Automatic fire extinguishing device for expressway tunnel rescue robot

Abstract

The utility model discloses an automatic fire extinguishing device for an expressway tunnel rescue robot, which comprises an industrial robot, a fire extinguisher and an upper computer, the fire extinguisher is fixed at the lower part of a support frame, and a quick change device is connected between the upper surface of the support frame and the tail end of the industrial robot; the quick-change device comprises a quick-change main disc and a quick-change tool disc; the quick-change main disc is fixed at the tail end of the industrial robot through a connecting flange; the quick-change tool disc is fixed on the supporting plate, and the quick-change main disc and the quick-change tool disc are connected or disconnected through a piston type steel ball locking structure; an actuating mechanism cylinder is mounted below the supporting plate and is provided with a push rod, a cylinder air inlet / outlet and a magnetic switch sensor for sensing actuating signals of the actuating mechanism cylinder; the push rod is connected with a pressing handle at the top of the fire extinguisher, and the upper computer controls the opening and closing start-stop state of the actuating mechanism air cylinder according to actuating signals, obtained by the magnetic switch sensor, of the actuating mechanism air cylinder.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of road traffic safety, relates to an automatic fire extinguishing device, particularly relates to an automatic fire extinguishing device for expressway tunnel rescue robot. BACKGROUND

[0002] The conventional treatment method for coping with expressway tunnel fire at present is to alarm and request fire rescue after discovering the fire. There is lack of rapid and timely on-site emergency treatment scheme. There is an urgent need for a technical scheme that can rapidly open the fire extinguishing device remotely to control the fire at the initial stage of discovering the fire in the prior art. CONTENT OF THE UTILITY MODEL

[0003] In view of the above prior art, the utility model provides an automatic fire extinguishing device for expressway tunnel rescue robot.

[0004] The utility model discloses an automatic fire extinguishing device for expressway tunnel rescue robot, including industrial robot, fire extinguisher and host computer, the fire extinguisher is fixed in the lower part of a backplate, the top of backplate is equipped with the supporting plate, the supporting plate is equipped with through -hole, the top of supporting plate is connected with the end of industrial robot between the quick change device,

[0005] The quick change device includes quick change main disc and quick change tool disc, the quick change main disc is fixed in the end of industrial robot through the connecting flange, the quick change tool disc is fixed on the top of supporting plate, and the quick change main disc and the quick change tool disc are connected or separated through the piston type steel ball locking structure.

[0006] The lower surface of the supporting plate is provided with an actuator cylinder, which is provided with a push rod, a cylinder air inlet and a cylinder air outlet; the push rod is connected with a pressing handle at the top of the fire extinguisher; the quick-change tool disc is provided with a tool disc first air pipe connecting port and a tool disc second air pipe connecting port, the cylinder air inlet is connected to the tool disc first air pipe connecting port, and the cylinder air outlet is connected to the tool disc second air pipe connecting port; the quick-change main disc is provided with a main disc first air pipe connecting port and a main disc second air pipe connecting port, after the quick-change main disc and the quick-change tool disc are connected, the main disc first air pipe connecting port is in communication with the tool disc first air pipe connecting port, and the main disc second air pipe connecting port is in communication with the tool disc second air pipe connecting port; the actuator cylinder is further provided with a magnetic switch sensor for sensing the action signal of the actuator cylinder, the magnetic switch sensor is connected to a tool disc electrical signal connecting unit through a magnetic switch sensor line, and the tool disc electrical signal connecting unit knows the action position of the actuator cylinder; after the quick-change main disc and the quick-change tool disc are connected, the tool disc electrical signal connecting unit is connected with a main disc electrical signal connecting unit through a metal contact, the main disc electrical signal connecting unit is connected to the upper computer, and the upper computer controls the opening and closing and starting and stopping state of the actuator cylinder according to the action signal of the actuator cylinder obtained by the magnetic switch sensor.

[0007] Further, the automatic fire extinguishing device, wherein:

[0008] The tool disc first air pipe connecting port and the tool disc second air pipe connecting port are connected to an air source and provide power for the actuator cylinder through the cylinder air inlet and the cylinder air outlet; when the actuator cylinder moves downward, the pressing handle of the fire extinguisher is pressed down, and fire extinguishing material is sprayed from the nozzle of the fire extinguisher; the actuator cylinder resets, and the work of the fire extinguisher is ended.

