Patrol robot dog

Abstract

The patrol robot dog comprises a main body, four mechanical legs are arranged below the main body, and a storage box capable of containing a plurality of fire extinguishing bullets is arranged in the main body; a launcher is arranged at the upper end of the storage box and comprises a launching cylinder, a launching column and a force storage spring; the launching column is slidably connected into the launching cylinder; the force storage spring is mounted between the launching column and the launching cylinder; the storage box is internally provided with a storage cavity and a feeding cavity, the feeding cavity is internally provided with a supplementing mechanism capable of pushing the fire extinguishing bombs into the launching cylinder, and the storage cavity is internally provided with a feeding mechanism used for storing the fire extinguishing bombs and an upward pushing mechanism. A plurality of fire extinguishing bombs are stored in the storage box, the fire extinguishing bombs can be thrown to the position of a fire through the launcher, personnel can conduct remote operation to extinguish the fire, the personnel do not need to get close to flames, the personnel can move to the position of the fire at the first time, and the fire extinguishing efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of quadruped robots, and more specifically relates to a patrol robot dog. Background Art

[0002] Substations are complex environments, and robots are required to patrol for a long time to ensure safety. However, when a fire occurs at a certain location, the robot can only report the current situation to the operation room and cannot control the fire immediately, which can easily spread the fire. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a patrol robot dog which can extinguish the fire immediately after observing the fire.

[0004] The present invention provides a patrol robot dog, comprising a main body,

[0005] Four mechanical legs are arranged below the main body, and a storage box capable of accommodating a plurality of fire extinguishing bombs is arranged inside the main body; a launcher is arranged at the upper end of the storage box, and the launcher comprises a launch tube, a launch column slidably connected in the launch tube, and a force storage spring installed between the launch column and the launch tube;

[0006] The storage box has a storage cavity and a loading cavity. The loading cavity is provided with a supplementing mechanism that can push the fire extinguishing bomb into the launching tube. The storage cavity is provided with a feeding mechanism and a pushing mechanism for storing the fire extinguishing bomb.

[0007] Preferably, the side wall of the launching column is provided with a launching rack distributed along the axial direction and extending to the outside of the launching tube, and the launcher also includes an incomplete gear rotatably connected to the main body and meshing with the launching rack.

[0008] Preferably, the storage chamber is connected to the feeding chamber via a front opening; a front baffle for closing the front opening is longitudinally slidably connected in the feeding chamber;

[0009] The replenishing mechanism includes a replenishing platform that slides longitudinally in the loading cavity, and the front baffle is provided with a front abutment bar that extends to just below the replenishing platform.

[0010] Preferably, the feeding mechanism includes two symmetrically arranged extrusion plates, a driving belt arranged on the outside of the two extrusion plates, and a feeding rod fixedly connected to the driving belt for pushing the fire extinguishing bomb to move, and a plurality of the fire extinguishing bombs can be placed between the two extrusion plates.

[0011] Preferably, the two extrusion plates slide towards each other in the storage cavity, and a movable push block with an inclined surface is provided at the lower end of each extrusion plate, and an upper push plate is longitudinally slidably connected below the extrusion plate to abut against the movable push block and thus drive the extrusion plate to slide;

[0012] The push-up mechanism comprises a push-up platform which slides longitudinally below the feeding mechanism; a plurality of fire extinguishing bombs are placed on the push-up platform; and rubber plates which drive the push-up plate to move by friction are arranged on both sides of the push-up platform.

[0013] Preferably, the push-up mechanism further comprises a push-up screw rotatably connected to the bottom of the storage chamber, a push-up sleeve transmission-connected to the push-up screw, and a connecting rod installed between the push-up sleeve and the push-up platform.

[0014] Preferably, it further comprises a replenisher for replenishing fire extinguishing bombs into the storage chamber, the replenisher comprising a shell, a feed plate longitudinally sliding in the shell, and a feed spring installed between the feed plate and the shell, and a plurality of fire extinguishing bombs are longitudinally arranged at the upper end of the feed plate;

[0015] The storage cavity is provided with a rear opening at the rear end, and the upper front end of the shell is provided with a shell outlet opposite to the rear opening. A supplementary push plate is rotatably connected in the shell to drive the uppermost fire extinguishing bomb to move toward the shell outlet.

