrier plate (34) has a first retaining ring (39), and the first retaining ring (39) is connected to a rubber tube (41) through a first fixing ring (40); the bottom of the tank body (1) has a second retaining ring (42); the second retaining ring (42) is fixed to the rubber tube (41) through a second fixing ring (43), and the rubber tube (41) and the carrier plate (34) form a closed air chamber (44); the bottom of the tank body (1) has a fourth branch pipe (45), which is connected to the closed air chamber (44), and an agitator (46) is installed on the fourth branch pipe (45). The agitator (46) is used to push the rubber tube (41) to move up and down reciprocally; the agitator (46) includes a cover (47).The cover (47) is connected to the fourth branch pipe (45), and a slide pipe (48) is provided on the cover (47); a bottom cover (49) is provided at the lower end of the slide pipe (48); a telescopic rod (50) is provided on the bottom cover (49); a push plate (51) is connected to the piston end of the telescopic rod (50), and the push plate (51) is slidably connected to the slide pipe (48).

2. The inspection robot according to claim 1, characterized in that: The tank (1) has a first branch pipe (8) at the top, and a second cover plate (9) is provided on the first branch pipe (8). An air injection assembly (10) is installed on the second cover plate (9). The air injection assembly (10) is used to inject nitrogen or carbon dioxide into the tank (1). The air injection assembly (10) includes a main air pipe (11) rotatably connected to the second cover plate (9). The upper port of the main air pipe (11) is used for air intake. A drive assembly (12) is installed on the main air pipe (11) above the second cover plate (9). The drive assembly (12) drives the main air pipe (11) to rotate. A branch pipe (13) is provided on the main air pipe (11) below the second cover plate (9). A nozzle (14) is provided on the side wall of the branch pipe (13). The nozzle (14) sprays dry powder downward.

3. The inspection robot according to claim 2, characterized in that: The drive assembly (12) includes a driven gear (15) connected to the main air pipe (11), a drive gear (16) meshing on the driven gear (15), the drive gear (16) being driven by a first motor (17), a bearing seat (18) connected to the first motor (17), the bearing seat (18) being fixed to the second cover plate (9); the upper end of the main air pipe (11) is connected to a shaft cover (20) via a sealed bearing (19), the shaft cover (20) being fixed to the bearing seat (18), and the shaft cover (20) being used to inject air into the main air pipe (11).

4. The inspection robot according to claim 2, characterized in that: The main air pipe (11) is inserted downward into the dry powder. A stirring rod (68) is provided on the lower side wall of the main air pipe (11). A reinforcing rod (69) is connected to the stirring rod (68) at the angle between it and the main air pipe (11).

5. An inspection robot according to claim 4, characterized in that: The side wall of the stirring rod (68) is connected to a fan blade (71). The fan blade (71) can rotate into the dry powder, and the bottom surface of the dry powder forms a slit with the rising rubber tube (41). While stirring the dry powder, the fan blade (71) can crush the dry powder lumps.

6. An inspection robot according to claim 4, characterized in that: The main air pipe (11) has an air hole (74) on its side wall; the main air pipe (11) is provided with a positioning bolt (75), and an air bag (76) is provided on the positioning bolt (75). The air bag (76) is used to control the opening and closing of the air hole (74). The air bag (76) is in clearance fit with the main air pipe (11). The upper end of the air bag (76) is connected to an air inlet pipe (77). The air inlet pipe (77) is fixed to the opening of the main air pipe (11) by a positioning nut (79). The air inlet pipe (77) is in clearance fit with the main air pipe (11).

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