High-precision trajectory adjusting device of fire-fighting robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a high-precision trajectory adjusting device of a fire-fighting robot, which comprises a vehicle body, a launching unit is arranged in the middle of the vehicle body, adjusting units are uniformly arranged at one end of the launching unit, and a monitoring unit is arranged at the other end of the launching unit; according to the invention, the angle ring is driven by the drive plate to continuously perform mutual extrusion motion with the wedge plate, in the process, the medical air bag continuously conveys air into the hose under the combined action of extrusion of the wedge plate and reset of the torsion spring, and finally air blowing is performed on the wedge plate, the wall plate and the cannonball box through the air cabin, the air guide strip and the air hole; the phenomenon that external dust enters a fire extinguishing bomb launching area is reduced, the grinding degree of solid particles to the inner wall of a trajectory is reduced, and the orbit precision of the trajectory launching fire extinguishing bomb is improved; on the other hand, solid particles are prevented from depositing in the ballistic trajectory and blocking a ballistic hole path of the ballistic trajectory, and then launching of the fire extinguishing bomb of the fire-fighting robot is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a high-precision trajectory adjustment device for a fire-fighting robot. Background Art

[0002] Firefighting robots are special robots designed to perform firefighting and rescue tasks. They can replace or assist firefighters in high-risk environments such as high temperature, toxicity and collapse. They can use fire-extinguishing bombs to complete firefighting tasks.

[0003] In actual use, the firefighting robot has the following problems:

[0004] 1. Due to the complexity of the fire scene environment, there is a phenomenon that dust from the site enters the robot through the robot's heat dissipation holes or gaps, and even the trajectory, which then causes the launch mechanism and other parts to wear out under the time accumulation effect. For example, the friction wheel or the fire bomb delivery pipeline will produce fine particles after the wear of the material of the parts, and the aforementioned particles will enter the internal trajectory. At the same time, the wear debris of mechanical parts such as motors or bearings may also enter the trajectory area with the airflow or vibration inside the robot.

[0005] The presence of solid particles will change the force of the fire-extinguishing bomb in the trajectory, making it unable to fly according to the preset trajectory, resulting in reduced shooting accuracy, difficulty in accurately hitting the fire source, and reduced ability to strike the flame area. Solid particles move with the fire-extinguishing bomb in the trajectory, which will have a grinding effect on the inner wall of the trajectory and related parts of the launch mechanism, accelerating the wear of the parts, shortening the service life of the parts, and increasing the cost of repairing and replacing parts.

[0006] In addition, solid particles may block the fire extinguishing bomb delivery channel, preventing the fire extinguishing bomb from entering the launch position normally, resulting in launch interruption; or solid particles may enter the key parts of the launch mechanism, such as affecting the normal operation of the motor, interfering with the sensor signal, etc., causing launch failure, making the fire-fighting robot unable to perform its working ability normally in fire extinguishing.

[0007] 2. In actual use, traditional firefighting robots are subject to constant vibration during movement due to the complexity of the fire scene environment (for example, mountainous environment). During the vibration process, the fire-fighting bombs inside the magazine may be separated from the preset position of the magazine and squeezed against each other in a limited space, resulting in jamming or discontinuous firing of the fire-fighting bombs. Summary of the invention

[0008] In order to achieve the above object, the present invention adopts the following technical scheme: a high-precision trajectory adjustment device for a fire-fighting robot, comprising a body, a launching unit is arranged in the middle of the body, an adjustment unit is evenly arranged at one end of the launching unit, and a monitoring unit is arranged at the other end of the launching unit;

[0009] The adjustment unit comprises:

[0010] A wall panel is detachably arranged inside the vehicle body by bolts;

[0011] The ear seats are two in a group and are symmetrically snap-fitted and installed on the inner wall of the wall panel;

[0012] The gasket is mounted on the end surface of the ear seat near the middle of the wall plate;

[0013] The horizontal axis is rotatably mounted between the two lugs;

[0014] The wedge plate is clamped and installed in the middle of the outer wall of the horizontal axis, and a notch is designed in the middle of the wedge plate;

[0015] A rubber pad, which is clamped and installed on the end surface of the wedge plate away from the wall plate;

[0016] The torsion spring is symmetrically arranged at the two ends of the outer wall of the horizontal axis, and the torsion spring is located between the washer and the wedge plate; in addition, the torsion spring is installed by snap-fitting with the washer and the wedge plate.

[0017] Preferably, a baffle is rotatably installed in the middle position of the outer wall of the horizontal axis, a rubber strip is clamped and installed on the end face of the baffle away from the wall plate, coil springs clamped and installed with the wedge plate are clamped and installed at both ends of the baffle, and the coil springs are sleeved on the outer wall of the horizontal axis, electronic caps are embedded and clamped and installed at both ends of the horizontal axis, a panel is symmetrically clamped and installed on the end face of the wall plate close to the horizontal axis, an electric sheet is clamped and installed on the inner wall of the panel, grooves are opened on the end faces of one side of the baffle and the wedge plate, and a fitting seat is slidably clamped and installed on the inner wall of the groove on one side of the baffle.