[0009] The tool disc first air pipe connecting port and the main disc first air pipe connecting port, and the tool disc second air pipe connecting port and the main disc second air pipe connecting port are respectively provided with hollow sealing plugs for preventing gas leakage.

[0010] The piston type steel ball locking structure is that the quick-change main disc is provided with an axial cylinder, a piston rod sleeve is fixed to the bottom of the axial cylinder, a main disc piston is arranged in the axial cylinder, a piston rod of the main disc piston passes through the piston rod sleeve, a plurality of main disc locking steel balls are arranged on the lower part of the cylinder wall of the piston rod sleeve in a circumferential direction and are uniformly distributed, a steel ball push rod is fixed to the bottom of the piston rod, and an outer taper surface is arranged on the bottom end of the steel ball push rod.

[0011] When the main disc piston is located at the highest position, the main disc locking steel ball is in contact with the outer taper surface of the steel ball push rod, at this time, the quick-change main disc is separated from the quick-change tool disc; when the main disc piston is located at the lowest position, the main disc locking steel ball is in contact with the inner taper surface of the tool disc locking ring and is located at the outer side of the steel ball push rod, at this time, the quick-change main disc is connected with the quick-change tool disc.

[0012] When the industrial robot and the quick-change main disc fixed thereon reach the mounting position of the quick-change tool disc, the main disc piston is driven downward by the gas in the upper gas chamber through the first gas channel, the steel ball push rod fixed to the bottom of the piston rod pushes out the main disc locking steel ball, and then the tool disc locking ring is clamped, so that the quick-change main disc and the quick-change tool disc are connected together, and the mounting of the industrial robot and the fire extinguisher is realized.

[0013] When the industrial robot and the fire extinguisher are unloaded, the main disc piston is driven upward by the gas in the lower gas chamber through the second gas channel, the main disc locking steel ball is reset and retracted into the tool disc locking ring, the tool disc locking ring is unlocked, and the separation of the industrial robot and the fire extinguisher is realized.

[0014] Compared with the prior art, the beneficial effects of the utility model are that:

[0015] The utility model discloses a quick change tool disc of robot quick change device and fire extinguisher, cylinder execution mechanism and the like are used for the fire extinguishing operation inside the highway tunnel, when needing to extinguish fire, the quick change main disc of industrial robot for rescue is used, through the piston type steel ball locking mechanism, the mounting of fire extinguisher is completed, and through the driving execution mechanism cylinder action, the fire extinguisher is opened automatically. Compared with the existing waiting fire rescue extinguishing mode, its use makes the fire extinguishing inside the highway tunnel realize automation, has the obvious quick response advantage, further can reach the effect of reducing personnel casualty and reducing material damage. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the schematic diagram of the structure of the automatic fire extinguishing device of the utility model.

[0017] Figure 2 It shows that Figure 1 The structure schematic diagram of the industrial robot after removal in the figure.

[0018] Figure 3 It is Figure 1 The enlarged schematic diagram of the quick change main disc shown in the figure.

[0019] Figure 4 It is Figure 1 The enlarged schematic diagram of the quick change tool disc shown in the figure.

[0020] Figure 5 It is the schematic diagram before the quick change main disc is connected with the quick change tool disc or is separated, wherein: Figure 5 (a) is the front view; Figure 5 (b) is the plan view; Figure 5 (c) is Figure 5 The A-A section view in (b).

[0021] Figure 6 It is the schematic diagram of the locking of the quick change main disc and the quick change tool disc.

[0022] 100-industrial robot 200-fire extinguisher

[0023] 1-quick change tool disc 2-execution mechanism cylinder

[0024] 4-fire extinguisher nozzle 5-nozzle support

[0025] 6-fire extinguisher support 71-cylinder air inlet

[0026] 72-cylinder air outlet 81-tool disc first gas pipe connecting port

[0027] 82-tool disc second gas pipe connecting port 9-tool disc electrical signal connecting unit

[0028] 10-press 11-gas pipe

[0029] 12-magnetic switch sensor 13-magnetic switch sensor line

[0030] 14-fast-changing main disc 15-connection flange

[0031] 16-main disc electrical signal connection unit 17-metallic contact

[0032] 181-main disc first air pipe connection port 182-main disc second air pipe connection port

[0033] 191-first air channel 192-second air channel

[0034] 20-main disc piston 21-main disc locking steel ball

[0035] 22-tool disc locking ring 23-hollow sealing plug

[0036] 24-piston sleeve 25-tool disc assembly hole

[0037] 26-piston rod 27-steel ball push rod

[0038] 28-outer conical surface 29-axial air cylinder

[0039] 30-inner conical surface 31-back plate

[0040] 32-support plate 33-push rod

[0041] 34-upper air chamber 35-lower air chamber DETAILED DESCRIPTION

[0042] The utility model makes further explanation in combination with the drawings and specific implementation examples, but the following implementation examples are by no means any limitation to the utility model.

