Fire-fighting inspection robot

Abstract

The utility model discloses a fire-fighting inspection robot relates to the technical field of inspection robot, including host computer, track, support column, visual module and guide groove, the host computer top sets up emergency extinguishing mechanism, emergency extinguishing mechanism includes bearing pipe, tow ring, first connecting rod, pincer claw and electromagnetic valve, the electromagnetic valve sets up bearing pipe top, the tow ring is installed in bearing pipe side, the pincer claw is installed in first connecting rod side, the first connecting rod is installed in tow ring side, the claw piece that bears the pipe right side inwards gathers, can form the end limit of fire bomb in pipe, prevent robot to climb slope, cross the barrier when fire bomb slide, ensure that fire extinguishing mechanism " can release at any time", its configuration seven fire bomb, can cope with workshop many equipment simultaneous fire etc.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically a fire inspection robot. Background Technology

[0002] Fire inspection robots are intelligent devices that can replace manual labor in performing fire safety inspection tasks. With the help of autonomous navigation, environmental perception and intelligent decision-making capabilities, they can monitor complex environments around the clock, and can promptly detect fire hazards and trigger emergency responses. Among them, the fire inspection robot with application number CN202421568702.5 has significant advantages in practical applications: when encountering signal interruption, equipment damage, or scenarios requiring manual handling, operators can easily pull out the triangular rollers for manual control; and the design of the triangular rollers greatly improves the robot's stability, adaptability, and safety when facing obstacles such as stairs, effectively reducing the difficulty of handling. However, the robot has certain limitations—it does not integrate a fire extinguishing module (requiring an additional external attachment), and the fire extinguishing process relies on subsequent manual operation, making it difficult to cope with sudden fires. Based on this, this solution proposes "a fire inspection robot" to address the aforementioned problems. Utility Model Content

[0003] The purpose of this utility model is to provide a fire inspection robot to solve the problem mentioned in the background art that existing equipment on the market does not integrate a fire extinguishing module, and the fire extinguishing process relies on manual operation.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a fire inspection robot, comprising a main unit, tracks, support columns, a vision module, and a guide groove; An emergency extinguishing mechanism is provided above the main unit. The emergency extinguishing mechanism includes a support pipe, a traction ring, a first connecting rod, a gripper, and a solenoid valve. The solenoid valve is located above the support pipe, the traction ring is installed on the side of the support pipe, the gripper is installed on the side of the first connecting rod, and the first connecting rod is installed on the side of the traction ring.

[0005] As a preferred technical solution of this utility model, the main unit is rotatably connected to the track on the side, the main unit is fixedly connected to the top of the main unit, the top of the support column is fixedly connected to the vision module, and the vision module is equipped with a vision camera and a thermal imaging camera. The above technical solution offers several advantages. First, compared to traditional wheeled structures, tracks increase the contact area with the ground and enhance traction, effectively addressing complex terrains commonly encountered in fire inspections, such as ruins, water accumulation, and uneven surfaces. This prevents the robot from slipping or getting stuck, ensuring it can reach critical inspection points such as the periphery of the fire scene and corners of equipment rooms, reducing blind spots. Second, the support column elevates the vision module above the main unit, avoiding obstruction of vision by low obstacles. The vision camera can clearly capture the direction of smoke diffusion, the condition of doors and windows, and other environmental details, allowing remote personnel to intuitively assess the scene. Meanwhile, the thermal imaging camera can penetrate smoke and wall gaps to accurately detect hidden high-temperature points or initial fire sources, such as overheating inside electrical equipment or smoldering in wall cavities. This compensates for the visual camera's inability to identify "invisible risks" when obscured by smoke, significantly improving the efficiency of initial fire detection and buying precious time for firefighting.

[0006] As a preferred technical solution of this utility model, the main unit is rotatably connected to the bearing tube via a bearing ring, the bearing tube has six through slots evenly opened on its side, and a guide slot is opened on the lower right side of the bearing tube. The guide slot is movably connected to one end of the second connecting rod. Using the above technical solution, the carrier tube is rotatably connected to the main unit via a carrier ring. The direction of the carrier tube and the fire extinguishing bombs inside can be adjusted without moving the entire main unit. When facing a sudden fire source on the side, only the carrier tube needs to be rotated to align with the target, avoiding the response delay caused by the movement of the main unit. This is especially suitable for rapid fire extinguishing in narrow spaces such as cable wells and equipment gaps. Secondly, the six through slots on the side of the carrier tube can balance the air pressure inside and outside the tube, preventing jamming of the fire extinguishing bombs due to sudden changes in air pressure inside the tube during storage or launch. At the same time, they can also serve as positioning slots for the fire extinguishing bombs, ensuring that multiple fire extinguishing bombs are evenly distributed and stably placed inside the carrier tube, avoiding collisions and displacement of the fire extinguishing bombs when the robot moves or the carrier tube rotates. Finally, the guide slot is movably connected to the second linkage, which can limit and guide the rotation trajectory of the carrier tube, preventing the carrier tube from shaking or shifting due to vibrations such as explosions or ground bumps, ensuring that it can accurately align with the direction of the fire source and reducing the failure problem when remotely controlling fire extinguishing.

