An automatic sensing and locking device for patrol robots passing fire doors

Abstract

The present invention discloses an automatic sensing and locking device for patrol robot passing fire doors, which relates to the technical field of fire doors, including a lower mounting seat, a fire door frame, an upper mounting seat, an integrated door and an infrared intelligent sensor, wherein the fire door frame is mounted on the top of the outer wall of the lower mounting seat, the upper mounting seat is mounted on the top of the outer wall of the fire door frame, an integrated door is movably mounted in the fire door frame, an infrared intelligent sensor is mounted on the front of the outer wall of the upper mounting seat, a synchronous door opening module is fixedly mounted on the bottom of the inner wall of the upper mounting seat, and the synchronous door opening module is connected to the infrared intelligent sensor through a data signal line. The present invention realizes the automatic switching function of the fire door by installing the synchronous door opening module and the infrared intelligent sensor, solves the problem that the fire door cannot be automatically controlled and adjusted according to the opening and closing degree of different types of patrol robots, ensures that the patrol robot can smoothly pass the fire door inspection, and improves the inspection efficiency and safety.

Description

Technical Field

[0001] The invention relates to the technical field of fire doors, and in particular to an automatic sensing and locking device for fire doors for inspection robots. Background Art

[0002] With the development of industrial intelligence, inspection robots are increasingly used in the fields of power, petrochemical, metallurgy, and large public buildings. These robots undertake daily inspections, fault detection, and emergency response tasks. However, fire doors are often present in the inspection environment. These doors, as key barriers to prevent the spread of fire, are usually opened and closed manually or semi-automatically, which makes it difficult for inspection robots to pass through.

[0003] Therefore, this application designs an automatic sensing and locking device for fire doors suitable for the passage of patrol robots. The device must be able to sense the position and size of the patrol robot in real time, intelligently control the opening and closing of the fire doors, and take into account the core safety performance of the fire doors, ensuring efficient passage while ensuring the integrity and reliability of the building's fire partitions.

[0004] 1. Patent document CN108049739B discloses a fireproof window closer. The above patent achieves a more stable locking effect and will not cause the situation of being unable to lock. At the same time, the temperature-sensitive glass ball is arranged on the upper side of the positioning block, so that it can more sensitively sense the change of the external temperature, and the fireproof effect is better, but the above patent cannot realize the automatic opening and closing function of the fireproof door.

[0005] 2. Patent document CN107939188B discloses a fireproof window closer. The above patent uses the lever principle to lock the slider, making the locking effect more stable and effective. At the same time, the temperature-sensitive glass ball is set on the upper side of the positioning block, so that it can more sensitively sense the change of external temperature and save the volume occupied by the positioning block in the slide rail. However, the above patent cannot realize the fire door opening function in different ways.

[0006] 3. Patent document CN107795218B discloses a fireproof window closer. The above patent realizes that it can more sensitively sense temperature changes, and can quickly close the window when a fire occurs, effectively preventing the spread of the fire. At the same time, the slider is locked in the slide rail, and the window is opened and closed by controlling the extension and contraction of the rocker arm. It is easy to use, simple in structure, and low in cost. However, the above patent cannot realize the damping adjustment function of the fire door opening and closing.

[0007] 4. Patent document CN114575727B discloses a soundproof double-opening swing door. The above patent achieves the effect of improving the fireproof performance of the double-opening swing door, but the above patent cannot realize the automatic closing function of the fireproof door.

[0008] In summary, the above patents cannot realize the automatic opening and closing functions of fire doors, the opening functions of fire doors in different ways, the damping adjustment function of fire door opening and closing, and the automatic closing function of fire doors, which results in the inspection robot being unable to smoothly pass the fire door inspection, low inspection efficiency, low safety, and poor fire emergency response. To this end, the present application proposes an automatic sensing and locking device for fire doors for inspection robots that can realize the automatic opening and closing functions of fire doors, the opening functions of fire doors in different modes, the damping adjustment function of fire door opening and closing, and the automatic closing function of fire doors. Summary of the invention

[0009] The object of the present invention is to provide an automatic sensing and locking device for a patrol robot to pass through fire doors, so as to solve the technical problems proposed in the above background technology that the automatic opening and closing function of the fire door, the fire door opening function in different modes, the fire door opening and closing damping adjustment function and the fire door automatic closing function cannot be realized, resulting in the patrol robot being unable to smoothly pass the fire door inspection, low inspection efficiency, low safety and poor fire emergency response.

