Automatic fire extinguishing ball filling equipment for fire-fighting robot

Abstract

The invention relates to the technical field of fire-fighting robots, in particular to fire-fighting robot fire extinguishing ball automatic filling equipment which comprises a robot trolley body, a holder supporting frame is fixedly installed at the upper end of the robot trolley body, a filling mechanism is fixedly installed at the rear end of the robot trolley body, and a fire extinguishing ball is placed in the filling mechanism. A holder supporting frame is installed on the robot trolley body, a rotating adjusting mechanism is installed on the holder supporting frame, a holder mechanism is fixedly installed on the rotating adjusting mechanism, and the lower end of the holder mechanism is connected with the output end of the filling mechanism. The rocker arm is driven by the driving shaft of the second motor to rotate, the rocker arm drives the cradle head connecting rod to rotate, the mounting plate rotates upwards or downwards along the cradle head frame bearing plate, the launching mechanism is driven by the mounting plate to rotate upwards or downwards, and therefore the shooting direction of the launching mechanism is adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting robots, in particular to automatic fire-extinguishing ball loading equipment for fire-fighting robots. Background Art

[0002] Robots are autonomous machines that can accept human commands, run pre-programmed tasks, or act according to principles developed by artificial intelligence. Their mission is to assist or replace human work in areas such as firefighting, manufacturing, construction, and hazardous work. Firefighting robots can replace firefighters in hazardous accident scenes involving flammable, explosive, toxic, oxygen-deficient, and smoke-filled environments, effectively addressing safety concerns and data collection issues faced by firefighters in these locations.

[0003] Some existing firefighting robots can carry fire extinguishing balls and eject them to the fire point. The fire extinguishing balls will automatically spray dry powder when they encounter open flames, achieving the effect of automatic fire extinguishing. However, before ejecting the existing fire extinguishing balls, they must first be transported to the firefighting robot's launching mechanism through a loading device. The loading device on the existing firefighting robots has certain defects in actual use. The magazine can store a large number of fire extinguishing balls, which can easily cause blockage when transporting the fire extinguishing balls, making it impossible to deliver the fire extinguishing balls in a timely and accurate manner. At the same time, during the firing process after loading, the fire extinguishing balls are prone to slipping, making it impossible to accurately and timely launch the fire extinguishing balls, thus failing to achieve an accurate fire extinguishing effect. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic fire extinguishing ball loading device for a fire-fighting robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an automatic loading device for fire-fighting robots to load fire-extinguishing balls, comprising a robot trolley body, a pan-tilt support frame fixedly mounted on the upper end of the robot trolley body, a loading mechanism fixedly mounted on the rear end of the robot trolley body, a fire-extinguishing ball placed in the loading mechanism, a rotation adjustment mechanism mounted on the pan-tilt support frame, a pan-tilt mechanism fixedly mounted on the rotation adjustment mechanism, the lower end of the pan-tilt mechanism being connected to the output end of the loading mechanism, a launching mechanism fixedly mounted on the pan-tilt mechanism, the launching mechanism being used to eject fire-extinguishing balls, and auxiliary pushing mechanisms for pushing fire-extinguishing balls being symmetrically mounted on the left and right sides of the launching mechanism.

[0006] As a further solution of the present invention, the loading mechanism includes a magazine fixedly installed at the rear end of the robot vehicle main body, the lower end of the magazine is open, and a fixing frame is symmetrically installed at the lower end of the magazine, and the two fixing frames are connected by side baffles, wherein the lower end of one of the fixing frames at the bottom is fixedly installed with a bottom plate by bolts and nuts, and an extension plate is fixedly connected to the lower end of one end of the bottom plate, and the upper end of the extension plate is fixedly installed with a side panel symmetrically on the left and right sides, and a bending middle plate is fixedly installed between the two side panels at the upper end of the extension plate, the bottom of the bending middle plate contacts one end of the bottom plate, the inner side of the bending middle plate is a curved surface, and the lower end of the curved surface of the bending middle plate is in the same horizontal plane as the upper end of the bottom plate, the upper ends of the two side panels are fixedly connected to a bullet feeding positioning frame, and the upper end of the bending middle plate is fixedly connected to the lower end of the bullet feeding positioning frame, and a feed guide plate is fixedly installed on one of the side panels close to the inner side, and one end of the feed guide plate extends inward to the inner side of the side baffle, and a conveying mechanism for pushing fire extinguishing balls is installed on the bottom plate.

[0007] As a further solution of the present invention, a through hole is provided downwardly through the upper end of the base plate, and the conveying mechanism includes a fixed shell fixedly mounted on the upper end of the through hole, a stepper motor is fixedly mounted on the inner side of the fixed shell, the output shaft of the stepper motor passes upward through the upper end of the fixed shell and is fixedly connected to the rotating sleeve, the rotating sleeve is sleeved on the fixed shell, and the rotating sleeve is in rotational contact with the fixed shell, the upper end of the rotating sleeve is fixedly connected to a plurality of lower hemispherical blocks in an annular array, the lower end of the rotating sleeve is fixedly connected to a pusher claw, the side surface of the pusher claw is provided with a plurality of semicircular grooves for storing fire extinguishing balls in an annular array, the pusher claw is sleeved on the fixed shell, and an up and down shaking mechanism is installed on the rotating sleeve.

[0008] As a further solution of the present invention, the upper and lower shaking mechanism includes a shaking sleeve that is sleeved on the upper end of the rotating sleeve, the lower end of the shaking sleeve is fixedly connected to a plurality of upper hemispherical blocks in an annular array, the lower end of the shaking sleeve is fixedly connected to an annular material guide platform, the annular material guide platform is sleeved on the outer side of the rotating sleeve, the upper end of the shaking sleeve is provided with a plurality of U-shaped grooves in an annular array, the upper end of the shaking sleeve is fixedly connected to a cylinder, the inner cavity of the cylinder is provided with a regular polygonal column, the lower end of the regular polygonal column is fixedly connected to the upper end of the shaking sleeve, a shaking spring is sleeved on the regular polygonal column, a cross plate is provided above the regular polygonal column, the two ends of the cross plate are respectively fixedly connected to the front and rear side walls of the magazine, the lower end of the cross plate is fixedly connected to the limiting column, the lower end of the limiting column is recessed upward to provide a regular polygonal groove, the upper end of the regular polygonal column is slidably connected to the regular polygonal groove, and the upper and lower ends of the shaking spring are respectively abutted against the limiting column and the shaking sleeve.

[0009] As a further solution of the present invention, the rotation adjustment mechanism includes a motor support plate fixedly installed on the upper end of the pan-tilt support frame, and the upper end of the motor support plate is symmetrically installed with a main gear and a synchronous wheel, and a gear belt is sleeved on the main gear and the synchronous wheel. The upper end of the synchronous wheel is penetrated downwardly with a through hole, and the main gear is driven by the motor shaft of the first motor fixedly installed at the lower end of the motor support plate. The synchronous wheel is rotatably connected to the motor support plate through a roller bearing, and the upper end of the motor support plate is provided with a circular groove below the through hole, and the circular groove is aligned with the through hole up and down, and the lower end of the motor support plate is fixedly connected with a slip ring sleeve, and the lower end of the slip ring sleeve is fixedly sleeved with a lower connecting plate, and the lower connecting plate is fixedly connected to the ammunition feeding and positioning frame, and the inner cavity of the slip ring sleeve is penetrated by an inner ring of an electric slip ring, and the pan-tilt mechanism is installed above the synchronous wheel.