[0043] The utility model discloses an automatic fire extinguishing device of highway tunnel rescue robot, including industrial robot 100, fire extinguisher 200 and host computer.

[0044] As Figure 1 and Figure 2 The fire extinguisher 200 is fixed in the lower part of a back plate 31 through a fire extinguisher support 6, and the fire extinguisher nozzle 4 position is fixed through a fire extinguisher nozzle support 5. The top of the back plate 31 is provided with a support plate 32, the support plate 32 is provided with a through hole, and the upper surface of the support plate 32 is connected with the tail end of the industrial robot 100 through a quick-change device. The quick-change device includes a quick-change main disc 14 and a quick-change tool disc 1;The quick-change main disc 14 is fixed in the tail end of the industrial robot 100 through a connection flange 15;The quick-change tool disc 1 is fixed on the upper surface of the support plate 32, and the quick-change main disc 14 and the quick-change tool disc 1 are connected or separated through a piston type steel ball locking structure.

[0045] The lower surface of the support plate 32 is provided with an actuator cylinder 2, which is provided with a push rod 33, a cylinder air inlet 71 and a cylinder air outlet 72; the push rod 33 is connected with the pressing handle 10 at the top of the fire extinguisher 200; as shown, the quick-change tool disc 1 is provided with a tool disc first air pipe connection port 81 and a tool disc second air pipe connection port 82, the cylinder air inlet 71 and the cylinder air outlet 72 are connected with the quick-change tool disc 1 through air pipes, and finally the air source is introduced through the quick-change main disc 14 connected with the side of the industrial robot 100, for driving the actuator cylinder 2 to act, providing power for the actuator, to realize the reciprocating action of the actuator cylinder 2. The specific connection is that the cylinder air inlet 71 is connected to the tool disc first air pipe connection port 81, and the cylinder air outlet 72 is connected to the tool disc second air pipe connection port 82; as shown, the quick-change main disc 14 is provided with a main disc first air pipe connection port 181 and a main disc second air pipe connection port 182, after the quick-change main disc 14 and the quick-change tool disc 1 are connected, the main disc first air pipe connection port 181 is in communication with the tool disc first air pipe connection port 81, and the main disc second air pipe connection port 182 is in communication with the tool disc second air pipe connection port 82, as shown. Figure 4 Figure 3 Figure 6

[0046] The actuator cylinder 2 is also provided with a magnetic switch sensor 12 for sensing the action signal of the actuator cylinder 2, the magnetic switch sensor 12 is connected to the tool disc electrical signal connection unit 9 through a magnetic switch sensor line 13, the tool disc electrical signal connection unit 9 is used for transmission of the signal of the magnetic switch sensor 12, and the tool disc electrical signal connection unit 9 monitors the action position of the actuator cylinder 2.

[0047] After the quick-change main disc 14 is connected with the quick-change tool disc 1, the tool disc electrical signal connection unit 9 is connected with the main disc electrical signal connection unit 16 through a metal contact 17, the main disc electrical signal connection unit 16 is connected to the upper computer, and the upper computer controls the opening and closing and starting and stopping state of the actuator cylinder 2 according to the action signal of the actuator cylinder 2 obtained by the magnetic switch sensor 12.

[0048] The tool disc first air pipe connection port 81 and the tool disc second air pipe connection port 82 are connected to the air source, and through the cylinder air inlet 71 and the cylinder air outlet 72, power is provided to the actuator cylinder 2; when the actuator cylinder 2 moves downward, the pressing handle 10 of the fire extinguisher 200 is pressed down, and the fire extinguishing material is sprayed from the nozzle 4 of the fire extinguisher 200; when the actuator cylinder 2 resets, the work of the fire extinguisher 200 is ended. ​​​

[0049] The hollow sealing plug 23 is arranged between the tool disc first gas pipe connecting port 81 and the main disc first gas pipe connecting port 181 and between the tool disc second gas pipe connecting port 82 and the main disc second gas pipe connecting port 182 respectively, so as to prevent gas leakage. Figure 6 (d) as shown.