[0010] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic sensing and locking device for inspection robot passing fire doors, comprising a lower mounting seat, a fire door frame, an upper mounting seat, an integrated door and an infrared intelligent sensor, wherein the fire door frame is mounted on the top of the outer wall of the lower mounting seat, the upper mounting seat is mounted on the top of the outer wall of the fire door frame, an integrated door is movably mounted in the fire door frame, an infrared intelligent sensor is mounted on the front of the outer wall of the upper mounting seat, a synchronous door opening module is fixedly mounted on the bottom of the inner wall of the upper mounting seat, the synchronous door opening module is connected to the infrared intelligent sensor via a data signal line, and the synchronous door opening module is used to control the opening and closing of the fire door on the integrated door according to information recognized by the infrared intelligent sensor; The synchronous door opening module comprises: a first stepper motor, a rotating drum and a limiting slideway; A first stepper motor is fixedly mounted on the top of the inner wall of the upper mounting seat, a first rotating shaft is fixedly mounted on the output port at the bottom of the outer wall of the first stepper motor, a connecting cylinder is fixedly mounted on the bottom of the outer wall of the first rotating shaft, a rotating cylinder is fixedly mounted on the outer wall of the connecting cylinder, an integrated door is fixedly mounted on the side of the outer wall of the rotating cylinder, the first stepper motor is connected to the infrared intelligent sensor through a data signal, a limiting slide is fixedly mounted on the bottom of the outer wall of the upper mounting seat, a limiting column is fixedly mounted on the top of the outer wall of the integrated door, and the limiting column is movably clamped in the limiting slide.

[0011] Preferably, a folding door opening module is also installed on the inner wall side of the integrated door, and the folding door opening module is used to control the opening and closing of the fire door according to the information recognized by the infrared intelligent sensor; The folding door opening module includes: an air hydraulic cylinder, a hydraulic telescopic connecting rod and a folding door joint control rod; An air hydraulic cylinder is fixedly installed on the inner wall side of the integrated door, the air hydraulic cylinder is connected to the infrared intelligent sensor through a data signal line, a hydraulic telescopic connecting rod is fixedly installed on the output port on the outer wall side of the air hydraulic cylinder, and a folding fan linkage control rod is fixedly installed on the outer wall side of the hydraulic telescopic connecting rod.

[0012] Preferably, the folding fan linkage control rod is fixedly connected to the folding fan opening and closing module, and the folding fan opening and closing module is used to perform linkage control on the folding fan fire door; The folding fan opening and closing module includes: a cross rod, a linkage shaft and a movable track cavity; A linkage shaft is fixedly installed on the back of the outer wall of the folding fan linkage control rod, a cross rod is cross-set on the outer wall of the linkage shaft, a movable shaft is set on the top and bottom of the outer wall of the cross rod, a rolling wheel is movably set on the outer wall of the movable shaft, and a movable track cavity is opened on the top and bottom of the inner wall of the integrated door, and the rolling wheel is installed in the movable track cavity.

[0013] Preferably, two fireproof folding door frames are fixedly installed on the outer wall side of the folding fan linkage rod, and a return spring is wrapped around the outer wall of the folding fan linkage rod, one end of the return spring presses against the outer wall side of the air hydraulic cylinder, and the other end presses against the outer wall side of the fireproof folding door frame.