[0010] As a further solution of the present invention, the pan-tilt mechanism includes a pan-tilt frame load-bearing plate symmetrically fixedly installed on the upper end of the synchronous wheel. The upper end of the synchronous wheel is fixedly installed with two pan-tilt frame ammunition feeding middle plates between the two pan-tilt frame load-bearing plates. A curved groove is formed between the two pan-tilt frame ammunition feeding middle plates. The two pan-tilt frame ammunition feeding middle plates are fixedly connected to the two pan-tilt frame load-bearing plates by positioning screws. The upper ends of the two pan-tilt frame load-bearing plates are rotatably installed with mounting plates through shaft sleeves. A second motor is fixedly installed on the side of one of the mounting plates, and a rocker arm is fixedly sleeved on the drive shaft of the second motor. The lower end of the rocker arm is rotatably installed with a pan-tilt connecting rod through a rotating shaft. The other end of the pan-tilt connecting rod is rotatably connected to the pan-tilt frame load-bearing plate through a shaft sleeve, and the launching mechanism is installed on the two mounting plates.

[0011] As a further solution of the present invention, the launching mechanism includes a launching port fixedly mounted on the front end of the two mounting plates, and the upper and lower sides and the left and right sides of the launching port are penetrated by through grooves, the front end of the launching port is fixedly sleeved with a speed measuring cylinder, the upper end of the launching port is fixedly mounted with a supporting upper top plate, the upper end of the supporting upper top plate is fixedly mounted with a camera assembly, the front end of the supporting upper top plate is symmetrically provided with mounting grooves, and reduction gears are fixedly mounted in the two mounting grooves, and the two reduction gears are driven by a power shaft of a launching motor fixedly mounted in the mounting groove, and a launching friction wheel is fixedly sleeved on the main shaft of the two reduction gears, the lower ends of the two reduction gear main shafts are fixedly connected to a disc, and the lower ends of the two discs are fixedly connected to a driving rod, and the launching port is connected to an auxiliary pushing mechanism, and the auxiliary pushing mechanism is arranged below the two discs.

[0012] As a further solution of the present invention, the launching friction wheel is fixedly connected to the main shaft, and the two launching friction wheels are respectively arranged on the left and right sides of the launching port, and the two launching friction wheels respectively pass through the through grooves on the left and right sides of the launching port and extend to its inner cavity.

[0013] The top end of the fixing plate is fixedly provided with a convex groove, and the lower end of the fixing arm is fixedly connected to the lower end of the fixing plate, and the upper end of the fixing plate is fixedly mounted on the fixing plate for sliding forward and backward. The lower end of the fixing plate is fixedly connected to the convex plate, and the side of the connecting plate close to the launching port is fixedly connected to the driving plate. The upper end of the driving plate is provided with a driving groove, and the upper end of the connecting plate is fixedly connected to the transmission seat. A contraction groove is provided in the contraction groove, and a T-shaped block is installed in the contraction groove, one end of the T-shaped block is inserted into a return spring, and the other end of the return spring abuts the innermost end of the contraction groove, one end of the T-shaped block passes through the contraction groove and extends to the outside of the transmission seat, and the end of the T-shaped block outside the transmission seat is fixedly connected to a pushing head, and one end of the pushing head passes through the through groove on the side of the launching port and extends to its inner cavity. The two pushing heads in the two auxiliary pushing mechanisms are symmetrically distributed on the left and right.

[0014] As a further solution of the present invention, the convex plate is connected to the convex groove in a front-back sliding manner, the T-shaped block is connected to the contraction groove in a left-right sliding manner, the driving plate is located below the disc, the driving rod is inserted into the driving groove, and the driving rod is connected to the driving groove in a sliding manner.

[0015] The beneficial effects of the present invention are:

[0016] 1. When working, first load multiple fire extinguishing balls into the magazine, move the main body of the robot to the working position, and drive the rocker arm to rotate through the driving shaft of the second motor, and the rocker arm drives the pan-tilt connecting rod to rotate, so that the mounting plate rotates up or down along the pan-tilt frame load-bearing plate, and the mounting plate drives the launching mechanism to rotate up or down, so as to adjust the shooting direction of the launching mechanism; the output shaft of the stepping motor drives the rotating sleeve to rotate intermittently, and the rotating sleeve drives the lower hemispherical block to rotate, so that the annular guide table in the up and down shaking mechanism shakes up and down; the fire extinguishing ball is shaken by the annular guide table to prevent the fire extinguishing ball from being blocked.

[0017] 2. The up and down shaking mechanism is set to enable the fire extinguishing ball to accurately fall down along the U-shaped groove on the annular guide table. When the U-shaped groove and the semicircular groove on the side of the claw are aligned and overlapped, the fire extinguishing ball can accurately fall down into the semicircular groove. At this time, the fire extinguishing ball is driven by the claw to move synchronously for transportation, so that the fire extinguishing ball in the semicircular groove on the side of the claw rotates in a circular shape. Each time the output shaft of the stepper motor rotates once, the semicircular groove on the side of the claw rotates one unit, that is, one semicircular groove rotates to the position of the adjacent previous semicircular groove, and so on, thereby realizing intermittent transportation of the fire extinguishing ball.

[0018] 3. When the fire extinguishing ball contacts the feed guide plate, the claw continues to rotate, causing the fire extinguishing ball to move along the feed guide plate to the output end of the loading mechanism, and the fire extinguishing ball to move upward along the curved surface of the turning middle plate. The fire extinguishing ball then moves upward along the circular hole of the bullet feeding positioning frame to the inner ring of the electric slip ring. The fire extinguishing ball slides upward along the inner cavity of the inner ring of the electric slip ring to the conveying trajectory. The fire extinguishing ball moves upward along the two pan-tilt frame bearing plates and the two pan-tilt frame bullet feeding middle plates, causing the fire extinguishing ball to move to the rear end of the launch port until the fire extinguishing balls enter the launch position one by one.

[0019] 4. When the fire extinguishing ball enters the launch position, the two launching friction wheels in the two launching mechanisms transport the fire extinguishing ball, so that the fire extinguishing ball is shot out along the launching port and the speed measuring cylinder, and the fire extinguishing ball is launched to the fire position, thereby completing the fire extinguishing.