[0018] Preferably, a medical air bag is installed on the end face of the wall panel close to the horizontal axis through a snap-on connection, and two medical air bags are in a group and symmetrically distributed, a hose is plug-in installed on one end of the medical air bag, and an air valve plug-in and installed on the outer wall of the wedge plate is snap-on installed on the other end of the hose, an air cabin connected to the air valve is snap-on installed on the end face of the wedge plate away from the wall panel, and the air cabin is close to the end of the horizontal axis, and air holes are evenly opened on the end face of the wedge plate close to the wall panel, and an air guide strip is snap-on installed on one end of the wall panel.

[0019] Preferably, the transmitting unit comprises:

[0020] The chassis is one in number and is mounted in the middle of the vehicle body by means of a mounting bracket;

[0021] The base is rotatably mounted on the axis of the chassis;

[0022] The stepper motor is mounted on the axis of the chassis through a mounting bracket, and the output end of the stepper motor is mounted in a matching manner with the base;

[0023] A dial, which is mounted in a middle position of the outer wall of the base by snap-fitting;

[0024] Corner rings, snap-fitted to the six corner ends of the dial;

[0025] The shell box is detachably mounted on the outside of the chassis by bolts, and the chassis has the same cross-sectional shape as the shell box; in addition, the wall panels are evenly distributed on the inner wall of the shell box;

[0026] The side hole is snap-fitted and installed at one end of the shell box;

[0027] The carbon plate is snap-fitted and installed at the end of the side channel away from the chassis;

[0028] The copper tube is installed by plugging in the middle of the carbon plate, and the holes on the same side of the copper tube are coaxially distributed.

[0029] Preferably, the copper tube is clamped and installed with an end plate at one end away from the carbon plate, and an angle plate is clamped and installed on the end face of the end plate away from the copper tube. A sleeve coaxially arranged with the copper tube is rotatably installed on the end face of the angle plate away from the copper tube. A main pulley is clamped and installed on the end face of the sleeve away from the copper tube, and a driving motor is clamped and installed on the other end of the angle plate. A branch pulley is clamped and installed on the output end of the driving motor. The end face of the main pulley away from the sleeve is clamped and installed with side plates symmetrically distributed through a mounting bracket, and an end track is clamped and installed between the two side plates.

[0030] Preferably, the monitoring unit comprises:

[0031] T-joint frame, snap-fitted and installed on the end of the track away from the copper tube;

[0032] The coil is installed in the middle position of the T-frame through the rotation of the crossbar;

[0033] A support, which is clamped and installed on the outer wall of the sleeve;

[0034] The wire wheel is installed in the middle position of the support through the rotation of the cross bar;

[0035] The center ring is installed in the middle of the end track with a sliding snap fit;

[0036] External ear plates are clamped and installed on the four corners of the outer wall of the middle ring;

[0037] The inner ear plates are two in a group and are symmetrically mounted on the middle position of the outer wall of the middle ring; in addition, one inner ear plate is arranged opposite to the two outer ear plates;

[0038] The vertical rod is installed in the middle position of the outer ear plate in a through-type sliding card-jointed manner.

[0039] Preferably, the end face of the vertical plate close to the side plate is clamped with a dividing ring that is slidably clamped with the end track, a return spring that is mounted on the vertical rod is clamped between the vertical plate and the outer ear plate, the end face of the outer ear plate close to the inner ear plate is clamped with a positive electrode sheet, the end of the vertical rod close to the inner ear plate is clamped with a negative electrode sheet, and the outer wall of the middle ring is symmetrically clamped with angle heads for connecting cables.

[0040] The fire-fighting robot trajectory stable output and real-time monitoring method adopts the high-precision trajectory adjustment device of the fire-fighting robot to implement the stable output of fire-extinguishing bombs and trajectory accuracy monitoring. The specific steps are as follows:

[0041] S1: First, the base is driven to rotate by the stepper motor. Then, the fire extinguishing bombs in the external magazine enter the shell box in an orderly manner under the action of the dial. Under the interaction between the dial and the inner wall of the shell box, they enter the copper tube along the side channel and are finally transported to the transmitter through the terminal track.

[0042] S2: Then, the torsion spring provides stable support to the wedge plate, so as to cooperate with the limited rotation of the dial to ensure the stability of the fire extinguishing bomb in the shell box; in addition, the torsion spring fully absorbs the energy generated by external vibration through its own elastic properties, reduces the skin shedding of the fire extinguishing bomb caused by vibration, and reduces the wear between the fire extinguishing bomb and the shell box and other parts. At the same time, through the interaction between the dial and the wedge plate, the medical air bag is prompted to intermittently squeeze the hose, so that the gas passes through the air cabin, the air guide strip and the air hole, and continuously blows the shell box, the wedge plate and the wall plate, reducing the deposition of solid particles.