[0014] Preferably, a fireproof curtain and a folding fan hinged door are installed between the fireproof folding door frames. The fireproof curtain is made of fireproof cloth, and the folding fan hinged door adopts a three-fold design for easy opening, closing and folding.

[0015] Preferably, a door body damping adjustment module is fixedly installed at the bottom of the inner wall of the fire door frame, and the door body damping adjustment module is used to adjust the opening and closing locking damping of the fire door; The door body damping adjustment module includes: a magnetorheological damper, a door latch and a lock slot; A magnetorheological damper is fixedly installed at the bottom of the inner wall of the fire door frame, and a door latch is telescopically installed at the bottom of the outer wall of the magnetorheological damper. A lock slot is opened at the top of the outer wall of the integrated door, and the door latch is inserted into the lock slot. The door latch adopts an arc head design, which is convenient for sliding in and out of the lock slot.

[0016] Preferably, a self-closing door module is fixedly installed at the bottom of the inner wall of the fire door frame, and the self-closing door module cooperates with the synchronous door opening module to control the opening and closing of the integrated door; The self-closing door module includes: a winding servo motor, a winding shaft and a winding roller; A winding servo motor is fixedly installed on the top of the inner wall of the fire door frame, a winding shaft is fixedly installed on the output port at the bottom of the outer wall of the winding servo motor, a roller is fixedly installed on the bottom of the outer wall of the winding shaft, a winding belt is surrounded by the outer wall of the roller, and the winding belt is fixedly sleeved on the outer wall of the limit column.

[0017] Preferably, an embedded fireproof sealing strip is installed on the side of the outer wall of the fire door frame, and the embedded fireproof sealing strip is filled with a graphite-based composite expansion material. The expansion material inside the embedded fireproof sealing strip overflows and expands from the edge of the sealing strip according to the real-time temperature and pressure.

[0018] Preferably, a manual push-pull handle is installed on the front side of the outer wall of the integrated door, the manual push-pull handle is connected to the magnetorheological damper through a signal line, and the magnetorheological damper switch is triggered by a mechanical lock pull wire.

[0019] Preferably, sliders are fixedly mounted on the top and bottom of the outer wall of the fireproof folding door frame, and the sliders are movably mounted in the movable track cavity.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the automatic opening and closing function of the fire door by installing a synchronous door opening module and an infrared intelligent sensor, solves the problem that the fire door cannot automatically control and adjust the opening and closing degree according to different types of inspection robots, ensures that the inspection robot can smoothly pass the fire door inspection, and improves the inspection efficiency and safety; 2. The present invention realizes the fire door opening function in different ways by installing a folding door opening module, solves the problem that the fire door cannot be opened in multiple ways when there is a mechanical failure, and improves the inspection efficiency and safety; 3. The present invention realizes the opening and closing damping adjustment function of the fire door by installing a door body damping adjustment module, ensuring that the fire door can maintain a normally open and normally closed state, thereby improving the safety of the fire door; 4. The present invention realizes the automatic closing function of the fire door by installing a self-closing door module and an embedded fireproof sealing strip, thereby ensuring fireproof performance and preventing the spread of fire in case of fire. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the front structure of the present invention; Figure 3 It is a partial structural schematic diagram of the synchronous door opening module of the present invention; Figure 4 It is a schematic diagram of the structure of the integrated door part of the present invention; Figure 5 It is a partial structural schematic diagram of the folding door opening module of the present invention; Figure 6 It is a partial structural schematic diagram of the return spring of the present invention; Figure 7 It is a partial structural schematic diagram of the door body damping adjustment module of the present invention; Figure 8 It is a partial structural schematic diagram of the self-closing door module of the present invention.