[0020] 5. When the main shafts of the two reduction gearboxes respectively drive the two launching friction wheels to rotate, the main shafts of the two reduction gearboxes also drive the two discs to rotate, and the two discs drive the two driving rods to rotate, so that the driving rods slide along the driving grooves, and the driving plates are driven back and forth by the driving rods, thereby moving the two auxiliary pushing mechanisms back and forth. When the pushing head moves forward, it pushes the fire extinguishing ball forward, thereby pushing the fire extinguishing ball between the two launching friction wheels, so that the launching friction wheels can well launch and transport the fire extinguishing ball.

[0021] 6. When a fire extinguishing ball is launched, the fire extinguishing ball behind it moves forward along the inner cavity of the launch port. At this time, the fire extinguishing ball squeezes the push head, causing the two push heads to move away from each other. When the fire extinguishing ball moves to the launch position, that is, the fire extinguishing ball moves to the front end of the two push heads, and the two push heads are brought into contact under the action of the return spring force, thereby completing the reloading of a new fire extinguishing ball. This reciprocating process can enable the fire extinguishing ball to be repeatedly and stably launched. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional diagram of the structure of the automatic loading device for fire extinguishing balls of the fire-fighting robot of the present invention;

[0023] Figure 2 This is a partial structural perspective diagram of the automatic fire extinguishing ball loading device of the fire-fighting robot of the present invention;

[0024] Figure 3 This is a partial structural cross-sectional view of the automatic loading device for fire extinguishing balls of a fire-fighting robot according to the present invention;

[0025] Figure 4 This is a cross-sectional view of the loading mechanism structure of the present invention;

[0026] Figure 5 This is a structural stereogram of the rotation adjustment mechanism and the pan / tilt mechanism of the present invention;

[0027] Figure 6This is a three-dimensional diagram of the side panel, the turning middle plate and the rotation adjustment mechanism of the present invention;

[0028] Figure 7 This is a three-dimensional diagram of the synchronous wheel and pan / tilt mechanism structure of the present invention;

[0029] Figure 8 It is a top view of the pan / tilt mechanism, launching mechanism and auxiliary pushing mechanism of the present invention;

[0030] Figure 9 This is an exploded view of the loading mechanism structure of the present invention;

[0031] Figure 10 This is an exploded view of the structure of the rotating sleeve, the pusher claw, the shaking sleeve and the annular material guide platform of the present invention;

[0032] Figure 11 It is an exploded view of the pan-tilt mechanism, launching mechanism and auxiliary pushing mechanism of the present invention.

[0033] In the figure: 1. Robot car body; 11. Pan-tilt support frame; 2. Loading mechanism; 21. Magazine; 22. Fixed frame; 23. Side baffle; 24. Bottom plate; 25. Extension plate; 26. Side panel; 27. Turning middle plate; 28. Feed positioning frame; 29. Feed guide plate; 3. Fixed shell; 31. Stepper motor; 32. Rotating sleeve; 321. Lower hemispherical block; 33. Pusher claw; 331. Semicircular groove; 34. Shaking sleeve; 341. Upper hemispherical block; 342. Annular guide platform; 343. U-shaped groove; 35. Cylinder; 351. Regular polygonal column; 352. Shaking spring; 36. Horizontal plate; 37. Limiting column; 371. Regular polygonal groove; 4. Rotation adjustment mechanism; 41. Motor support plate; 42. First motor; 43. Main gear; 44. Synchronous Wheel; 45. Gear belt; 46. Slip ring sleeve; 47. Lower connecting plate; 48. Inner ring of electric slip ring; 5. Pan-tilt mechanism; 51. Pan-tilt frame load-bearing plate; 52. Pan-tilt frame bullet feeding middle plate; 53. Positioning screw; 54. Mounting plate; 55. Second motor; 56. Rocker arm; 57. Pan-tilt connecting rod; 6. Launching mechanism; 61. Launching port; 62. Speed measuring cylinder; 63. Support upper top plate; 64. Camera assembly; 65. Reducer; 66. Launching friction wheel; 67. Disc; 68. Drive rod; 7. Auxiliary pushing mechanism; 71. Fixed platform; 72. Convex groove; 73. Fixed arm; 74. Connecting plate; 75. Convex plate; 76. Drive plate; 77. Drive groove; 8. Transmission seat; 81. Retraction groove; 82. T-block; 83. Reset spring; 84. Push head; 9. Fire extinguisher ball. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0035] See also Figures 1 to 11 The present invention provides a technical solution: an automatic loading device for fire-fighting robots, comprising a robot trolley body 1, a pan-tilt support frame 11 being fixedly mounted on the upper end of the robot trolley body 1, a loading mechanism 2 being fixedly mounted on the rear end of the robot trolley body 1, a fire-extinguishing ball 9 being placed in the loading mechanism 2, a rotation adjustment mechanism 4 being mounted on the pan-tilt support frame 11, a pan-tilt mechanism 5 being fixedly mounted on the rotation adjustment mechanism 4, a lower end of the pan-tilt mechanism 5 being connected to an output end of the loading mechanism 2, a launching mechanism 6 being fixedly mounted on the pan-tilt mechanism 5, the launching mechanism 6 being used to eject the fire-extinguishing ball 9, and auxiliary pushing mechanisms 7 for pushing the fire-extinguishing ball 9 being symmetrically mounted on the left and right sides of the launching mechanism 6.

[0036] See also Figure 3 、 Figure 4 and Figure 9 The loading mechanism 2 includes a magazine 21 fixedly mounted on the rear end of the robot car body 1. The upper end of the magazine 21 is hinged with an upper cover by a hinge. The lower end of the magazine 21 is open. The left and right sides of the magazine 21 are symmetrically tilted inward. A fixing frame 22 is symmetrically mounted on the lower end of the magazine 21. The two fixing frames 22 are connected by a side baffle 23. The two fixing frames 22 have the same structure and are symmetrically fixed on the side of the side baffle 23. The lower end of the fixing frame 22 at the bottom is fixed with a bottom plate 24 by bolts and nuts. An extension plate 25 is fixedly connected to the bottom of one end of the bottom plate 24. The upper end of the extension plate 25 is symmetrically fixed with The side panels 26 and the upper ends of the extension plates 25 are fixedly installed with a turning middle plate 27 between the two side panels 26. The bottom of the turning middle plate 27 contacts one end of the bottom plate 24. The inner side of the turning middle plate 27 is a curved surface. The lower end of the curved surface of the turning middle plate 27 is in the same horizontal plane as the upper end of the bottom plate 24. The upper ends of the two side panels 26 are fixedly connected to a bullet feeding positioning frame 28. The upper end of the turning middle plate 27 is fixedly connected to the lower end of the bullet feeding positioning frame 28. A feed guide plate 29 is fixedly installed on one of the side panels 26 close to the inner side. One end of the feed guide plate 29 extends inward to the inner side of the side baffle 23. A conveying mechanism for pushing the fire extinguishing ball 9 is installed on the bottom plate 24.