[0043] S3: Finally, by connecting cables between the wire wheel, the coil and the angle head, the middle ring is pulled by the wire wheel or the coil, and synchronously drives the position ring under the guidance of the terminal track to continuously reciprocate. In this process, the compression fit between the reset spring and the vertical rod is used to realize the monitoring function of the change in the vertical distance between the middle ring and the position ring. The specific method can be determined by the contact condition between the positive electrode and the negative electrode, so as to monitor the accuracy of the fire extinguishing bomb launch in real time.

[0044] The present invention has the following beneficial effects:

[0045] 1. The present invention drives the angle ring through the dial to continuously squeeze the wedge plate. During this process, the medical airbag continuously delivers gas to the inside of the hose under the combined action of the wedge plate squeezing and the torsion spring resetting, and finally blows gas to the inside of the wedge plate, the wall plate, and the shell box through the air cabin, the wind guide strip, and the air hole. On the one hand, it reduces the phenomenon of external dust entering the fire extinguishing bomb launching area, reduces the degree of grinding of the solid particles on the inner wall of the trajectory, and improves the trajectory accuracy of the fire extinguishing bomb launched by the trajectory; on the other hand, it prevents solid particles from depositing inside the trajectory and blocking the path of the ballistic bullet hole, thereby ensuring that the fire-fighting robot accurately strikes the fire point and extinguishes the fire.

[0046] 2. The present invention fully ensures that the wedge plate provides a stable supporting force to the fire extinguishing bomb inside the shell box through the restorability of the torsion spring, and can effectively absorb external vibrations. On the one hand, it reduces vibration damage, skin shedding, and increase in solid particles of the fire extinguishing bomb. On the other hand, it can ensure that the fire extinguishing bomb passes through the edge hole, copper tube and terminal track in an orderly manner, fully reducing the probability of the fire extinguishing bombs squeezing each other and not falling into the designated area of ​​the dial, and at the same time helps to improve the uninterrupted delivery capacity of the fire extinguishing bomb.

[0047] 3. The present invention determines whether the elastic force of the torsion spring decreases through the contact between the electronic cap and the electric sheet, and when the elastic force of the torsion spring is lost, the connection between the contact baffle and the wedge plate is contacted through the cooperation between the engaging seat and the slot, that is, the movement consistency of the baffle and the wedge plate is released by the engaging seat being separated from the slot. At this time, the baffle replaces the wedge plate under the restoring action of the spiral spring, and continues to provide a stable supporting force to the fire extinguishing bomb, thereby avoiding the problem of deviation in the firing accuracy of the fire extinguishing bomb caused by the loss of function of the wedge plate in special circumstances.

[0048] 4. The present invention realizes that the median ring drives the position rings to continuously reciprocate on the outer wall of the terminal track through alternating traction between coils or wire wheels. In specific implementation, the coil and the wire wheel can be connected by an angle head. In this process, the vertical distance between the median ring and the position ring can be adjusted through the cooperation between the vertical rod and the reset spring, and the contact between the positive electrode sheet and the negative electrode sheet can be used to determine whether deformation occurs between the median ring and the position ring, so as to monitor the launch accuracy of the terminal track in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0050] Figure 2 It is a three-dimensional assembly diagram of the transmitting unit, the regulating unit and the monitoring unit of the present invention.

[0051] Figure 3 The present invention is attached Figure 2 Front view of the structure.

[0052] Figure 4 The present invention is attached Figure 2 Top view of the structure.

[0053] Figure 5 The present invention is attached Figure 2 Bottom view of the structure.

[0054] Figure 6 It is a three-dimensional display diagram of the adjustment unit of the present invention.

[0055] Figure 7 The present invention is attached Figure 6 Three-dimensional display of the local structure.

[0056] Figure 8 The present invention is attached Figure 7 Another perspective showing the structure.

[0057] Fig. 9 The present invention is attached Figure 6 Another part of the structure is shown in the figure.

[0058] Fig.10 It is a three-dimensional display diagram of the monitoring unit in the present invention.