[0016] Preferably, a driving mechanism is installed on the main body at a position close to the launcher, and the driving mechanism includes a driving motor and a motor gear installed on the output shaft of the driving motor, the motor gear rotates synchronously in the circumferential direction relative to the output shaft of the driving motor and slides relatively in the axial direction, and the incomplete gear is coaxially fixedly connected with a launching gear that can mesh with the motor gear; the supplementary push plate is coaxially provided with a push rod extending to the outside of the shell;

[0017] A connecting rack capable of meshing with the motor gear is slidably connected in the main body, and a pressing rod capable of pressing down the push rod is fixedly connected to the connecting rack.

[0018] Preferably, a rear baffle for closing the rear opening is longitudinally slidably connected to the rear side of the storage box, a rear abutment bar abutting against the shell to drive the rear baffle to slide is provided on the rear baffle, and a push rod driving the motor gear to slide is provided on the rear baffle.

[0019] Preferably, a shell sealing plate for closing the shell outlet is slidably connected to the shell, and a sealing plate protrusion is provided on the shell sealing plate which can resist the main body and thereby drive the shell sealing plate to move; a sealing plate spring is provided between the shell sealing plate and the shell for resetting the shell sealing plate.

[0020] Compared with the prior art, the beneficial effect of the present invention is that a plurality of fire extinguishing bombs are stored in the storage box of the present invention, and the fire extinguishing bombs can be thrown to the location of the fire through the launcher. Personnel can operate remotely to extinguish the fire without the need for personnel to approach the flames, thereby protecting personnel safety, and can move to the fire location at the first time, thereby improving fire extinguishing efficiency.

[0021] This solution provides a front baffle and a rear baffle so that the storage box is in a closed state when not in use, thereby preventing outside air from entering the storage box and causing the fire extinguishing bomb to become wet.

[0022] The up and down movement of the supplementary platform of the present invention can transport the fire extinguishing bomb in the storage box to the launching tube so that the launching column can throw the fire extinguishing bomb out. At the same time, when the supplementary platform moves downward, it can also drive the front baffle to open, so that the fire extinguishing bomb can move to the upper end of the supplementary platform. No additional power element is required to control the movement of the front baffle, the structure is simple, and the cost is saved.

[0023] In this scheme, the upward movement of the upper push platform can transport the fire extinguishing bomb on the upper end of the upper push platform to the extrusion plate, and then replenish the fire extinguishing bomb on the extrusion plate. At the same time, the upper push platform can also drive the two extrusion plates to separate from each other through the rubber plate and the upper push plate, so that the distance between the two extrusion plates is larger than the diameter of the fire extinguishing bomb, which is convenient for the fire extinguishing bomb on the upper end of the upper push platform to move from the bottom to the extrusion plate.

[0024] The driving motor in this scheme has two working states. The driving motor can drive the launching column to move so that the launching column pushes out the fire extinguishing bomb, and can also drive the lower pressure rod to move so that the lower pressure rod pushes the replenishing push plate to rotate, thereby transporting the fire extinguishing bomb in the replenisher to the upper end of the upper push platform, and then replenishing the fire extinguishing bomb into the storage box.

[0025] The rear baffle in the present solution can not only move to close the rear opening to prevent outside air from entering the storage box, but also drive the motor gear to move axially through the push rod to change the working state of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention;

[0027] Figure 2 It is a cross-sectional structural schematic diagram of the present invention;

[0028] Figure 3 It is a schematic diagram of the internal structure of the storage box of the present invention;

[0029] Figure 4 It is a schematic diagram of the decomposition structure of the present invention;

[0030] Figure 5 It is a schematic diagram of the structure of the feeding mechanism and the pushing mechanism of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the transmitter of the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of the replenisher of the present invention;

[0033] Figure 8 It is a structural schematic diagram of the present invention when adding fire extinguishing bombs into the storage box.