[0037] A circular hole is formed through the upper end of the ammunition feed positioning frame 28 from top to bottom. The upper end of the curved surface of the bend middle plate 27 is aligned vertically with the side wall of the circular hole of the ammunition feed positioning frame 28. An auxiliary plate is fixedly mounted on the lower end of the ammunition feed positioning frame 28. The outer side of the auxiliary plate is a curved surface. The upper end of the outer curved surface of the auxiliary plate is aligned vertically with the inner side wall of the circular hole of the ammunition feed positioning frame 28. A fan-shaped channel is formed between the curved surface of the outer side of the auxiliary plate and the curved surface of the inner side of the bend middle plate 27, so that the fire extinguishing ball 9 can be stably transported along the fan-shaped channel.

[0038] The upper end of the bottom plate 24 is downwardly penetrated with a through hole, and the conveying mechanism includes a fixed shell 3 fixedly installed at the upper end of the through hole, and a stepping motor 31 is fixedly installed on the inner side of the fixed shell 3, and the output shaft of the stepping motor 31 passes upward through the upper end of the fixed shell 3 and is fixedly connected to the rotating sleeve 32, and the rotating sleeve 32 is sleeved on the fixed shell 3, and the rotating sleeve 32 is in rotational contact with the fixed shell 3, and the upper end of the rotating sleeve 32 is fixedly connected with a plurality of lower hemispherical blocks 321 in an annular array, and the upper end of the rotating sleeve 32 protrudes upward and is provided with a circular protrusion, and the upper end of the output shaft is fixedly connected to the upper end of the inner side of the circular protrusion, and the lower end of the rotating sleeve 32 is fixedly connected with a pusher claw 33, and the side surface of the pusher claw 33 is provided with a plurality of semicircular grooves 331 for storing the fire extinguishing ball 9 in an annular array, and the pusher claw 33 is sleeved on the fixed shell 3, and an up and down shaking mechanism is installed on the rotating sleeve 32.

[0039] See also Figure 3 、 Figure 9 and Figure 10 The upper and lower shaking mechanism includes a shaking sleeve 34 sleeved on the upper end of the rotating sleeve 32, and the lower end of the shaking sleeve 34 is fixedly connected to a plurality of upper hemispherical blocks 341 in an annular array. The lower end of the shaking sleeve 34 is fixedly connected to an annular guide platform 342, and the annular guide platform 342 is sleeved on the outer side of the rotating sleeve 32. The upper end of the shaking sleeve 34 is provided with a plurality of U-shaped grooves 343 in an annular array. The upper end of the shaking sleeve 34 is fixedly connected to a cylinder 35, and the inner cavity of the cylinder 35 is installed with a regular polygonal column 351. The lower end of the regular polygonal column 351 is fixed to the upper end of the shaking sleeve 34 The regular polygonal column 351 is connected with a shaking spring 352, and a horizontal plate 36 is provided above the regular polygonal column 351. The two ends of the horizontal plate 36 are respectively fixedly connected to the front and rear side walls of the magazine 21, and the lower end of the horizontal plate 36 is fixedly connected to the limiting column 37. The lower end of the limiting column 37 is recessed upward to form a regular polygonal groove 371. The upper end of the regular polygonal column 351 is connected to the regular polygonal groove 371 for upward sliding. The upper and lower ends of the shaking spring 352 are respectively in contact with the limiting column 37 and the shaking sleeve 34, and the shaking spring 352 applies a downward elastic force to the shaking sleeve 34.

[0040] Initially, the lower end of the annular guide platform 342 is in rotational contact with the upper end of the pusher claw 33. At this time, the multiple lower hemispherical blocks 321 and the multiple upper hemispherical blocks 341 are alternately distributed. At the same time, the lower ends of the upper hemispherical blocks 341 are in contact with the upper end of the rotating sleeve 32, and the upper ends of the lower hemispherical blocks 321 are in contact with the lower end of the shaking sleeve 34.

[0041] During operation, the output shaft of the stepping motor 31 drives the rotating sleeve 32 to rotate, and when the rotating sleeve 32 rotates, the lower hemispherical block 321 is driven to rotate, and the lower hemispherical block 321 approaches the upper hemispherical block 341, so that the lower hemispherical block 321 slides along the upper hemispherical block 341, and at the same time, the lower hemispherical block 321 pushes the upper hemispherical block 341 to move upward;

[0042] When the upper end of the lower hemispherical block 321 contacts the lower end of the upper hemispherical block 341, the upper hemispherical block 341 moves upward to the highest point, and the upper hemispherical block 341 drives the shaking sleeve 34 to move upward. The shaking sleeve 34 drives the annular guide table 342 and the regular polygonal column 351 to move upward. The regular polygonal column 351 slides upward along the regular polygonal groove 371, and at the same time, the shaking sleeve 34 squeezes the shaking spring 352.

[0043] When the lower hemispherical block 321 separates from the upper hemispherical block 341, the shaking sleeve 34 moves downward under the action of the annular guide platform 342, the shaking sleeve 34 and the shaking spring 352. At the same time, the annular guide platform 342 moves downward, and the regular polygonal column 351 slides downward along the regular polygonal groove 371.

[0044] The rotating sleeve 32 continues to rotate, so that the lower hemispherical block 321 continues to approach the upper hemispherical block 341 and then moves away from the upper hemispherical block 341, and repeats this process so that the annular guide platform 342 can shake up and down, thereby shaking the fire extinguishing ball 9 through the annular guide platform 342 to prevent the fire extinguishing ball 9 from being blocked, and at the same time, the fire extinguishing ball 9 can accurately fall down along the U-shaped groove 343 on the annular guide platform 342.

[0045] When the U-shaped groove 343 and the semicircular groove 331 on the side of the pusher claw 33 are aligned and overlapped, the fire extinguishing ball 9 falls downward into the semicircular groove 331. At this time, the rotating sleeve 32 rotates to drive the pusher claw 33 to rotate synchronously, and the pusher claw 33 drives the fire extinguishing ball 9 to move synchronously, so that the fire extinguishing ball 9 in the semicircular groove 331 on the side of the pusher claw 33 rotates in a circular shape.

[0046] When the fire extinguishing ball 9 contacts the feed guide plate 29, the pusher claw 33 continues to rotate, causing the fire extinguishing ball 9 to move along the feed guide plate 29 to the output end of the loading mechanism 2. When multiple fire extinguishing balls 9 enter the output end of the loading mechanism 2, the fire extinguishing ball 9 that enters later will push the fire extinguishing ball 9 that enters earlier to move upward along the curved surface of the turning middle plate 27, and so on, so that the fire extinguishing ball 9 moves upward along the inner side of the pan-tilt mechanism 5 until the fire extinguishing ball 9 that enters earlier is transported to the rear end of the launching mechanism 6, and then the fire extinguishing ball 9 is launched through the cooperation of the launching mechanism 6 and the auxiliary pushing mechanism 7.