[0050] In the utility model, the piston type steel ball locking structure is as follows:

[0051] As shown in Figure 5 and Figure 6 The quick-change main disc 14 is provided with an axial cylinder 29, the bottom of the axial cylinder 29 is fixed with a piston rod sleeve 24, the axial cylinder 29 is provided with a main disc piston 20, the piston rod of the main disc piston 20 passes through the piston rod sleeve 24, a plurality of main disc locking steel balls 21 are arranged on the lower part of the cylinder wall of the piston rod sleeve 24 through mounting holes in the circumferential direction, the bottom of the piston rod 26 is fixedly connected with a steel ball push rod 27, and the outer edge of the bottom end of the steel ball push rod 27 is provided with an outer taper surface 28. The main disc piston 20 divides the axial cylinder 29 into an upper gas chamber 34 and a lower gas chamber 35, and the axial cylinder 29 is provided with a first gas passage 191 leading to the upper gas chamber 34 and a second gas passage 192 leading to the lower gas chamber 35. The quick-change tool disc 1 is provided with a tool disc assembly hole 25, the tool disc assembly hole 25 is fixedly connected with a tool disc locking ring 22, and the inner edge of the lower end of the tool disc locking ring 22 is provided with an inner taper surface 30. The inner diameter of the tool disc locking ring 22 is matched with the outer diameter of the piston rod sleeve 24.

[0052] When the main disc piston 20 is located at the highest position, the main disc locking steel ball 21 is in contact with the outer taper surface 28 of the steel ball push rod 27, at this time, the quick-change main disc 14 is separated from the quick-change tool disc 1, as shown in Figure 5 .

[0053] When the main disc piston 20 is located at the lowest position, the main disc locking steel ball 21 is in contact with the inner taper surface 30 of the tool disc locking ring 22 and is located on the outer side of the steel ball push rod 27, at this time, the quick-change main disc 14 is connected with the quick-change tool disc 1. Figure 6 The quick-change main disc 14 and the quick-change tool disc 1 are locked, and the state schematic diagram is shown in the drawings, wherein: Figure 6 (a) is a front view; Figure 6 (b) is a top view; Figure 6 (c) is Figure 6 (b) is a B-B sectional view, and the connection state of the quick-change main disc 14 and the quick-change tool disc 1 is shown; Figure 6 (d) is Figure 6 (b) is a C-C sectional view, and the schematic diagram that the gas of the actuator cylinder is transported from the quick-change main disc 14 to the tool disc 1 through the second gas pipe is shown;Figure 6 (e) is Figure 6 (b) is a D-D cross-sectional view showing the schematic diagram of the magnetic switch signal of the actuator cylinder being transmitted to the host computer through the main plate; Figure 6 (f) is Figure 6 (b) is an E-E cross-sectional view showing the schematic diagram of the gas entering the upper gas chamber 34 from the first gas pipe 191 to the upper part of the piston, driving the main plate piston 20 to move downward; Figure 6 (g) is Figure 6 (b) is an F-F cross-sectional view showing the schematic diagram of the gas entering the lower gas chamber 35 from the second gas pipe 192 to the lower part of the piston, driving the main plate piston 20 to move upward; Figure 6 (h) is Figure 6 (b) is a G-G cross-sectional view showing the schematic diagram of the gas from the quick-change main plate 14 being delivered to the tool plate 1 through the first gas pipe.

[0054] When the industrial robot 100 and the quick-change main plate 14 fixed thereon reach the mounting position of the quick-change tool plate 1, the gas entering the upper gas chamber 34 through the first gas pipe 191 pushes the main plate piston 20 to move downward, the steel ball push rod 27 fixed at the bottom of the piston rod 26 pushes the main plate locking steel ball 21 out, and then the tool plate locking ring 22 is clamped, so as to connect the quick-change main plate 14 and the quick-change tool plate 1 together, realizing the mounting of the industrial robot 100 and the fire extinguisher 200.

[0055] When the industrial robot 100 and the fire extinguisher 200 are unloaded, the gas entering the lower gas chamber 35 through the second gas pipe 192 pushes the main plate piston 20 to move upward, the main plate locking steel ball 21 is reset to retreat to the inside of the tool plate locking ring 22, and the tool plate locking ring 22 is unlocked, realizing the disengagement of the industrial robot 100 and the fire extinguisher 200.