[0034] Description of the numbers in the figure:

[0035] 11. Main body; 12. Mechanical legs; 13. Fire extinguisher bomb; 21. Storage box; 211. Rear opening; 212. Front opening; 213. Storage chamber; 214. Loading chamber; 22. Rear baffle; 221. Push rod; 222. Rear stop bar; 23. Front baffle; 231. Front stop bar; 24. Front baffle spring; 3. Launcher; 31. Launch tube; 32. Launch column; 321. Launch rack; 33. Accumulation spring; 34. Incomplete gear; 35. Launch gear; 4. Supplement mechanism; 41. Supplement table; 42. Supplement screw; 43. Supplement sleeve; 44. Supplement motor; 5. Feed mechanism; 51. Extrusion plate; 511. Move Push block; 512, extrusion plate spring; 52, push plate; 53, drive belt; 54, feed rod; 55, feed motor; 6, push mechanism; 61, push table; 611, rubber plate; 62, connecting rod; 63, push screw; 64, push sleeve; 65, push motor; 66, push timing belt; 7, drive mechanism; 71, drive motor; 72, motor gear; 73, moving plate; 74, connecting rack; 741, pressure rod; 8, replenisher; 81, shell; 811, shell outlet; 82, feed plate; 83, feed spring; 84, replenish push plate; 841, push rod; 85, shell sealing plate; 851, sealing plate protrusion. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figure 1-Figure 8 , Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a cross-sectional structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the internal structure of the storage box of the present invention; Figure 4 It is a schematic diagram of the decomposition structure of the present invention; Figure 5 It is a schematic diagram of the structure of the feeding mechanism and the pushing mechanism of the present invention; Figure 6It is a schematic diagram of the structure of the transmitter of the present invention; Figure 7 It is a schematic diagram of the structure of the replenisher of the present invention; Figure 8 It is a structural schematic diagram of the present invention when adding fire extinguishing bombs into the storage box.

[0038] The present application provides a patrol robot dog, comprising a main body 11, four mechanical legs 12 are arranged below the main body 11, a storage box 21 is arranged inside the main body 11, and a plurality of fire extinguishing bombs 13 can be accommodated in the storage box 21. The outer wall of the fire extinguishing bomb 13 is provided with a lead, and dry powder is inside.

[0039] A launcher 3 is disposed at the upper end of the storage box 21 ; the launcher 3 comprises a launch tube 31 , a launch column 32 slidably connected in the launch tube 31 , and a force storage spring 33 installed between the launch column 32 and the launch tube 31 .

[0040] The storage box 21 has a storage chamber 213 and a loading chamber 214 ; the loading chamber 214 is provided with a replenishing mechanism 4 for pushing the fire extinguishing bomb 13 into the launching tube 31 ; the storage chamber 213 is provided with a feeding mechanism 5 and a pushing mechanism 6 for storing the fire extinguishing bomb 13 .

[0041] The side wall of the launching column 32 is provided with a launching rack 321 distributed along the axial direction and extending to the outside of the launching tube 31; the launcher 3 also includes an incomplete gear 34 rotatably connected to the main body 11 and meshing with the launching rack 321.

[0042] The storage chamber 213 is connected to the feeding chamber 214 through the front opening 212; a front baffle 23 for closing the front opening 212 is longitudinally slidably connected in the feeding chamber 214;

[0043] The replenishing mechanism 4 includes a replenishing platform 41 which slides longitudinally in the feeding chamber 214, a replenishing screw 42 which is fixed at the lower end of the replenishing platform 41, a replenishing sleeve 43 which rotates in the feeding chamber 214 and is connected to the replenishing screw 42 through a threaded transmission, and a replenishing motor 44 which is fixed in the feeding chamber 214 and drives the replenishing sleeve 43 to rotate;

[0044] The front baffle plate 23 is provided with a front stop bar 231 extending to the bottom of the supplementing platform 41 ; further, a front baffle plate spring 24 for driving the front baffle plate 23 to return upward is provided between the front baffle plate 23 and the loading chamber 214 .

[0045] When the supplementary platform 41 moves upward into the launching tube 31 , the front baffle plate 23 moves upward to close the front opening 212 under the action of the front baffle plate spring 24 .

[0046] When the supplementing platform 41 moves downward to the lower end of the front opening 212, the lower end of the supplementing platform 41 abuts against the front abutment bar 231, and drives the front baffle 23 to move synchronously to the lower end of the front opening 212. At this time, the fire extinguishing bomb 13 in the storage cavity 213 can be moved to the supplementing platform 41 through the front opening 212.

[0047] The feeding mechanism 5 includes two symmetrically arranged extrusion plates 51, a driving belt 53 installed in the storage cavity 213 and arranged on the outside of the two extrusion plates 51, a feeding rod 54 fixedly connected to the driving belt 53 for pushing the fire extinguishing bomb 13 to move, and a feeding motor 55 that drives the driving belt 53 to work; multiple fire extinguishing bombs 13 are placed between the two extrusion plates 51.