[0047] See also Figures 1 to 3 、 Figure 5 and Figure 6 The rotation adjustment mechanism 4 includes a motor support plate 41 fixedly mounted on the upper end of the pan / tilt support frame 11, and a main gear 43 and a synchronous wheel 44 are symmetrically mounted on the upper end of the motor support plate 41. A gear belt 45 is sleeved on the main gear 43 and the synchronous wheel 44. The main gear 43 and the synchronous wheel 44 are symmetrically distributed at both ends of the inner side of the gear belt 45. A through-hole is opened downwardly through the upper end of the synchronous wheel 44. The synchronous wheel 44 is arranged just above the ammunition feeding positioning frame 28. The main gear 43 is driven by the motor shaft of the first motor 42 fixedly mounted on the lower end of the motor support plate 41. The synchronous wheel 44 is rotatably connected to the motor support plate 41 through a roller bearing. A circular groove is provided at the upper end of the plate 41 below the through-hole, and the circular groove is aligned with the through-hole in the upper and lower parts. A slip ring sleeve 46 is fixedly connected to the lower end of the motor support plate 41. The inner diameter of the slip ring sleeve 46 is the same as the inner diameter of the circular groove, and the slip ring sleeve 46 is aligned with the circular groove in the upper and lower parts. A lower connecting plate 47 is fixedly sleeved on the lower end of the slip ring sleeve 46, and the lower connecting plate 47 is fixedly connected to the ammunition feeding positioning frame 28. An electric slip ring inner ring 48 is installed through the inner cavity of the slip ring sleeve 46 in the upper and lower parts. The upper end of the electric slip ring inner ring 48 is aligned with the through-hole in the upper and lower parts and is connected. The lower end of the electric slip ring inner ring 48 is aligned with the circular hole on the ammunition feeding positioning frame 28 in the upper and lower parts and is connected. The pan / tilt mechanism 5 is installed above the synchronous wheel 44.

[0048] The motor shaft of the first motor 42 drives the main gear 43 , and the main gear 43 drives the synchronous wheel 44 to rotate through the gear belt 45 , so that the synchronous wheel 44 rotates stably along the motor support plate 41 .

[0049] See also Figure 3 、 Figure 5 and Figure 7The pan-tilt mechanism 5 includes a pan-tilt frame bearing plate 51 symmetrically fixedly mounted on the upper end of the synchronous wheel 44. The upper end of the synchronous wheel 44 is fixedly mounted with two pan-tilt frame feeding middle plates 52 between the two pan-tilt frame bearing plates 51. A curved groove is formed between the two pan-tilt frame feeding middle plates 52. A conveying trajectory is formed by the two pan-tilt frame bearing plates 51 and the two pan-tilt frame feeding middle plates 52. The two pan-tilt frame feeding middle plates 52 are fixedly connected to the two pan-tilt frame bearing plates 51 by positioning screws 53. The upper ends of the two pan-tilt frame bearing plates 51 are rotatably mounted with mounting plates 54 through shaft sleeves. A second motor 55 is fixedly mounted on the side of one of the mounting plates 54. A rocker arm 56 is fixedly sleeved on the driving shaft of the second motor 55. The lower end of the rocker arm 56 is rotatably mounted with a pan-tilt connecting rod 57 through a rotating shaft. The other end of the pan-tilt connecting rod 57 is rotatably connected to the pan-tilt frame bearing plate 51 through a shaft sleeve. The launching mechanism 6 is mounted on the two mounting plates 54.

[0050] The fire extinguishing ball 9 moves upward along the circular hole of the bullet feeding positioning frame 28 to the inner ring 48 of the electric slip ring, and the fire extinguishing ball 9 slides upward along the inner cavity of the inner ring 48 of the electric slip ring to the conveying trajectory. The fire extinguishing ball 9 moves upward along the two pan-tilt frame bearing plates 51 and the two pan-tilt frame bullet feeding middle plates 52, so that the fire extinguishing ball 9 moves to the launching mechanism 6.

[0051] The first motor 42 and the second motor 55 are both brushless DC motors. When the shooting direction of the launching mechanism 6 needs to be adjusted, the driving shaft of the second motor 55 drives the rocker arm 56 to rotate, and the rocker arm 56 drives the pan-tilt connecting rod 57 to rotate. The second motor 55, the rocker arm 56 and the pan-tilt connecting rod 57 cooperate to make the mounting plate 54 rotate upward or downward along the pan-tilt frame bearing plate 51, and the launching mechanism 6 is driven to rotate upward or downward through the mounting plate 54, thereby adjusting the shooting direction of the launching mechanism 6.

[0052] See also Figures 1 to 3 、 Figure 8 and Figure 11The launching mechanism 6 includes a launching port 61 fixedly mounted on the front end of the two mounting plates 54. The launching port 61 is a pipe with a rectangular outer side and a circular inner side. The upper and lower sides and the left and right sides of the launching port 61 are penetrated with a through groove. The front end of the launching port 61 is extended with a launching round tube. The front end of the launching port 61 is fixedly sleeved with a speed measuring cylinder 62. The speed measuring cylinder 62 plays a role in testing and guiding the fire extinguishing ball 9. The upper end of the launching port 61 is fixedly mounted with a supporting top plate 63, and the upper end of the supporting top plate 63 is fixedly mounted with a camera assembly. 64. The front end of the supporting upper plate 63 is symmetrically provided with mounting grooves. A reduction gearbox 65 is fixedly installed in each of the two mounting grooves. The two reduction gearboxes 65 are driven by the power shaft of the launching motor fixedly installed in the mounting groove. A launching friction wheel 66 is fixedly sleeved on the main shaft of the two reduction gearboxes 65. The lower ends of the main shafts of the two reduction gearboxes 65 are fixedly connected to a disc 67. The lower ends of the two discs 67 are fixedly connected to a driving rod 68. The launching port 61 is connected to the auxiliary pushing mechanism 7, and the auxiliary pushing mechanism 7 is arranged below the two discs 67.

[0053] The launching friction wheel 66 is fixedly connected to the main shaft. The two launching friction wheels 66 are respectively arranged on the left and right sides of the launching port 61. The two launching friction wheels 66 respectively pass through the through grooves on the left and right sides of the launching port 61 and extend to its inner cavity. The fire extinguishing ball 9 is pushed and launched through the cooperation of the two launching friction wheels 66.

[0054] The power shaft of the launching motor drives the reduction gear box 65 to rotate, and the main shaft of the reduction gear box 65 drives the launching friction wheel 66 to rotate. The power shafts of the two launching motors rotate in opposite directions, so that the main shafts of the two reduction gear boxes 65 rotate in opposite directions. The main shafts of the two reduction gear boxes 65 drive the two launching friction wheels 66 to rotate, and the two launching friction wheels 66 rotate in opposite directions. The fire extinguishing ball 9 is transported by the two launching friction wheels 66 and is ejected along the launching port 61 and the speed measuring cylinder 62.