[0056] Embodiment

[0057] The actuator cylinder 2 is powered by connecting the cylinder gas inlet 71 and the cylinder gas outlet 72 to the tool plate first and second gas pipe connection ports 81 and 82, respectively. The cylinder gas inlet 71 and the cylinder gas outlet 72 are connected to the actuator cylinder 2, so as to realize the driving of the cylinder to move downward, so that the push rod 33 of the actuator cylinder 2 moves downward, and the squeeze handle 10 of the fire extinguisher 200 is pressed down, and the fire extinguishing material is sprayed out from the fire extinguisher nozzle 4. The reset of the actuator cylinder 2 ends the work of the fire extinguisher 200. After the automatic fire extinguishing device is mounted, the main plate gas source is delivered to the tool plate first and second gas pipe connection ports 81 and 82 through the main plate first and second gas pipe connection ports 181 and 182, as shown in Figure 6 (d) and Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6 Figure 6(h) as shown, wherein the hollow sealing plug 23 is used to prevent gas leakage. When the automatic fire extinguishing device is unloaded, the quick-change main disc 14 is reset by driving its quick-change main disc piston 20 upward by air pressure, so that the quick-change main disc locking steel ball 21 can be retracted and the tool disc locking ring 22 cannot be clamped, achieving the unloading of the quick-change tool disc 1.

[0058] When a fire is discovered in a highway tunnel, the rescue robot on site connects with the quick-change tool disc 1 through the quick-change main disc 14 on it, which can automatically mount the automatic fire extinguishing device. Then it quickly moves to the fire point, adjusts the pose of the rescue robot to aim the fire extinguisher nozzle 4 at the fire source, and then connects the air source through the cylinder air inlet 71 and the cylinder air outlet 72 and the tool disc first and second air pipe connection ports 81 and 82 and the main disc, provides power to drive the cylinder to actuate the actuator, and presses down the fire extinguisher handle 10 to open the fire extinguisher 200. At this time, the fire extinguisher nozzle 4 sprays fire extinguishing medium to extinguish the fire source.

[0059] Although the utility model has been described above in combination with the drawings, the utility model is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive. Those skilled in the art can make many improvements and changes under the inspiration of the utility model without departing from the purpose of the utility model, and these are all within the protection scope of the utility model.

Claims

1. An automatic fire extinguishing device for a highway tunnel rescue robot, comprising an industrial robot (100), a fire extinguisher (200) and a host computer, characterized in that the fire extinguisher (200) is fixed to the lower part of a back plate (31), the top of the back plate (31) is provided with a supporting plate (32), the supporting plate (32) is provided with a through hole, and the upper surface of the supporting plate (32) is connected with the tail end of the industrial robot (100) through a quick-change device; the quick-change device comprises a quick-change main disc (14) and a quick-change tool disc (1); the quick-change main disc (14) is fixed to the tail end of the industrial robot (100) through a connecting flange (15); the quick-change tool disc (1) is fixed to the upper surface of the supporting plate (32), and the quick-change main disc (14) and the quick-change tool disc (1) are connected or separated through a piston type steel ball locking structure; the lower surface of the supporting plate (32) is provided with an actuator cylinder (2), the actuator cylinder (2) is provided with a push rod (33), a cylinder air inlet (71) and a cylinder air outlet (72); the push rod (33) is connected with a pressing handle (10) at the top of the fire extinguisher (200); the quick-change tool disc (1) is provided with a tool disc first air pipe connecting port (81) and a tool disc second air pipe connecting port (82), the cylinder air inlet (71) is connected to the tool disc first air pipe connecting port (81), and the cylinder air outlet (72) is connected to the tool disc second air pipe connecting port (82); the quick-change main disc (14) is provided with a main disc first air pipe connecting port (181) and a main disc second air pipe connecting port (182), after the quick-change main disc (14) and the quick-change tool disc (1) are connected, the main disc first air pipe connecting port (181) is in communication with the tool disc first air pipe connecting port (81), and the main disc second air pipe connecting port (182) is in communication with the tool disc second air pipe connecting port (82); the actuator cylinder (2) is further provided with a magnetic switch sensor (12) for sensing the action signal of the actuator cylinder (2), the magnetic switch sensor (12) is connected to a tool disc electrical signal connecting unit (9) through a magnetic switch sensor line (13), the tool disc electrical signal connecting unit (9) knows the action position of the actuator cylinder (2); after the quick-change main disc (14) and the quick-change tool disc (1) are connected, the tool disc electrical signal connecting unit (9) is connected with a main disc electrical signal connecting unit (16) through a metal contact (17), the main disc electrical signal connecting unit (16) is connected to the host computer, and the host computer controls the opening and closing and starting and stopping state of the actuator cylinder (2) according to the action signal of the actuator cylinder (2) obtained by the magnetic switch sensor (12). ​ 2. The automatic fire extinguishing apparatus according to claim 1, wherein The tool disc first air pipe connecting port (81) and the tool disc second air pipe connecting port (82) are connected to an air source, and power is provided to the actuator cylinder (2) through the cylinder air inlet (71) and the cylinder air outlet (72); when the actuator cylinder (2) moves downward, the trigger (10) of the fire extinguisher (200) is pressed down, and fire extinguishing material is sprayed out of the nozzle (4) of the fire extinguisher (200); when the actuator cylinder (2) resets, the work of the fire extinguisher (200) ends.