[0059] Numbers in the figure: 1, vehicle body; 2, transmitting unit; 3, regulating unit; 4, monitoring unit;

[0060] 21. Chassis; 22. Base; 23. Stepper motor; 24. Dial; 25. Angle ring; 26. Shell box; 27. Edge channel; 28. Carbon plate; 29. ​​Copper tube;

[0061] 211, end plate; 212, angle plate; 213, shaft sleeve; 214, main pulley; 215, drive motor; 216, sub-pulley; 217, side plate; 218, end track;

[0062] 31. wall plate; 32. ear seat; 33. gasket; 34. transverse axis; 35. wedge plate; 36. rubber pad; 37. torsion spring;

[0063] 311, baffle; 312, rubber strip; 313, spiral spring; 314, electronic cap; 315, panel; 316, electric sheet; 318, slot; 319, fitting seat;

[0064] 321. medical airbag; 322. hose; 323. air valve; 324. air chamber; 325. air hole; 326. air guide strip;

[0065] 41. T-frame; 42. coil; 43. support; 44. reel; 45. center ring; 46. outer ear plate; 47. inner ear plate; 48. vertical rod; 49. vertical plate;

[0066] 411, positioning ring; 412, return spring; 413, positive electrode sheet; 414, negative electrode sheet; 415, angle head. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0068] It should be noted that the terms “vertical”, “horizontal”, “left”, “right” and similar expressions used in this document are only for the purpose of explanation and do not represent the only implementation method.

[0069] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0070] Reference Figure 1 , Figure 3 and Figure 4 It can be seen that a high-precision trajectory adjustment device for a fire-fighting robot comprises a body 1, a launching unit 2 is arranged in the middle of the body 1, an adjustment unit 3 is evenly arranged at one end of the launching unit 2, and a monitoring unit 4 is arranged at the other end of the launching unit 2;

[0071] Reference Figure 1 , Figure 2 , Figure 3 and Figure 5 It can be seen that the transmitting unit 2 includes: a chassis 21, which is in one quantity and is mounted in the middle position inside the vehicle body 1 through a mounting bracket; a base 22, which is rotatably mounted at the axis of the chassis 21; a stepper motor 23, which is mounted at the axis of the chassis 21 through a mounting bracket, and the output end of the stepper motor 23 is mounted with the base 22 by a snap-fitting connection; a dial 24, which is mounted in the middle position of the outer wall of the base 22 by a snap-fitting connection; and an angle ring 25, which is snap-fitted and mounted on the six corner ends of the dial 24;

[0072] The shell box 26 is detachably mounted on the outside of the chassis 21 by bolts, and the chassis 21 has the same cross-sectional shape as the shell box 26; in addition, the wall plate 31 is evenly distributed on the inner wall of the shell box 26; the edge hole 27 is snap-fitted and mounted at one end of the shell box 26; the carbon plate is snap-fitted and mounted at the end of the edge hole 27 away from the chassis 21; the copper tube 29 is plug-fitted and mounted in the middle position of the carbon plate, and the copper tube 29 is coaxially distributed with the edge hole 27;

[0073] Reference Figure 2 and Figure 3 It can be known that an end plate 211 is clamped and installed at one end of the copper tube 29 away from the carbon plate, an angle plate 212 is clamped and installed at the end face of the end plate 211 away from the copper tube 29, a sleeve 213 which is coaxially arranged with the copper tube 29 is rotatably installed at the end face of the angle plate 212 away from the copper tube 29, a main pulley 214 is clamped and installed at the end face of the sleeve 213 away from the copper tube 29, a drive motor 215 is clamped and installed at the other end of the angle plate 212, a branch pulley 216 is clamped and installed at the output end of the drive motor 215, and a symmetrically distributed side plate 217 is clamped and installed at the end face of the main pulley 214 away from the sleeve 213 through a mounting bracket, and an end track is clamped and installed between the two side plates 217.

[0074] It is hereby explained that the vehicle body 1 involves the launching mechanism, the pan / tilt mechanism, the ammunition feeding mechanism, the suspension system, the wheel system and the protective shell;

[0075] The present invention is only directed to the ammunition feeding mechanism;

[0076] Brief description of the process of launching fire extinguishing bomb by launching unit 2:

[0077] First, the firefighters dropped the fire extinguisher bombs into the magazine ( Figure 1 After that, the fire extinguishing bombs fall to the shell box 26 in sequence under the action of gravity, and in this process, the fire extinguishing bombs are limited by the dial 24 to pass through the conveying track inside the shell box 26 in a single shot in an orderly manner (in specific implementation, the base 22 can be controlled by the stepping motor 23 to drive the dial 24 to rotate, and at this time, the fire extinguishing bombs in the magazine continuously fall into the area defined by the claws of the dial 24 and the inner wall of the shell box 26, and when the dial 24 rotates to equalize the angle, new fire extinguishing bombs are continuously conveyed to different claw areas of the dial 24);

[0078] Then, the fire extinguishing bomb gradually surges toward the edge channel 27 area under the mutual squeezing action, and fills into the copper tube 29 under the index of the arc-shaped inner wall of the edge channel 27 (the carbon plate is used to improve the rigidity and strength of the connection end of the edge channel 27 and the copper tube 29 to ensure the safety and stability of the transportation of the fire extinguishing bomb);

[0079] Finally, the fire extinguishing bombs are pulled into the launch platform in sequence by the retraction of the terminal track (and in this process, the driving motor 215 controls the sub-position pulley 216 to drive the main position pulley 214 to rotate. In specific implementation, the belt can be used as a transmission bridge between the sub-position pulley 216 and the main position pulley 214; in addition, the angle plate 212 provides a stable operating environment for the driving motor 215, the sub-position pulley 216 and the main position pulley 214);

[0080] Edge plate 217: further improves the operational safety and stability of the terminal track, and helps to improve the final firing accuracy of the fire extinguishing bomb.