[0055] See also Figure 8 and Figure 11The auxiliary pushing mechanism 7 includes a fixed platform 71 symmetrically distributed on the left and right sides of the launch port 61. The upper end of the fixed platform 71 is provided with a convex groove 72. The lower end of the fixed platform 71 is fixedly connected to a fixed arm 73. The other end of the fixed arm 73 is fixedly connected to the lower end of the launch port 61. The upper end of the fixed platform 71 is slidably mounted with a connecting plate 74. The lower end of the connecting plate 74 is fixedly connected to a convex plate 75. The side of the connecting plate 74 close to the launch port 61 is fixedly connected to a driving plate 76. The upper end of the driving plate 76 is provided with a driving groove 77. The upper end of the connecting plate 74 is fixedly connected to the transmission seat 8. A contraction groove 81 is provided on the inner side of the seat 8. The transmission seat 8 is composed of two symmetrical shells spliced together in the upper and lower parts. A T-shaped block 82 is installed in the contraction groove 81. A return spring 83 is inserted into one end of the T-shaped block 82. The other end of the return spring 83 abuts against the innermost end of the contraction groove 81. One end of the T-shaped block 82 passes through the contraction groove 81 and extends to the outside of the transmission seat 8. The end of the T-shaped block 82 outside the transmission seat 8 is fixedly connected to a push head 84. One end of the push head 84 passes through the through groove on the side of the launch port 61 and extends to its inner cavity. The two push heads 84 in the two auxiliary pushing mechanisms 7 are symmetrically distributed on the left and right.

[0056] The two pushing heads 84 are distributed in an eight-shaped pattern, with the front ends of the two pushing heads 84 contacting the fire extinguishing ball 9 to be launched, and the rear sides of the two pushing heads 84 contacting the fire extinguishing ball 9 to be launched.

[0057] The convex plate 75 is connected to the convex groove 72 for forward and backward sliding, the T-shaped block 82 is connected to the contraction groove 81 for left and right sliding, the driving plate 76 is located below the disc 67, the driving rod 68 is inserted into the driving groove 77, and the driving rod 68 is connected to the driving groove 77 for sliding.

[0058] When the main shafts of the two reduction gear boxes 65 respectively drive the two launching friction wheels 66 to rotate, the main shafts of the two reduction gear boxes 65 simultaneously drive the two discs 67 to rotate, and the two discs 67 drive the two driving rods 68 to rotate, so that the driving rods 68 slide along the driving grooves 77, and the driving rods 68 drive the driving plate 76 to move forward and backward, and the driving plate 76 drives the connecting plate 74 to move forward and backward;

[0059] The connecting plate 74 drives the convex plate 75 to slide forward and backward along the convex groove 72, so that the connecting plate 74 can move forward and backward stably. When the connecting plate 74 moves forward and backward, it drives the transmission seat 8 to move synchronously. The transmission seat 8 drives the T-shaped block 82 to move forward and backward, and the T-shaped block 82 drives the push head 84 to move forward and backward.

[0060] When the pushing head 84 moves forward, it pushes the fire extinguishing ball 9 forward, thereby pushing the fire extinguishing ball 9 between the two launching friction wheels 66, so that the launching friction wheels 66 can launch and transport the fire extinguishing ball 9 well.

[0061] When a fire extinguishing ball 9 is launched, the next fire extinguishing ball 9 moves forward along the inner cavity of the launch port 61. At this time, the fire extinguishing ball 9 squeezes the push head 84, causing the two push heads 84 to move away from each other. The push head 84 drives the T-shaped block 82 to slide into the contraction groove 81, and the T-shaped block 82 squeezes the return spring 83.

[0062] When the fire extinguishing ball 9 moves to the position to be launched, that is, the fire extinguishing ball 9 moves to the front end of the two pushing heads 84, the T-shaped block 82 moves outward along the contraction groove 81 under the action of the elastic force of the return spring 83, and the T-shaped block 82 drives the pushing heads 84 to move until the two pushing heads 84 contact, thereby completing the reloading of a new fire extinguishing ball 9.

[0063] When the robot car body 1 rotates or moves left and right, the motor shaft of the first motor 42 drives the main gear 43, and the main gear 43 drives the synchronous wheel 44 to rotate through the gear belt 45. The synchronous wheel 44 drives the pan-tilt mechanism 5 to rotate, and the pan-tilt mechanism 5 drives the launching mechanism 6 to rotate synchronously;

[0064] When the robot car body 1 rotates, it is necessary to keep the launching direction of the launching mechanism 6 unchanged. At this time, the direction of rotation of the motor shaft of the first motor 42 is kept opposite to the direction of rotation of the robot car body 1, so that the pan-tilt mechanism 5 can rotate in the opposite direction to the robot car body 1, thereby keeping the position of the pan-tilt mechanism 5 unchanged and the launching direction of the launching mechanism 6 unchanged;

[0065] When the robot car body 1 is stationary and the launching direction of the launching mechanism 6 needs to be adjusted, it is only necessary to drive the main gear 43 to rotate through the motor shaft of the first motor 42, so that the pan-tilt mechanism 5 drives the launching mechanism 6 to rotate, thereby changing the launching direction of the launching mechanism 6.

[0066] Working principle: When in operation, first load multiple fire extinguishing balls 9 into the magazine 21, move the robot car body 1 to the working position, and drive the rocker arm 56 to rotate through the drive shaft of the second motor 55, and the rocker arm 56 drives the pan-tilt connecting rod 57 to rotate, so that the mounting plate 54 rotates upward or downward along the pan-tilt frame bearing plate 51, and the mounting plate 54 drives the launch mechanism 6 to rotate upward or downward, thereby adjusting the shooting direction of the launch mechanism 6;

[0067] The output shaft of the stepping motor 31 drives the rotating sleeve 32 to rotate intermittently, causing the lower hemispherical block 321 to first approach the upper hemispherical block 341 and then move away from the upper hemispherical block 341, and so on. This causes the shaking sleeve 34 to shake up and down, and the shaking sleeve 34 drives the annular guide platform 342 to shake up and down; the annular guide platform 342 shakes the fire extinguishing ball 9 to prevent the fire extinguishing ball 9 from being blocked, and at the same time, the fire extinguishing ball 9 can accurately fall down along the U-shaped groove 343 on the annular guide platform 342. When the rotating sleeve 32 rotates, it drives the pusher claw 33 to rotate synchronously;

[0068] When the U-shaped groove 343 and the semicircular groove 331 on the side of the pusher claw 33 are aligned and overlapped, the fire extinguishing ball 9 falls downward into the semicircular groove 331. At this time, the rotating sleeve 32 drives the pusher claw 33 to rotate synchronously when it rotates, and the pusher claw 33 drives the fire extinguishing ball 9 to move synchronously, so that the fire extinguishing ball 9 in the semicircular groove 331 on the side of the pusher claw 33 rotates in a circular shape. Every time the output shaft of the stepping motor 31 rotates once, the semicircular groove 331 on the side of the pusher claw 33 rotates one unit, that is, one semicircular groove 331 rotates to the position of the adjacent previous semicircular groove 331, and so on, thereby realizing intermittent delivery of the fire extinguishing ball 9.