[0022] In the figure: 1. Lower mounting seat; 2. Fire door frame; 3. Upper mounting seat; 4. Infrared intelligent sensor; 5. Embedded fireproof sealing strip; 6. Integrated door; 7. Manual push-pull handle; 8. First stepper motor; 9. First rotating shaft; 10. Connecting cylinder; 11. Rotating cylinder; 12. Air hydraulic cylinder; 13. Hydraulic telescopic connecting rod; 14. Folding fan linkage control rod; 15. Movable track cavity; 16. Slider; 17. Fireproof folding fan door frame; 18. Fireproof curtain; 19. Reset spring; 20. Linkage shaft; 21. Cross rod; 22. Movable shaft; 23. Rolling wheel; 24. Magnetorheological damper; 25. Latch; 26. Lock slot; 27. Limit slide; 28. Winding servo motor; 29. ​​Winding shaft; 30. Winding roller; 31. Winding belt; 32. Limit column. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figure 1 , Figure 2 , Figure 3 and Figure 8, an embodiment of the present invention: an automatic sensing and locking device for a patrol robot passing a fire door, comprising a lower mounting seat 1, a fire door frame 2, an upper mounting seat 3, an integrated door 6 and an infrared intelligent sensor 4, wherein the fire door frame 2 is mounted on the top of the outer wall of the lower mounting seat 1, the upper mounting seat 3 is mounted on the top of the outer wall of the fire door frame 2, the integrated door 6 is movably mounted in the fire door frame 2, the infrared intelligent sensor 4 is mounted on the front of the outer wall of the upper mounting seat 3, and a synchronous door opening module is fixedly mounted on the bottom of the inner wall of the upper mounting seat 3, the synchronous door opening module is connected to the infrared intelligent sensor 4 through a data signal line, and the synchronous door opening module is used to control the opening and closing of the fire door to the integrated door 6 according to the information recognized by the infrared intelligent sensor 4; The synchronous door opening module comprises: a first stepper motor 8, a rotating drum 11 and a limiting slideway 27; A first stepper motor 8 is fixedly mounted on the top of the inner wall of the upper mounting seat 3, a first rotating shaft 9 is fixedly mounted on the output port at the bottom of the outer wall of the first stepper motor 8, a connecting cylinder 10 is fixedly mounted on the bottom of the outer wall of the first rotating shaft 9, a rotating cylinder 11 is fixedly sleeved on the outer wall of the connecting cylinder 10, an integrated door 6 is fixedly mounted on the outer wall side of the rotating cylinder 11, the first stepper motor 8 is connected to the infrared intelligent sensor 4 through a data signal, a limiting slide 27 is fixedly mounted on the bottom of the outer wall of the upper mounting seat 3, a limiting column 32 is fixedly mounted on the top of the outer wall of the integrated door 6, and the limiting column 32 is movably engaged in the limiting slide 27; Furthermore, the infrared intelligent sensor 4 analyzes the contour of the inspection robot through infrared imaging analysis technology, identifies the specification parameters of the robot according to the database parameters, selects the opening and closing method and opening and closing angle of the fire door, and the infrared intelligent sensor 4 generates a door opening signal to the first stepper motor 8 according to the identified robot type. The first stepper motor 8 starts, and the first stepper motor 8 drives the first rotating shaft 9 to rotate, the first rotating shaft 9 drives the connecting cylinder 10 to rotate, the connecting cylinder 10 drives the rotating cylinder 11 to rotate, and the rotating cylinder 11 drives the integrated door 6 to rotate. The limit column 32 on the integrated door 6 slides in the limit slide 27, and half-open and full-open control is performed according to the size of different robots to ensure that the robot can smoothly pass through the fire door for inspection.