[0048] The length direction of the squeezing plate 51 is perpendicular to the front opening 121 , and the fire extinguishing bomb 13 on the squeezing plate 51 is directly opposite to the front opening 121 ; the sliding direction of the feeding rod 54 is toward the front opening 212 .

[0049] When the feed motor 55 drives the driving belt 53 to work, the driving belt 53 drives the feed rod 54 to move forward, and then the feed rod 54 pushes the fire extinguishing bomb 13 on the extrusion plate 51 to move forward, and the front fire extinguishing bomb 13 will pass through the front opening 121 into the loading chamber 214.

[0050] The two squeezing plates 51 slide towards each other in the storage chamber 213; a squeezing plate spring 512 is provided between the squeezing plate 51 and the storage chamber 213; the squeezing plate spring 512 enables the two squeezing plates 51 to move towards each other, thereby clamping the fire extinguishing bomb 13; a moving push block 511 with an inclined surface is provided at the lower end of the squeezing plate 51; an upper push plate 52 is longitudinally slidably connected below the squeezing plate 51, which abuts against the moving push block 511 and thereby drives the squeezing plate 51 to slide;

[0051] The push mechanism 6 includes a push platform 61 that slides longitudinally below the feeding mechanism 5 ; a plurality of fire extinguishing bombs 13 are placed on the push platform 61 ; rubber plates 611 are arranged on both sides of the push platform 61 to drive the push plate 52 to move through friction.

[0052] When there is no fire extinguishing bomb 13 on the squeezing plate 51, the upper push platform 61 moves upward. In the initial stage, the rubber plate 611 drives the upper push plate 52 to move upward synchronously. The upper push plate 52 abuts against the moving push block 511 and forces the squeezing plate 51 to move, and the two squeezing plates 51 separate from each other; when the upper push plate 52 moves upward to the limit position, the distance between the two squeezing plates 51 is greater than the diameter of the fire extinguishing bomb 13, and then the upper push platform 61 continues to move upward, and the rubber plate 611 will slide relative to the upper push plate 52, forcing the upper push plate 52 remains in the upper limit position; when the upper push platform 61 moves upward until the fire extinguishing bomb 13 at the upper end of the upper push platform 61 moves to face the extrusion plate 51, the upper push platform 61 moves downward, and the rubber plate 611 drives the upper push plate 52 to move downward through friction, and then the two extrusion plates 51 approach each other and clamp the fire extinguishing bomb 13 at the upper end of the upper push platform 61, and then the upper push platform 61 continues to move downward, and the upper push platform 61 is separated from the fire extinguishing bomb 13; and then the fire extinguishing bomb 13 at the upper end of the upper push platform 61 is transferred to the extrusion plate 51.

[0053] The pushing mechanism 6 also includes a pushing screw 63 rotatably connected to the bottom of the storage chamber 213, a pushing sleeve 64 transmission-connected to the pushing screw 63, a connecting rod 62 installed between the pushing sleeve 64 and the pushing platform 61, and a pushing motor 65 driving the pushing screw 63 to rotate; one end of the connecting rod 62 rotates on the pushing platform 61, and the other end rotates on the pushing sleeve 64; the pushing motor 65 and the pushing screw 63 are transmission-connected via a pushing synchronous belt 66.

[0054] When the push-up motor 65 rotates, the push-up screw 63 rotates synchronously, and then the push-up sleeve 64 slides axially, and the push-up platform 61 moves up and down through the transmission of the connecting rod 62.

[0055] The present scheme also includes a replenisher 8 for replenishing the fire extinguishing bombs 13 into the storage chamber 213; the replenisher 8 includes a shell 81, a feed plate 82 that slides longitudinally in the shell 81, and a feed spring 83 installed between the feed plate 82 and the shell 81; a plurality of fire extinguishing bombs 13 are longitudinally arranged at the upper end of the feed plate 82; a rear opening 211 is provided at the rear end of the storage chamber 213; a shell outlet 811 opposite to the rear opening 211 is provided at the upper front end of the shell 81; a replenishing push plate 84 is rotatably connected in the shell 81 to drive the uppermost fire extinguishing bomb 13 to move toward the shell outlet 811.