[0081] Reference Figure 4 , Figure 6 , Figure 7 and Fig. 9It can be seen that the adjustment unit 3 includes: a wall plate 31, which is detachably arranged inside the vehicle body 1 by bolts; ear seats 32, two of which are in a group and are symmetrically clamped and installed on the inner wall of the wall plate 31; a gasket 33, which is clamped and installed on the end face of the ear seat 32 near the middle position of the wall plate 31; a horizontal shaft 34, which is rotatably installed between the two ear seats 32; a wedge plate 35, which is clamped and installed in the middle position of the outer wall of the horizontal shaft 34, and a notch is designed in the middle of the wedge plate 35; a rubber pad 36, which is clamped and installed on the end face of the wedge plate 35 away from the wall plate 31; a torsion spring 37, which is symmetrically arranged at both ends of the outer wall of the horizontal shaft 34, and the torsion spring 37 is located between the gasket 33 and the wedge plate 35; in addition, the torsion spring 37 is clamped and installed with the gasket 33 and the wedge plate 35;

[0082] Reference Figure 7 , Figure 8 and Fig. 9 It can be seen that a baffle 311 is rotatably mounted in the middle of the outer wall of the horizontal axis 34, a rubber strip 312 is clamped and mounted on the end face of the baffle 311 away from the wall plate 31, and a coil spring 313 clamped and mounted with the wedge plate 35 is clamped and mounted at both ends of the baffle 311, and the coil spring 313 is sleeved on the outer wall of the horizontal axis 34, and an electronic cap 314 is embedded and clamped and mounted at both ends of the horizontal axis 34, and a panel 315 is symmetrically clamped and mounted on the end face of the wall plate 31 close to the horizontal axis 34, and an electric sheet 316 is clamped and mounted on the inner wall of the panel 315, and a groove 318 is opened on the end face of one side of the baffle 311 and the wedge plate 35, and a fitting seat 319 is slidably clamped and mounted on the inner wall of the groove 318 on one side of the baffle 311;

[0083] Reference Figure 6 , Figure 7 and Figure 8 It can be seen that a medical air bag 321 is installed on the end face of the wall panel 31 close to the horizontal axis 34 through a snap-on connection, and two medical air bags 321 are grouped together and symmetrically distributed, a hose 322 is plug-in installed on one end of the medical air bag 321, and an air valve 323 plug-in and installed on the outer wall of the wedge plate 35 is snap-on installed on the other end of the hose 322, an air chamber 324 connected to the air valve 323 is snap-on installed on the end face of the wedge plate 35 away from the wall panel 31, and the air chamber 324 is close to one end of the axis of the horizontal axis 34, and air holes 325 are evenly opened on the end face of the wedge plate 35 close to the wall panel 31, and an air guide strip 326 is snap-on installed on one end of the wall panel 31.

[0084] The process of adjusting unit 3 squeezing and limiting the fire extinguishing bomb (or the process of adjusting unit 3 cleaning the solid particles inside the shell box 26):

[0085] When the dial 24 is turned, the angle ring 25 first contacts the wedge plate 35 and squeezes it. After that, when the angle ring 25 is separated from the wedge plate 35, the wedge plate 35 gradually contacts the fire extinguisher under the restoring action of the torsion spring 37 until a certain interaction force is maintained between the two (in this process, the wedge plate 35 squeezes the medical airbag 321, and the volume of the airbag decreases. According to Boyle's law, under the condition of constant temperature, the pressure of a certain mass of gas is inversely proportional to its volume, so the reduction of the volume of the gas in the airbag will lead to an increase in pressure. The air pressure in the airbag is increased strongly, so that the air pressure in the airbag is higher than the external air pressure and the air pressure at the target. Then the gas flows to the air valve 323 through the hose 322. Finally, the gas passes through the air chamber 324 (in specific implementation, there is a certain angle between the outlet of the air chamber 324 and the end surface of the wedge plate 35 to increase the gas blowing effect), the air guide strip 326 (the same as the air chamber 324) and the air hole 325 (the air hole 325 can provide auxiliary gas cleaning to the adjacent wedge plate 35) to clean the solid particles on the inner wall of the wedge plate 35, the wall plate 31 and the shell box 26.