[0069] When the fire extinguishing ball 9 contacts the feed guide plate 29, the pusher claw 33 continues to rotate, causing the fire extinguishing ball 9 to move along the feed guide plate 29 toward the output end of the filling mechanism 2. When multiple fire extinguishing balls 9 enter the output end of the filling mechanism 2, the fire extinguishing ball 9 that enters later will push the fire extinguishing ball 9 that enters earlier to move upward along the curved surface of the turning middle plate 27. This cycle repeats, and the fire extinguishing ball 9 that enters later will continuously push the fire extinguishing ball 9 that enters earlier to move upward.

[0070] The fire extinguishing ball 9 moves upward along the circular hole of the bullet feeding positioning frame 28 to the inner ring 48 of the electric slip ring, and the fire extinguishing ball 9 slides upward along the inner cavity of the inner ring 48 of the electric slip ring to the conveying trajectory. The fire extinguishing ball 9 moves upward along the two pan-tilt frame load-bearing plates 51 and the two pan-tilt frame bullet feeding middle plates 52, so that the fire extinguishing ball 9 moves to the rear end of the launch port 61 until the fire extinguishing balls 9 enter the launch position one by one.

[0071] When the fire extinguishing ball 9 enters the position to be launched, the power shafts of the two launching motors drive the two reduction gears 65 to rotate, and the main shafts of the two reduction gears 65 drive the two launching friction wheels 66 to rotate. The fire extinguishing ball 9 is transported by the two launching friction wheels 66, so that the fire extinguishing ball 9 is ejected along the launching port 61 and the speed measuring cylinder 62, and the fire extinguishing ball 9 is launched to the fire position, thereby completing the fire extinguishing.

[0072] When the main shafts of the two reduction gear boxes 65 respectively drive the two launching friction wheels 66 to rotate, the main shafts of the two reduction gear boxes 65 simultaneously drive the two discs 67 to rotate, and the two discs 67 drive the two driving rods 68 to rotate, so that the driving rods 68 slide along the driving grooves 77, and the driving rods 68 drive the driving plate 76 to move forward and backward, and the driving plate 76 drives the connecting plate 74 to move forward and backward;

[0073] The connecting plate 74 drives the transmission seat 8 to move synchronously, the transmission seat 8 drives the T-shaped block 82 to move forward and backward, and the T-shaped block 82 drives the pushing head 84 to move forward and backward; when the pushing head 84 moves forward, it pushes the fire extinguishing ball 9 forward, thereby pushing the fire extinguishing ball 9 between the two launching friction wheels 66, so that the launching friction wheels 66 can well launch and transport the fire extinguishing ball 9.

[0074] When a fire extinguishing ball 9 is launched, the next fire extinguishing ball 9 moves forward along the inner cavity of the launch port 61. At this time, the fire extinguishing ball 9 squeezes the push head 84, causing the two push heads 84 to move away from each other. The push head 84 drives the T-shaped block 82 to slide into the contraction groove 81, and the T-shaped block 82 squeezes the return spring 83.

[0075] When the fire extinguishing ball 9 moves to the position to be launched, that is, the fire extinguishing ball 9 moves to the front end of the two pushing heads 84, the T-shaped block 82 moves outward along the contraction groove 81 under the action of the elastic force of the reset spring 83, and the T-shaped block 82 drives the pushing head 84 to move until the two pushing heads 84 contact, thereby completing the reloading of a new fire extinguishing ball 9, and so on, so that the fire extinguishing ball 9 can be repeatedly and stably launched.

[0076] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A fire-fighting robot automatic extinguishing ball loading device, comprising a robot vehicle body (1), characterized in that: A platform support frame (11) is fixedly mounted on the upper end of the robot trolley body (1), a loading mechanism (2) is fixedly mounted on the rear end of the robot trolley body (1), a fire extinguishing ball (9) is placed in the loading mechanism (2), a rotation adjustment mechanism (4) is mounted on the platform support frame (11), a platform mechanism (5) is fixedly mounted on the rotation adjustment mechanism (4), the lower end of the platform mechanism (5) is connected to the output end of the loading mechanism (2), a launching mechanism (6) is fixedly mounted on the platform mechanism (5), the launching mechanism (6) is used to eject the fire extinguishing ball (9), and auxiliary pushing mechanisms (7) for pushing the fire extinguishing ball (9) are symmetrically mounted on the left and right sides of the launching mechanism (6).

2. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 1, characterized in that: The loading mechanism (2) includes a magazine (21) fixedly mounted on the rear end of the robot vehicle body (1), the lower end of the magazine (21) is open, and a fixing frame (22) is symmetrically mounted on the lower end of the magazine (21), and the two fixing frames (22) are connected by a side baffle (23), wherein the lower end of the fixing frame (22) at the lower end is fixedly mounted with a bottom plate (24) by bolts and nuts, and an extension plate (25) is fixedly connected to the lower end of one end of the bottom plate (24), and the upper end of the extension plate (25) is symmetrically fixedly mounted with a side panel (26), and the upper end of the extension plate (25) is fixedly mounted with a turning middle plate (24) between the two side panels (26). 7), the bottom of the turning middle plate (27) contacts one end of the bottom plate (24), the inner side of the turning middle plate (27) is a curved surface, the lower end of the curved surface of the turning middle plate (27) and the upper end of the bottom plate (24) are in the same horizontal plane, the upper ends of the two side panels (26) are fixedly connected to a bullet feeding positioning frame (28), the upper end of the turning middle plate (27) is fixedly connected to the lower end of the bullet feeding positioning frame (28), one of the side panels (26) close to the inner side is fixedly installed with a feed guide plate (29), one end of the feed guide plate (29) extends inwardly to the inner side of the side baffle (23), and a conveying mechanism for pushing the fire extinguishing ball (9) is installed on the bottom plate (24).

3. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 2, characterized in that: The upper end of the bottom plate (24) is provided with a through hole extending downwardly therethrough. The conveying mechanism comprises a fixed shell (3) fixedly mounted on the upper end of the through hole. A stepper motor (31) is fixedly mounted on the inner side of the fixed shell (3). The output shaft of the stepper motor (31) passes through the upper end of the fixed shell (3) and is fixedly connected to a rotating sleeve (32). The rotating sleeve (32) is sleeved on the fixed shell (3), and the rotating sleeve (32) and the fixed shell (3) are in rotational contact. The upper end of the rotating sleeve (32) is fixedly connected to a plurality of lower hemispherical blocks (321) in an annular array. The lower end of the rotating sleeve (32) is fixedly connected to a pusher claw (33). The side surface of the pusher claw (33) is provided with a plurality of semicircular grooves (331) for storing fire extinguishing balls (9) in an annular array. The pusher claw (33) is sleeved on the fixed shell (3). An up and down shaking mechanism is mounted on the rotating sleeve (32).

4. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 3, characterized in that: The up-and-down shaking mechanism comprises a shaking sleeve (34) sleeved on the upper end of the rotating sleeve (32); the lower end of the shaking sleeve (34) is fixedly connected to a plurality of upper hemispherical blocks (341) in an annular array; the lower end of the shaking sleeve (34) is fixedly connected to an annular material guide platform (342); the annular material guide platform (342) is sleeved on the outer side of the rotating sleeve (32); the upper end of the shaking sleeve (34) is provided with a plurality of U-shaped grooves (343) in an annular array; the upper end of the shaking sleeve (34) is fixedly connected to a cylinder (35); the inner cavity of the cylinder (35) is provided with a regular polygonal column (351); the lower end of the regular polygonal column (351) is fixedly connected to the upper end of the shaking sleeve (34); The upper end of the regular polygonal column (351) is fixedly connected to the shaking sleeve (34), and a shaking spring (352) is sleeved on the regular polygonal column (351). A horizontal plate (36) is provided above the regular polygonal column (351). The two ends of the horizontal plate (36) are respectively fixedly connected to the front and rear side walls of the magazine (21). The lower end of the horizontal plate (36) is fixedly connected to the limiting column (37). The lower end of the limiting column (37) is recessed upward to form a regular polygonal groove (371). The upper end of the regular polygonal column (351) is slidably connected to the regular polygonal groove (371) up and down. The upper and lower ends of the shaking spring (352) are respectively in contact with the limiting column (37) and the shaking sleeve (34).

5. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 1, characterized in that: The rotation adjustment mechanism (4) includes a motor support plate (41) fixedly mounted on the upper end of the pan / tilt support frame (11), a main gear (43) and a synchronous wheel (44) are symmetrically mounted on the upper end of the motor support plate (41), a gear belt (45) is sleeved on the main gear (43) and the synchronous wheel (44), a through hole is opened at the upper end of the synchronous wheel (44), the main gear (43) is driven by the motor shaft of the first motor (42) fixedly mounted on the lower end of the motor support plate (41), and the synchronous wheel (44) is driven by the motor shaft of the first motor (42) fixedly mounted on the lower end of the motor support plate (41), and the synchronous wheel (44) is driven by the motor shaft of the first motor (42) fixedly mounted on the lower end of the motor support plate (41). The roller bearing is rotatably connected to the motor support plate (41); a circular groove is provided at the upper end of the motor support plate (41) below the through hole, and the circular groove is aligned with the through hole up and down; a slip ring sleeve (46) is fixedly connected to the lower end of the motor support plate (41); a lower connecting plate (47) is fixedly sleeved on the lower end of the slip ring sleeve (46); the lower connecting plate (47) is fixedly connected to the ammunition feeding positioning frame (28); an electric slip ring inner ring (48) is installed through the inner cavity of the slip ring sleeve (46) up and down; and the pan / tilt mechanism (5) is installed above the synchronous wheel (44).

6. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 5, characterized in that: The pan-tilt mechanism (5) includes a pan-tilt frame bearing plate (51) fixedly mounted on the upper end of a synchronous wheel (44) in a left-right symmetrical manner. Two pan-tilt frame bullet-feeding middle plates (52) are fixedly mounted on the upper end of the synchronous wheel (44) between the two pan-tilt frame bearing plates (51). A curved groove is formed between the two pan-tilt frame bullet-feeding middle plates (52). The two pan-tilt frame bullet-feeding middle plates (52) are fixedly connected to the two pan-tilt frame bearing plates (51) by positioning screws (53). The two pan-tilt frame bearing plates The upper ends of the force plates (51) are rotatably mounted with mounting plates (54) through shaft sleeves, a second motor (55) is fixedly mounted on the side of one of the mounting plates (54), a rocker arm (56) is fixedly sleeved on the driving shaft of the second motor (55), a pan / tilt connecting rod (57) is rotatably mounted on the lower end of the rocker arm (56) through a rotating shaft, the other end of the pan / tilt connecting rod (57) is rotatably connected to the pan / tilt frame bearing plate (51) through a shaft sleeve, and a launching mechanism (6) is mounted on the two mounting plates (54).

7. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 6, characterized in that: The launching mechanism (6) includes a launching port (61) fixedly mounted on the front ends of the two mounting plates (54), the launching port (61) is provided with through slots on both the upper and lower sides and the left and right sides, the front end of the launching port (61) is fixedly sleeved with a speed measuring tube (62), the upper end of the launching port (61) is fixedly mounted with a supporting top plate (63), the upper end of the supporting top plate (63) is fixedly mounted with a camera assembly (64), the front end of the supporting top plate (63) is symmetrically provided with mounting slots, and both mounting slots are fixed A reduction box (65) is installed. Both reduction boxes (65) are driven by a power shaft of a launch motor fixedly installed in the installation groove. A launch friction wheel (66) is fixedly sleeved on the main shaft of the two reduction boxes (65). The lower ends of the main shafts of the two reduction boxes (65) are fixedly connected to a disk (67). The lower ends of the two disks (67) are fixedly connected to a driving rod (68). The launch port (61) is connected to an auxiliary pushing mechanism (7). The auxiliary pushing mechanism (7) is arranged below the two disks (67).

8. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 7, characterized in that: The launching friction wheel (66) is fixedly connected to the main shaft. The two launching friction wheels (66) are respectively arranged on the left and right sides of the launching port (61). The two launching friction wheels (66) respectively pass through the through grooves on the left and right sides of the launching port (61) and extend to its inner cavity.

9. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 7, characterized in that: The auxiliary pushing mechanism (7) includes fixed platforms (71) symmetrically distributed on the left and right sides of the launch port (61), the upper end of the fixed platform (71) is provided with a convex groove (72), the lower end of the fixed platform (71) is fixedly connected to a fixed arm (73), the other end of the fixed arm (73) is fixedly connected to the lower end of the launch port (61), the upper end of the fixed platform (71) is slidably mounted with a connecting plate (74), the lower end of the connecting plate (74) is fixedly connected to a convex plate (75), the side of the connecting plate (74) close to the launch port (61) is fixedly connected to a driving plate (76), the upper end of the driving plate (76) is provided with a driving groove (77), the upper end of the connecting plate (74) is fixedly connected to the lower end of the launching port (61), and the lower end of the connecting plate (74) is fixedly connected to the driving plate (76). A transmission seat (8) is fixedly connected, a contraction groove (81) is provided on the inner side of the transmission seat (8), a T-shaped block (82) is installed in the contraction groove (81), one end of the T-shaped block (82) is plugged with a return spring (83), the other end of the return spring (83) abuts against the innermost end of the contraction groove (81), one end of the T-shaped block (82) passes through the contraction groove (81) and extends to the outside of the transmission seat (8), one end of the T-shaped block (82) outside the transmission seat (8) is fixedly connected to a push head (84), one end of the push head (84) passes through the through groove on the side of the launch port (61) and extends to its inner cavity, and the two push heads (84) in the two auxiliary push mechanisms (7) are symmetrically distributed on the left and right.

10. The automatic fire extinguishing ball loading device for a fire-fighting robot according to claim 9, characterized in that: The convex plate (75) is connected to the convex groove (72) in a forward and backward sliding manner, the T-shaped block (82) is connected to the contraction groove (81) in a left and right sliding manner, the driving plate (76) is located below the disc (67), the driving rod (68) is inserted into the driving groove (77), and the driving rod (68) is connected to the driving groove (77) in a sliding manner.

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