[0056] A driving mechanism 7 is installed on the main body 1 near the launcher 3; the driving mechanism 7 includes a driving motor 71 and a motor gear 72 installed on the output shaft of the driving motor 71; the motor gear 72 rotates synchronously in the circumferential direction relative to the output shaft of the driving motor 71 and slides relatively in the axial direction; the incomplete gear 34 is coaxially fixedly connected with a launching gear 35 capable of meshing with the motor gear 72; the supplementary push plate 84 is coaxially provided with a push rod 841 extending to the outside of the shell 81; a connecting rack 74 capable of meshing with the motor gear 72 is slidably connected in the main body 1; a pressing rod 741 capable of pressing down the push rod 841 is fixedly connected to the connecting rack 74.

[0057] When the shell 81 is inserted into the main body 11 , the eccentric positions of the pressing rod 741 and the supporting rod 841 are aligned with each other; a torsion spring for resetting is installed between the supplementary push plate 84 and the shell 81 .

[0058] The rear side of the storage box 21 is longitudinally slidably connected with a rear baffle 22 for closing the rear opening 211; the rear baffle 22 is provided with a rear abutment bar 222 that abuts against the shell 81 and drives the rear baffle 22 to slide; the rear baffle 22 is provided with a push rod 221 that drives the motor gear 72 to slide.

[0059] The upper part of the push rod 221 is set at an angle; a movable plate 73 that can resist the push rod 221 is set on the motor gear 72; a gear spring for resetting the motor gear 72 is set between the motor gear 72 and the drive motor 71; a rear baffle spring that drives the rear baffle 22 to close the rear opening 221 is set between the rear baffle 22 and the storage box 21.

[0060] A shell sealing plate 85 for closing the shell outlet 811 is slidably connected to the shell 81; the shell sealing plate 85 is provided with a sealing plate protrusion 851 which can abut against the main body 11 and thereby drive the shell sealing plate 85 to move; a sealing plate spring for resetting the shell sealing plate 85 is provided between the shell sealing plate 85 and the shell 81.

[0061] Initially, there is a fire extinguishing bomb 13 between the two squeezing plates 51 , and there is a fire extinguishing bomb on the upper end of the upper push platform 61 ; the front baffle 23 closes the front opening 212 , the rear baffle 22 closes the rear opening 211 , and the motor gear 72 is meshed with the emission gear 35 .

[0062] The main body 11 moves by means of four mechanical legs 12 working in coordination to inspect various locations in the substation.

[0063] When a fire is discovered, the main body 11 is moved to a position close to the fire and the angle is adjusted so that the inclination angle of the launch tube 31 reaches a suitable angle. At this time, the fire extinguishing bomb 13 fired by the launch column 32 can fall to the location of the fire.

[0064] Then the replenishing motor 44 drives the replenishing sleeve 43 to rotate, and then the replenishing screw 42 moves downward, and the replenishing platform 41 moves downward synchronously; when the replenishing platform 41 moves downward until it abuts against the front abutment bar 231, the replenishing platform 41 drives the front baffle plate 23 to move downward synchronously; finally, the replenishing platform 41 moves to the lower end of the front opening 212, and the front baffle plate 23 no longer closes the front opening.

[0065] Then the feeding motor 55 works to drive the driving belt 53. The driving belt 53 drives the feeding rod 54 to move forward, and the feeding rod 54 pushes the fire extinguishing bomb 13 on the extrusion plate 51 to move forward, so that the frontmost fire extinguishing bomb 13 moves to the upper end of the supplementary platform 41 through the front opening 212.

[0066] Then, the replenishing motor 44 drives the replenishing sleeve 43 to rotate in the opposite direction, and the replenishing screw 42 moves up and down; and then the replenishing platform 41 drives a fire extinguishing bomb 13 to move upward into the launching tube 31.

[0067] Then the driving motor 71 works, and the motor gear 72 drives the launch gear 35 to rotate, so that the incomplete gear 34 rotates 360 degrees synchronously. In this process, the incomplete gear 34 first meshes with the launch rack 321, drives the launch column 32 to move backward, and the force storage spring 33 contracts to store force; when the incomplete gear 34 rotates to separate from the launch rack 321, the force storage spring 33 extends, quickly pushing the launch column 32 to move forward, and then pushing out the fire extinguishing bomb 13 in the launch tube 31, and finally the fire extinguishing bomb 13 moves along a parabola and falls to the location of the fire.

[0068] After the fire extinguishing bomb 13 contacts the flame, the flame ignites the fuse, and after the fuse burns into the inside of the fire extinguishing bomb 13, the fire extinguishing bomb 13 explodes, spraying the dry powder inside, covering the surrounding flames, and extinguishing the flames.