[0027] See also Figure 4 , Figure 5 and Figure 6 , an embodiment provided by the present invention: an automatic sensing and locking device for a patrol robot passing a fire door, wherein a folding door opening module is also installed on the inner wall side of the integrated door 6, and the folding door opening module is used to control the opening and closing of the fire door according to the information recognized by the infrared intelligent sensor 4; The folding door opening module includes: an air hydraulic cylinder 12, a hydraulic telescopic connecting rod 13 and a folding door linkage control rod 14; An air hydraulic cylinder 12 is fixedly installed on the inner wall side of the integrated door 6, and the air hydraulic cylinder 12 is connected to the infrared intelligent sensor 4 through a data signal line. A hydraulic telescopic connecting rod 13 is fixedly installed on the output port on the outer wall side of the air hydraulic cylinder 12, and a folding fan joint control rod 14 is fixedly installed on the outer wall side of the hydraulic telescopic connecting rod 13; The folding fan linkage control rod 14 is fixedly connected to the folding fan opening and closing module, and the folding fan opening and closing module is used to perform linkage control on the folding fan fire door; The folding fan opening and closing module includes: a cross rod 21, a linkage shaft 20 and a movable track cavity 15; A linkage shaft 20 is fixedly installed on the back of the outer wall of the folding fan linkage control rod 14, a cross rod 21 is cross-fitted on the outer wall of the linkage shaft 20, a movable shaft 22 is fitted on the top and bottom of the outer wall of the cross rod 21, and a rolling wheel 23 is movably fitted on the outer wall of the movable shaft 22, and a movable track cavity 15 is opened on the top and bottom of the inner wall of the integrated door 6, and the rolling wheel 23 is installed in the movable track cavity 15; Two fireproof folding door frames 17 are fixedly mounted on the outer wall side of the folding fan joint control rod 14, and a return spring 19 is sleeved around the outer wall of the folding fan joint control rod 14, one end of the return spring 19 presses against the outer wall side of the air hydraulic cylinder 12, and the other end presses against the outer wall side of the fireproof folding door frame 17; A fireproof curtain 18 and a folding hinged door are installed between the fireproof folding door frame 17. The fireproof curtain 18 is made of fireproof cloth, and the folding hinged door adopts a three-fold design, which is convenient for opening and closing; The top and bottom of the outer wall of the fireproof folding door frame 17 are fixedly mounted with sliders 16, and the sliders 16 are movably mounted in the movable track cavity 15; Furthermore, when the infrared intelligent sensor 4 recognizes that the robot is small or the robot is far away from the fire door, the infrared intelligent sensor 4 sends a start signal to the air hydraulic cylinder 12 to start, the air hydraulic cylinder 12 drives the hydraulic telescopic connecting rod 13 to extend and retract, the hydraulic telescopic connecting rod 13 drives the folding fan linkage control rod 14 to move left and right, the folding fan linkage control rod 14 pulls the linkage shaft 20 to move, the linkage shaft 20 drives the rolling wheel 23 on the active shaft 22 to roll in the active track cavity 15 through the cross rod 21, slowly opens the fire door, and according to the machine The size of the person controls the degree of opening of the folding fan to ensure that the robot can pass smoothly. When the robot passes, the reset spring 19 that was originally compressed and deformed by the folding fan linkage control rod 14 of the fireproof folding fan door frame 17 is restored, forming a reaction force to push the fireproof folding fan door frame 17 to move to the right, and the slider 16 installed on the outer wall of the fireproof folding fan door frame 17 slides in the movable track cavity 15. When the reset spring 19 returns to its normal state, the fireproof folding fan door frame 17 pulls the fireproof curtain 18 and the folding fan hinge door to close, realizing the self-closing and function of the fireproof door.