[0086] It is hereby explained that a one-way valve is usually provided in the medical airbag 321 system; the function of the one-way valve is to ensure that the gas can only flow in a specific direction, that is, from the airbag to the target, and cannot flow in the opposite direction; thereby ensuring that when the airbag is pressed, the gas effectively flows to the target, and when the airbag is released, the gas at the target is prevented from flowing back to the airbag, thereby ensuring the directionality and effectiveness of the gas flow;

[0087] In a specific implementation, a sealing plate is added to the side of the shell box 26 away from the chassis 21 (not shown in the figure, i.e., to limit the freedom of the fire extinguishing bomb in another direction) to prevent the fire extinguishing bomb from detaching from the dial 24 when the wedge plate 35 squeezes the fire extinguishing bomb;

[0088] In addition, the contact friction between the fire extinguishing bomb and the wedge plate 35 is enhanced by the rubber pad 36, so as to further reduce the "slipping" phenomenon of the fire extinguishing bomb, improve the position invariance of the fire extinguishing bomb between the wedge plate 35 and the dial 24, and then improve the stability of the fire extinguishing bomb delivery and reduce the probability of the bomb jamming;

[0089] In the case of the lack of elasticity of the torsion spring 37, the compensation scheme for the limit of the fire extinguishing bomb is as follows:

[0090] First, when the elasticity of the torsion spring 37 decreases, the wedge plate 35 cannot return to the initial position, that is, at this time, the electronic cap 314 is no longer in contact with the electric sheet 316 (when the elasticity of the torsion spring 37 is intact, the electronic cap 314 is in contact with the electric sheet 316). In specific implementation, an alarm light can be added to the outside, and the alarm light is electrically connected to the electronic cap 314;

[0091] Next, the engaging seat 319 is moved so that the engaging seat 319 is no longer engaged with the end slot 318 of the wedge plate 35 (in the initial state, the engaging seat 319 is engaged with the end slots 318 of the wedge plate 35 and the baffle plate 311 at the same time, so as to synchronize the movement consistency between the baffle plate 311 and the wedge plate 35). In specific implementation, the engaging seat 319 can be driven to move by an electric slider;

[0092] Finally, the baffle 311, with the elastic support of the coil spring 313, replaces the wedge plate 35, contacts the fire extinguishing bomb with the rubber strip 312, and maintains a certain interaction force (consistent with the interaction force between the wedge plate 35 and the fire extinguishing bomb mentioned above), so as to prevent the wedge plate 35 from losing its function under special circumstances (for example: during rescue), resulting in jamming of the bomb or deviation of the launch trajectory of the fire extinguishing bomb.

[0093] Reference Figure 2 , Figure 3 and Fig.10 It can be seen that the monitoring unit 4 includes: a T-frame 41, which is clamped and installed at the end of the end track away from the copper tube 29; a coil 42, which is mounted in the middle position of the T-frame 41 through a cross bar rotation fit; a support 43, which is clamped and installed on the outer wall of the sleeve 213; a wire wheel 44, which is mounted in the middle position of the support 43 through a cross bar rotation fit; a center ring 45, which is slidably clamped and installed in the middle position of the end track; an outer ear plate 46, which is clamped and installed at the four corners of the outer wall of the center ring 45;

[0094] The inner ear plates 47 are two in a group and are symmetrically mounted on the middle position of the outer wall of the center ring 45; in addition, one inner ear plate 47 is opposite to the two outer ear plates 46; the vertical rod 48 is mounted in the middle position of the outer ear plate 46 in a through-type sliding snap-fitting manner; the vertical plate 49 is snap-fitted on the other end of the vertical rod 48;

[0095] Reference Figure 3 and Fig.10 It can be seen that the end face of the vertical plate 49 close to the edge plate 217 is clamped with a dividing ring 411 that is slidably clamped with the end track, a return spring 412 that is sleeved and installed with the vertical rod 48 is clamped between the vertical plate 49 and the outer ear plate 46, the end face of the outer ear plate 46 close to the inner ear plate 47 is clamped with a positive electrode plate 413, the end of the vertical rod 48 close to the inner ear plate 47 is clamped with a negative electrode plate 414, and the outer wall of the center ring 45 is symmetrically clamped with angle heads 415 for connecting cables.