[0069] Depending on the size of the fire, repeat the above process and fire extinguishing bombs at different locations of the fire until the flames are extinguished.

[0070] When the fire extinguishing bomb 13 on the squeezing plate 51 is used up, the feeding motor 55 drives the driving belt 53 to work in the reverse direction, so that the driving belt 53 drives the feeding rod 54 to move to the rear limit position.

[0071] Then the push-up motor 65 starts to work, driving the push-up screw 63 to rotate, and then the push-up sleeve 64 moves axially, and through the transmission of the connecting rod 62, the push-up platform 61 moves upward.

[0072] During the upward movement of the upper push platform 61, the rubber plate 611 drives the upper push plate 52 to move upward through friction, and the upper push platform 52 drives the two squeeze plates 51 to separate from each other, and finally the distance between the two squeeze plates 51 is larger than the diameter of the fire extinguishing bomb 13, so that the fire extinguishing bomb 13 at the upper end of the upper push platform 61 can move to the squeeze plate 51; then the upper push platform 61 continues to move upward, and the rubber plate 611 forces the upper push plate 52 to remain motionless through friction, so that the distance between the two squeeze plates 51 remains unchanged. When the upper push platform 61 moves to the upper limit position, the fire extinguishing bomb 13 at the upper end of the upper push platform 61 is directly opposite to the squeeze plate 51.

[0073] Then the push motor 65 works in the reverse direction, and the push platform 61 moves downward. The rubber plate 611 drives the push plate 52 to move downward by friction, and then the two squeeze plates 51 move toward each other; the two squeeze plates 51 clamp the fire extinguishing bomb 13 on the push platform 61. The push platform 61 continues to move downward, and the push platform 61 is separated from the fire extinguishing bomb 13. Finally, the push platform 61 moves downward to its original position.

[0074] When there is no fire extinguishing bomb 13 on the upper end of the upper push platform 61 , it is necessary to replenish the fire extinguishing bomb 13 on the upper push platform 61 through the replenisher 8 .

[0075] The mechanical legs 12 work, so that the main body 11 moves to the top of the supplementer 8. Then the mechanical legs 12 bend, so that the main body 11 moves downward, and the supplementer 8 is inserted into the main body 11.

[0076] As the refill 8 is inserted into the main body 11, the shell sealing plate 85 contacts the lower end of the main body 11, so that the main body 11 forces the shell sealing plate 85 to move downward, and then the shell sealing plate 85 no longer closes the shell outlet 811. The upper end of the shell 81 abuts against the rear baffle 22, forcing the rear baffle 22 to move upward relative to the storage box 21, and the rear baffle 22 no longer closes the rear opening 211; at the same time, the push rod 221 on the rear baffle 22 abuts against the moving plate 73, and forces the moving plate 73 to drive the motor gear 72 to move axially. Finally, the shell outlet 811 is opposite to the rear opening, the motor gear 72 is meshed with the connecting rack 74, and the lower pressure rod 741 is opposite to the push rod 841.

[0077] Then the driving motor 71 drives the motor gear 72 to rotate, connecting the rack 74 and the lower pressure rod 741 to move downward; the lower pressure rod 741 abuts against the push rod 841 and forces the push rod 841 to rotate, thereby supplementing the push plate 84 to rotate, and the supplementary push plate 84 pushes a fire extinguishing bomb 13 through the shell outlet 811 and the rear opening 211 to move to the upper end of the upper push platform 61.

[0078] Then the driving motor 71 drives the motor gear 72 to rotate in the opposite direction, the connecting rack 74 moves upward to reset, and the supplementary push plate 84 rotates in the opposite direction under the action of the torsion spring. The next fire extinguishing bomb 13 moves to the position of the shell outlet 811 under the push of the feed plate 82.

[0079] Repeat the above process to push a plurality of fire extinguishing bombs 13 to the upper end of the upper push platform 61 , thereby completing the replenishment of the fire extinguishing bombs on the upper push platform 61 .

[0080] After the upper push platform 61 is replenished with the fire extinguishing bomb 13, the mechanical leg 12 rotates to make the main body 11 move upward. Finally, the replenisher 8 is completely separated from the main body 11, the shell sealing plate 85 closes the shell opening again, the rear baffle 22 closes the rear opening 211 again, the push rod 221 is separated from the moving plate 73, and then the motor gear 72 moves again to mesh with the launch gear 35.