[0028] See also Figure 2 and Figure 7, an embodiment provided by the present invention: an automatic sensing and locking device for a patrol robot passing a fire door, wherein a door damping adjustment module is fixedly installed at the bottom of the inner wall of the fire door frame 2, and the door damping adjustment module is used to adjust the opening and closing locking damping of the fire door; The door body damping adjustment module includes: a magnetorheological damper 24, a door latch 25 and a lock slot 26; A magnetorheological damper 24 is fixedly installed at the bottom of the inner wall of the fire door frame 2, and a bolt 25 is telescopically installed at the bottom of the outer wall of the magnetorheological damper 24. A lock slot 26 is opened at the top of the outer wall of the integrated door 6, and the bolt 25 is inserted into the lock slot 26. The bolt 25 adopts an arc head design, which is convenient for sliding in and out of the lock slot 26; Furthermore, the magnetorheological damper 24 is connected to the infrared intelligent sensor 4 through a data signal line. When the infrared intelligent sensor 4 sends a door opening signal, the signal is synchronously transmitted to the magnetorheological damper 24, and the magnetorheological damper 24 is started to reduce the magnetic flow to change the rising damping of the bolt 25. When the integrated door 6 is rotated to open, the edge of the lock slot 26 on the integrated door 6 squeezes the bolt 25 upward along the arc head shape of the bolt 25, so that the integrated door 6 is easily opened. When the infrared intelligent sensor 4 sends a closing signal to the synchronous door opening module, the synchronous door opening module rotates the integrated door 6 to close the fire door. At this time, the bolt 25 receives the output port of the magnetorheological damper 24. The force of the locking spring moves downward and reinserts it into the lock slot 26. At the same time, after the magnetorheological damper 24 receives the closing signal of the infrared intelligent sensor 4 through the data signal line, the magnetorheological damper 24 increases the magnetic flow to increase the rising damping of the bolt 25, so that the bolt 25 is firmly inserted into the lock slot 26, ensuring the normally closed state of the integrated door 6, and preventing unrelated personnel from arbitrarily opening the fire door and causing safety accidents; at the same time, the magnetorheological damper 24 is connected to the fire alarm control signal center in the building. When the magnetorheological damper 24 receives the fire alarm signal, it reduces the magnetic flow to change the rising damping of the bolt 25, ensuring that personnel can manually open the fire door smoothly to escape from the fire.

[0029] See also Figure 2 , Figure 3 and Figure 8 , an embodiment provided by the present invention: an automatic sensing and locking device for a patrol robot passing a fire door, wherein a self-closing door module is fixedly installed at the bottom of the inner wall of the fire door frame 2, and the self-closing door module cooperates with a synchronous door opening module to control the opening and closing of the integrated door 6; The self-closing door module includes: a winding servo motor 28, a winding shaft 29 and a winding roller 30; A winding servo motor 28 is fixedly installed on the top of the inner wall of the fire door frame 2, and a winding shaft 29 is fixedly installed on the output port at the bottom of the outer wall of the winding servo motor 28. A winding roller 30 is fixedly installed on the bottom of the outer wall of the winding shaft 29. A winding belt 31 is wrapped around the outer wall of the winding roller 30, and the winding belt 31 is fixedly sleeved on the outer wall of the limit column 32; Furthermore, when the winding servo motor 28 receives the door closing signal sent by the infrared intelligent sensor 4 through the data signal line, it starts, and the winding servo motor 28 drives the winding shaft 29 to rotate, and the winding shaft 29 drives the winding roller 30 to rotate, and the winding roller 30 reels the winding belt 31, and the winding belt 31 pulls the limit column 32 to slide in the limit slide 27, and the limit column 32 drives the integrated door 6 to close, thereby realizing the automatic closing function of the fire door.

[0030] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: an automatic sensing and locking device for a patrol robot passing a fire door, wherein an embedded fireproof sealing strip 5 is installed on the outer wall side of the fire door frame 2, and the embedded fireproof sealing strip 5 is filled with a graphite-based composite expansion material, and the expansion material inside the embedded fireproof sealing strip 5 overflows and expands from the edge of the sealing strip according to the real-time temperature and pressure; A manual push-pull handle 7 is installed on the front of the outer wall of the integrated door 6. The manual push-pull handle 7 is connected to the magnetorheological damper 24 through a signal line, and the switch of the magnetorheological damper 24 is triggered by a mechanical lock pull wire; Furthermore, the embedded fireproof sealing strip 5 is filled with a graphite-based composite expanded material. When the temperature or pressure exceeds the set upper limit of the sealing strip, the graphite-based composite expanded material overflows and expands from the edge of the embedded fireproof sealing strip 5 to fill the wall gap at the installation position to prevent the spread of fire and smoke. When a fire electrical fault occurs, the magnetorheological damper 24 switch is opened by manually pushing and pulling the handle 7 to change the locking damping, ensuring that the fire door can be manually opened for rapid escape.