[0096] Monitoring unit 4 monitors and adjusts the accuracy of the terminal track before launch:

[0097] First, the coil 42 and the reel 44 are connected through the angle head 415, and then the reel 44 rotates after the coil 42, so that the middle ring 45 can continuously reciprocate under the traction of the coil 42 or the reel 44. In specific implementation, the coil 42 or the reel 44 can be driven to rotate by an external micro motor (that is, only one of the coil 42 or the reel 44 is driven);

[0098] Next, the split ring 411 synchronously follows the center ring 45 to reciprocate under the combined traction of the outer ear plate 46, the vertical rod 48 and the vertical plate 49 (the terminal track is deformed: during the movement of the split ring 411 and the center ring 45, the vertical distance between the two gradually changes. At this time, the vertical rod 48, supported and guided by the outer ear plate 46, prompts the split ring 411 to move, and in specific implementation, the split ring 411 can be restored to its moving state by the reset spring 412);

[0099] Finally, the contact between the positive electrode 413 and the negative electrode 414 is used to determine whether the terminal track is deformed (in specific implementation, the deformation area can be located by adding an alarm device); in addition, when the terminal track is deformed, the vertical rod 48 can correct the terminal track with slight deformation to a certain extent under the reverse force of the reset spring 412, thereby improving the accuracy of the fire extinguishing bomb launch.

[0100] The working principle of the high-precision trajectory adjustment device of a fire-fighting robot provided by the present invention is as follows: Step 1: First, the base 22 is driven to rotate by the stepping motor 23, and then the fire-extinguishing bombs in the external magazine enter the shell box 26 in an orderly manner under the action of the dial 24, and enter the copper tube 29 along the side channel 27 under the interaction between the dial 24 and the inner wall of the shell box 26, and finally transported to the transmitter through the terminal track;

[0101] Step 2: Then, the torsion spring 37 provides stable support to the wedge plate 35, so as to cooperate with the dial 24 to limit the rotation process, and the stability of the fire extinguishing bomb in the shell box 26 is ensured; in addition, the torsion spring 37 fully absorbs the energy generated by external vibration through its own elastic properties, reduces the skin shedding of the fire extinguishing bomb caused by vibration, and reduces the wear between the fire extinguishing bomb and the shell box 26 and other parts. At the same time, through the interaction between the dial 24 and the wedge plate 35, the medical air bag 321 is prompted to intermittently squeeze the hose 322, so that the gas passes through the air chamber 324, the air guide strip 326 and the air hole 325, and continuously blows the shell box 26, the wedge plate 35 and the wall plate 31, reducing the deposition of solid particles;

[0102] Step 3: Finally, by connecting cables between the wire wheel 44, the coil 42 and the angle head 415, the center ring 45 is pulled by the wire wheel 44 or the coil 42, and synchronously drives the divison ring 411 to continuously reciprocate under the guidance of the terminal track. In this process, the compression fit between the reset spring 412 and the vertical rod 48 is used to realize the monitoring function of the change in the vertical distance between the center ring 45 and the divison ring 411. The contact condition between the positive electrode 413 and the negative electrode 414 can be judged to monitor the accuracy of the fire extinguishing bomb launch in real time.

[0103] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0104] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-precision trajectory adjustment device for a firefighting robot, comprising a body (1), characterized in that: A transmitting unit (2) is arranged in the middle of the vehicle body (1), an adjusting unit (3) is evenly arranged at one end of the transmitting unit (2), and a monitoring unit (4) is arranged at the other end of the transmitting unit (2); The regulating unit (3) comprises: A wall plate (31) is detachably arranged inside the vehicle body (1) by means of bolts; The ear seats (32) are two in a group and are symmetrically clamped and installed on the inner wall of the wall plate (31); A gasket (33) is mounted on an end surface of the ear seat (32) close to the middle of the wall plate (31) by snap-fitting; A transverse shaft (34) is rotatably mounted between the two ear seats (32); A wedge plate (35) is mounted in a middle position of the outer wall of the horizontal shaft (34) by clamping, and a notch is designed in the middle of the wedge plate (35); A rubber pad (36) is mounted on the end surface of the wedge plate (35) away from the wall plate (31) by clamping; The torsion spring (37) is symmetrically arranged at both ends of the outer wall of the transverse axis (34), and the torsion spring (37) is located between the gasket (33) and the wedge plate (35); in addition, the torsion spring (37) is installed by snap-fitting with the gasket (33) and the wedge plate (35).

2. The high-precision trajectory adjustment device for a firefighting robot according to claim 1, characterized in that: A baffle (311) is rotatably mounted on the middle position of the outer wall of the transverse shaft (34); a rubber strip (312) is snap-fitted on the end face of the baffle (311) away from the wall plate (31); spiral springs (313) snap-fitted with the wedge plate (35) are snap-fitted on both ends of the baffle (311); the spiral springs (313) are sleeved on the outer wall of the transverse shaft (34); electronic caps (314) are embedded and snap-fitted on both ends of the transverse shaft (34); a panel (315) is symmetrically snap-fitted on the end face of the wall plate (31) close to the transverse shaft (34); an electric sheet (316) is snap-fitted on the inner wall of the panel (315); a groove (318) is provided on one end face of the baffle (311) and the wedge plate (35); a fitting seat (319) is slidably snap-fitted on the inner wall of the groove (318) on one side of the baffle (311).