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A patrol robot dog, comprising a main body, characterized in that: Four mechanical legs are arranged below the main body, and a storage box capable of accommodating a plurality of fire extinguishing bombs is arranged inside the main body; a launcher is arranged at the upper end of the storage box, and the launcher comprises a launch tube, a launch column slidably connected in the launch tube, and a force storage spring installed between the launch column and the launch tube; The storage box has a storage cavity and a loading cavity. The loading cavity is provided with a supplementing mechanism that can push the fire extinguishing bomb into the launching tube. The storage cavity is provided with a feeding mechanism and a pushing mechanism for storing the fire extinguishing bomb.

2. The patrol robot dog according to claim 1, characterized in that: The side wall of the launching column is provided with a launching rack which is distributed along the axial direction and extends to the outside of the launching tube. The launcher also includes an incomplete gear which is rotatably connected to the main body and meshes with the launching rack.

3. The patrol robot dog according to claim 1, characterized in that: The storage chamber is connected to the feeding chamber through a front opening; a front baffle is longitudinally slidably connected in the feeding chamber for closing the front opening; The replenishing mechanism includes a replenishing platform that slides longitudinally in the loading cavity, and the front baffle is provided with a front abutment bar that extends to just below the replenishing platform.

4. The patrol robot dog according to claim 1, characterized in that: The feeding mechanism includes two symmetrically arranged extrusion plates, a driving belt arranged outside the two extrusion plates, and a feeding rod fixedly connected to the driving belt for pushing the fire extinguishing bomb to move. A plurality of the fire extinguishing bombs can be placed between the two extrusion plates.

5. The patrol robot dog according to claim 4, characterized in that: The two extrusion plates slide towards each other in the storage cavity, and a movable push block with an inclined surface is provided at the lower end of each extrusion plate. An upper push plate is longitudinally slidably connected below the extrusion plate and abuts against the movable push block to drive the extrusion plate to slide. The push-up mechanism comprises a push-up platform which slides longitudinally below the feeding mechanism; a plurality of fire extinguishing bombs are placed on the push-up platform; and rubber plates which drive the push-up plate to move by friction are arranged on both sides of the push-up platform.

6. The patrol robot dog according to claim 5, characterized in that: The push-up mechanism also includes a push-up screw rotatably connected to the bottom of the storage chamber, a push-up sleeve transmission-connected to the push-up screw, and a connecting rod installed between the push-up sleeve and the push-up platform.

7. The patrol robot dog according to claim 2, characterized in that: Also included is a replenisher for replenishing fire extinguishing bombs into the storage chamber, the replenisher includes a shell, a feed plate longitudinally sliding in the shell, and a feed spring installed between the feed plate and the shell, and a plurality of fire extinguishing bombs are longitudinally arranged at the upper end of the feed plate; The storage cavity is provided with a rear opening at the rear end, and the upper front end of the shell is provided with a shell outlet opposite to the rear opening. A supplementary push plate is rotatably connected in the shell to drive the uppermost fire extinguishing bomb to move toward the shell outlet.

8. The patrol robot dog according to claim 7, characterized in that: A driving mechanism is installed on the main body at a position close to the launcher, and the driving mechanism includes a driving motor and a motor gear installed on the output shaft of the driving motor, the motor gear rotates synchronously in the circumferential direction relative to the output shaft of the driving motor and slides relatively in the axial direction, and the incomplete gear is coaxially fixedly connected with a launching gear that can mesh with the motor gear; the supplementary push plate is coaxially provided with a push rod extending to the outside of the shell; A connecting rack capable of meshing with the motor gear is slidably connected in the main body, and a pressing rod capable of pressing down the push rod is fixedly connected to the connecting rack.

9. The patrol robot dog according to claim 8, characterized in that: The rear side of the storage box is longitudinally slidably connected with a rear baffle for closing the rear opening, the rear baffle is provided with a rear abutment bar that abuts against the shell and drives the rear baffle to slide, and the rear baffle is provided with a push rod that drives the motor gear to slide.

10. The patrol robot dog according to claim 9, characterized in that: The shell is slidably connected with a shell sealing plate for closing the shell outlet, and the shell sealing plate is provided with a sealing plate protrusion that can resist the main body and thereby drive the shell sealing plate to move; a sealing plate spring for resetting the shell sealing plate is provided between the shell sealing plate and the shell.

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