[0031] Working principle: The infrared intelligent sensor 4 collects the height, moving speed, width and other parameters of the inspection robot in real time, and sends the door opening mode and door opening angle signal in real time according to the preset program; The synchronous door opening module and the folding door opening module cooperate with the door damping adjustment module to open the fire door in real time according to the received door opening signal, ensuring that the inspection robot can pass smoothly; The self-closing door module and the reset spring 19 automatically close the integrated door 6 under different door opening modes, and cooperate with the door body damping adjustment module to ensure that the fire door is closed. The manual mode cooperates with the door body damping adjustment module to ensure that the fire door can be manually opened in case of fire and failure, thereby ensuring the safety of people and property.

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automatic sensing and locking device for a patrol robot passing through a fire door, comprising a lower mounting seat (1), a fire door frame (2), an upper mounting seat (3), an integrated door (6) and an infrared intelligent sensor (4), characterized in that: A fire door frame (2) is installed on the top of the outer wall of the lower mounting seat (1), an upper mounting seat (3) is installed on the top of the outer wall of the fire door frame (2), an integrated door (6) is movably installed in the fire door frame (2), an infrared intelligent sensor (4) is installed on the front of the outer wall of the upper mounting seat (3), and a synchronous door opening module is fixedly installed on the bottom of the inner wall of the upper mounting seat (3), the synchronous door opening module is connected to the infrared intelligent sensor (4) via a data signal line, and the synchronous door opening module is used to control the opening and closing of the integrated door (6) according to information recognized by the infrared intelligent sensor (4); The synchronous door opening module comprises: a first stepper motor (8), a rotating drum (11) and a limiting slideway (27); A first stepper motor (8) is fixedly mounted on the top of the inner wall of the upper mounting seat (3); a first rotating shaft (9) is fixedly mounted on the output port at the bottom of the outer wall of the first stepper motor (8); a connecting cylinder (10) is fixedly mounted on the bottom of the outer wall of the first rotating shaft (9); a rotating cylinder (11) is fixedly mounted on the outer wall of the connecting cylinder (10); an integrated door (6) is fixedly mounted on the side of the outer wall of the rotating cylinder (11); the first stepper motor (8) is connected to the infrared intelligent sensor (4) via a data signal; a limiting slideway (27) is fixedly mounted on the bottom of the outer wall of the upper mounting seat (3); a limiting column (32) is fixedly mounted on the top of the outer wall of the integrated door (6); and the limiting column (32) is movably engaged in the limiting slideway (27).

2. The automatic sensing and locking device for fire doors for inspection robots according to claim 1, characterized in that: A folding door opening module is also installed on the inner wall side of the integrated door (6), and the folding door opening module is used to control the opening and closing of the fire door according to the information recognized by the infrared intelligent sensor (4); The folding door opening module comprises: an air hydraulic cylinder (12), a hydraulic telescopic connecting rod (13) and a folding door linkage control rod (14); An air hydraulic cylinder (12) is fixedly mounted on the inner wall side of the integrated door (6); the air hydraulic cylinder (12) is connected to the infrared intelligent sensor (4) via a data signal line; a hydraulic telescopic connecting rod (13) is fixedly mounted on the output port on the outer wall side of the air hydraulic cylinder (12); and a folding fan linkage control rod (14) is fixedly mounted on the outer wall side of the hydraulic telescopic connecting rod (13).