3. The high-precision trajectory adjustment device for a firefighting robot according to claim 2, characterized in that: A medical air bag (321) is mounted on the end surface of the wall plate (31) close to the transverse axis (34) by means of a snap-fit ​​connection, and two medical air bags (321) form a group and are symmetrically distributed. A hose (322) is mounted on one end of the medical air bag (321) in a plug-in manner, and an air valve (323) is mounted on the other end of the hose (322) in a plug-in manner and is mounted on the outer wall of the wedge plate (35). An air chamber (324) connected to the air valve (323) is mounted on the end surface of the wedge plate (35) away from the wall plate (31) in a plug-in manner, and the air chamber (324) is mounted on one end close to the axis of the transverse axis (34). Air holes (325) are evenly formed on the end surface of the wedge plate (35) close to the wall plate (31), and an air guide strip (326) is mounted on one end of the wall plate (31) in a plug-in manner.

4. The high-precision trajectory adjustment device for a firefighting robot according to claim 3, characterized in that: The transmitting unit (2) comprises: The chassis (21) is one in number and is mounted in the middle position inside the vehicle body (1) by means of a mounting bracket; The base (22) is rotatably mounted on the axis of the chassis (21); The stepper motor (23) is mounted on the axis of the chassis (21) by means of a mounting bracket, and the output end of the stepper motor (23) is mounted in a mounting manner in a mounting manner in a mounting manner in a mounting manner in a base (22); A dial (24) is mounted in a snap-fit ​​manner at a middle position of an outer wall of the base (22); Angle rings (25) are snap-fitted to the six corner ends of the dial (24); The shell box (26) is detachably mounted on the outside of the chassis (21) by bolts, and the chassis (21) and the shell box (26) have the same cross-sectional shape; in addition, the wall panels (31) are evenly distributed on the inner wall of the shell box (26); A side hole (27) is mounted on one end of the shell box (26) by snap-fitting; A carbon plate (28) is mounted on the side channel (27) at one end away from the chassis (21). The copper tube (29) is plugged and installed in the middle position of the carbon plate (28), and the copper tube (29) is coaxially distributed with the side channel (27).

5. The high-precision trajectory adjustment device for a firefighting robot according to claim 4, characterized in that: An end plate (211) is mounted on one end of the copper tube (29) away from the carbon plate (28), and an angle plate (212) is mounted on the end surface of the end plate (211) away from the copper tube (29). A shaft sleeve (213) coaxially arranged with the copper tube (29) is mounted on the end surface of the angle plate (212) away from the copper tube (29) in a rotatable manner. A main pulley (214) is mounted on the end surface of the shaft sleeve (213) away from the copper tube (29). A driving motor (215) is mounted on the other end of the angle plate (212), and a sub-pulley (216) is mounted on the output end of the driving motor (215). A symmetrically distributed side plate (217) is mounted on the end surface of the main pulley (214) away from the shaft sleeve (213) via a mounting bracket, and a terminal track (218) is mounted between the two side plates (217).

6. The high-precision trajectory adjustment device for a firefighting robot according to claim 5, characterized in that: The monitoring unit (4) comprises: A T-joint frame (41) is mounted on the end of the end track (218) away from the copper tube (29); The coil (42) is mounted at the middle position of the T-frame (41) by means of a crossbar and rotationally matched; A support (43) is mounted on the outer wall of the shaft sleeve (213) by clamping; The wire wheel (44) is rotatably mounted at the middle position of the support (43) through the crossbar; A middle ring (45) is mounted in a sliding and snap-fitting manner at a middle position of the end track (218); External ear plates (46) are clamped and mounted on four corners of the outer wall of the middle ring (45); The inner ear plates (47) are grouped in two and are symmetrically mounted on the middle position of the outer wall of the middle ring (45); in addition, one inner ear plate (47) is arranged opposite to the two outer ear plates (46); The vertical rod (48) is installed in the middle position of the outer ear plate (46) in a through-type sliding snap-fitting manner; The vertical plate (49) is clamped and installed on the other end of the vertical rod (48).

7. The high-precision trajectory adjustment device for a firefighting robot according to claim 6, characterized in that: A dividing ring (411) is mounted on the end face of the vertical plate (49) close to the edge plate (217) and is slidably engaged with the end rail (218). A return spring (412) is mounted between the vertical plate (49) and the outer ear plate (46) and is sleeved with the vertical rod (48). A positive electrode sheet (413) is mounted on the end face of the outer ear plate (46) close to the inner ear plate (47). A negative electrode sheet (414) is mounted on one end of the vertical rod (48) close to the inner ear plate (47). An angle head (415) is mounted on the outer wall of the middle ring (45) in a symmetrical shape for connecting cables.

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