3. The automatic fire extinguishing apparatus according to claim 1, wherein The tool disc first air pipe connecting port (81) and the tool disc second air pipe connecting port (82) are connected to an air source, and power is provided to the actuator cylinder (2) through the cylinder air inlet (71) and the cylinder air outlet (72); when the actuator cylinder (2) moves downward, the trigger (10) of the fire extinguisher (200) is pressed down, and fire extinguishing material is sprayed out of the nozzle (4) of the fire extinguisher (200); when the actuator cylinder (2) resets, the work of the fire extinguisher (200) ends.

4. The automatic fire extinguishing apparatus according to claim 1, wherein The hollow sealing plug (23) is arranged between the tool disc first air pipe connecting port (81) and the main disc first air pipe connecting port (181) and between the tool disc second air pipe connecting port (82) and the main disc second air pipe connecting port (182), respectively, to prevent gas leakage. The piston type steel ball locking structure is as follows: The quick-change main disc (14) is provided with an axial cylinder (29), the bottom of the axial cylinder (29) is fixed with a piston rod sleeve (24), the axial cylinder (29) is provided with a main disc piston (20) inside, the piston rod of the main disc piston (20) passes through the piston rod sleeve (24), a plurality of main disc locking steel balls (21) are arranged on the lower part of the cylinder wall of the piston rod sleeve (24) in a circumferential direction and are uniformly distributed, the bottom of the piston rod (26) is fixedly connected with a steel ball push rod (27), and an outer conical surface (28) is arranged on the outer edge of the bottom end of the steel ball push rod (27). The main disc piston (20) divides the axial cylinder (29) into an upper air chamber (34) and a lower air chamber (35), the axial cylinder (29) is provided with a first air passage (191) leading to the upper air chamber (34) and a second air passage (192) leading to the lower air chamber (35). The quick-change tool disc (1) is provided with a tool disc assembly hole (25), the tool disc assembly hole (25) is fixedly connected with a tool disc locking ring (22), and an inner conical surface (30) is arranged at the inner opening of the lower end of the tool disc locking ring (22).

5. The automatic fire extinguishing apparatus according to claim 4, wherein The inner diameter of the tool disc locking ring (22) is matched with the outer diameter of the piston rod sleeve (24). When the main disc piston (20) is located at the highest position, the main disc locking steel ball (21) is in contact with the outer conical surface (28) of the steel ball push rod (27), at this time, the quick-change main disc (14) is separated from the quick-change tool disc (1); when the main disc piston (20) is located at the lowest position, the main disc locking steel ball (21) is in contact with the inner conical surface (30) of the tool disc locking ring (22) and is located on the outer side of the steel ball push rod (27), at this time, the quick-change main disc (14) is connected with the quick-change tool disc (1).

6. The automatic fire extinguishing apparatus according to claim 4 or 5, characterized in that When the industrial robot (100) and the quick-change main disc (14) fixed thereon reach the quick-change tool disc (1) mounting position, the gas in the upper air chamber (34) through the first air passage (191) pushes the main disc piston (20) to move downward, the steel ball push rod (27) fixed at the bottom of the piston rod (26) pushes the main disc locking steel ball (21) out, and then the tool disc locking ring (22) is clamped, so that the quick-change main disc (14) and the quick-change tool disc (1) are connected together, and the mounting of the industrial robot (100) and the fire extinguisher (200) is realized. When the industrial robot (100) and the fire extinguisher (200) are unloaded, the gas in the lower air chamber (35) through the second air passage (192) pushes the main disc piston (20) to move upward, the main disc locking steel ball (21) is reset and retracted to the inside of the tool disc locking ring (22), the tool disc locking ring (22) is unlocked, and the separation of the industrial robot (100) and the fire extinguisher (200) is realized.

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