3. The automatic sensing and locking device for fire doors for inspection robots according to claim 2, characterized in that: The folding fan linkage control rod (14) is fixedly connected to the folding fan opening and closing module, and the folding fan opening and closing module is used to perform linkage control on the folding fan fire door; The folding fan opening and closing module comprises: a cross rod (21), a linkage shaft (20) and a movable track cavity (15); A linkage shaft (20) is fixedly mounted on the back of the outer wall of the folding fan linkage control rod (14); a cross rod (21) is cross-mounted on the outer wall of the linkage shaft (20); a movable shaft (22) is mounted on the top and bottom of the outer wall of the cross rod (21); a rolling wheel (23) is movably mounted on the outer wall of the movable shaft (22); and a movable track cavity (15) is opened on the top and bottom of the inner wall of the integrated door (6), and the rolling wheel (23) is mounted in the movable track cavity (15).

4. The automatic sensing and locking device for fire doors for inspection robots according to claim 2, characterized in that: Two fireproof folding door frames (17) are fixedly mounted on the outer wall side of the folding fan joint control rod (14), and a return spring (19) is sleeved around the outer wall of the folding fan joint control rod (14), one end of the return spring (19) presses against the outer wall side of the air hydraulic cylinder (12), and the other end presses against the outer wall side of the fireproof folding door frame (17).

5. The automatic sensing and locking device for fire doors for inspection robots according to claim 4, characterized in that: A fireproof curtain (18) and a folding fan hinged door are installed between the fireproof folding fan door frames (17); the fireproof curtain (18) is made of fireproof cloth, and the folding fan hinged door adopts a three-fold design, which is convenient for opening, closing and folding.

6. The automatic sensing and locking device for fire doors for inspection robots according to claim 1, characterized in that: A door body damping adjustment module is fixedly mounted on the bottom of the inner wall of the fire door frame (2), and the door body damping adjustment module is used to adjust the opening and closing locking damping of the fire door; The door body damping adjustment module comprises: a magnetorheological damper (24), a door latch (25) and a lock slot (26); A magnetorheological damper (24) is fixedly mounted on the bottom of the inner wall of the fireproof door frame (2), a bolt (25) is telescopically mounted on the bottom of the outer wall of the magnetorheological damper (24), a lock slot (26) is provided on the top of the outer wall of the integrated door (6), and the bolt (25) is inserted into the lock slot (26), and the bolt (25) is designed with an arc head shape, so that it is easy to slide in and out of the lock slot (26).

7. The automatic sensing and locking device for fire doors for inspection robots according to claim 1, characterized in that: A self-closing door module is fixedly mounted on the bottom of the inner wall of the fire door frame (2), and the self-closing door module cooperates with the synchronous door opening module to control the opening and closing of the integrated door (6); The self-closing door module comprises: a winding servo motor (28), a winding shaft (29) and a winding roller (30); A winding servo motor (28) is fixedly mounted on the top of the inner wall of the fire door frame (2), a winding shaft (29) is fixedly mounted on the output port at the bottom of the outer wall of the winding servo motor (28), a winding roller (30) is fixedly mounted on the bottom of the outer wall of the winding shaft (29), a winding belt (31) surrounds the outer wall of the winding roller (30), and the winding belt (31) is fixedly sleeved on the outer wall of the limit column (32).

8. The automatic sensing and locking device for fire doors for inspection robots according to claim 1, characterized in that: An embedded fireproof sealing strip (5) is installed on the side of the outer wall of the fireproof door frame (2), and the embedded fireproof sealing strip (5) is filled with a graphite-based composite expansion material. The expansion material inside the embedded fireproof sealing strip (5) overflows from the edge of the sealing strip and expands according to the real-time temperature and pressure.

9. The automatic sensing and locking device for fire doors for inspection robots according to claim 1, characterized in that: A manual push-pull handle (7) is installed on the front side of the outer wall of the integrated door (6); the manual push-pull handle (7) is connected to the magnetorheological damper (24) via a signal line, and the switch of the magnetorheological damper (24) is triggered by a mechanical lock pull line.

10. The automatic sensing and locking device for fire doors for inspection robots according to claim 5, characterized in that: Slide blocks (16) are fixedly mounted on the top and bottom of the outer wall of the fireproof folding door frame (17), and the slide blocks (16) are movably mounted in the movable track cavity (15).

Images