[0007] As a preferred technical solution of this utility model, the other end of the second connecting rod is rotatably connected to a threaded sleeve, the lower part of the threaded sleeve is threadedly connected to a lead screw, the bottom of the lead screw is fixedly connected to the motor output shaft, and the motor is rotatably connected to the main unit; The above technical solution offers several advantages. First, the threaded sleeve and lead screw combination constitutes a high-precision transmission structure. Compared to gear and belt drives, it offers zero backlash, smooth transmission, and precise positioning. When the motor drives the lead screw to rotate, the threaded sleeve can drive the second connecting rod for minor adjustments, thereby achieving precise control of the rotation angle of the carrying tube. This allows for accurate targeting of small-scale fire sources such as localized sparks within the electrical cabinet, preventing the waste of fire extinguishing bombs or accidental spraying into unrelated areas. Second, the motor's rotational connection with the main unit allows the entire transmission and execution mechanism—"lead screw - threaded sleeve - second connecting rod - carrying tube"—to rotate synchronously with the motor. Combined with the rotation of the carrying tube itself around the carrying ring, this forms a "dual rotation adjustment," expanding the coverage angle of the fire extinguishing bomb from a single plane to three-dimensional space. This significantly increases the fire extinguishing coverage of a single robot and reduces the need for coordination among multiple devices. Third, the motor-driven operation enables automated operation, eliminating the need for firefighters to adjust the direction of the carrying tube at close range. This avoids exposing personnel to dangerous environments with high temperatures, high concentrations of smoke, and toxic gases, ensuring the safety of firefighting operations.

[0008] As a preferred technical solution of this utility model, the right side of the bearing tube is an inwardly retracting claw block, and the bearing tube is equipped with a total of seven fire extinguishing bombs. The upper left end of the bearing tube is fixedly connected to a solenoid valve, the shaft end of the solenoid valve is fixedly connected to a traction ring, the side of the traction ring is rotatably connected to one end of the first connecting rod, the other end of the first connecting rod is rotatably connected to a gripper, the gripper is rotatably connected to the bearing tube, and there are two grippers symmetrically distributed. The above technical solution offers several advantages. First, the inward-retracting claw on the right side of the carrying tube can limit the fire extinguishing bomb's position at the end of the tube, preventing it from slipping off the right end of the carrying tube when the robot climbs slopes or crosses obstacles, ensuring the fire extinguishing mechanism is always ready to be released. Second, the configuration of seven fire extinguishing bombs can handle multiple fire source scenarios or meet the needs of continuous fire extinguishing and re-spraying to prevent reignition, eliminating the need for the robot to frequently return to the resupply point to replace the fire extinguishing bombs and extending its single inspection and fire extinguishing operation time. Third, the solenoid valve has a fast response speed, instantly driving the traction ring to move after detecting a fire source, which in turn drives the gripper to open and close quickly through the first linkage, significantly shortening the response time of the fire extinguishing bomb release and seizing the critical window for initial fire extinguishing. Furthermore, the two symmetrically distributed grippers can simultaneously clamp or release the fire extinguishing bomb from both sides, ensuring uniform force when the fire extinguishing bomb slides out, avoiding tilting or deviation from the target due to unilateral force. When the grippers are closed, they can also tightly fix the fire extinguishing bomb, reducing collision damage during transportation and improving storage stability.

[0009] Compared with the prior art, the beneficial effects of this utility model are: 1. The tracks connected to the side of the main unit increase the ground contact area and improve grip, easily handling complex fire-fighting terrain such as ruins, water accumulation, and uneven ground, avoiding slippage and stagnation, and ensuring that the robot can reach key inspection points such as the periphery of the fire and corners of the equipment room; at the same time, the vision module raised above the main unit by the support column can avoid the obstruction of low obstacles. Its equipped vision camera can clearly capture the on-site conditions such as smoke diffusion and broken doors and windows, while the thermal imaging camera can penetrate smoke and wall gaps to accurately detect hidden high temperature points such as overheating inside electrical equipment and smoldering in wall cavities, making up for the "invisible risk" identification defects of vision cameras, greatly improving the efficiency of initial fire detection and reducing inspection blind spots; 2. The main unit is rotatably connected to the support pipe via a support ring, allowing adjustment of the support pipe and the direction of the internal fire extinguishing bombs without moving the main unit. This is suitable for quickly aligning with the fire source in narrow spaces such as cable wells and equipment gaps, avoiding response delays caused by moving the main unit. Furthermore, the guide groove on the lower right side of the support pipe is movably connected to the second connecting rod, which can limit the rotation trajectory of the support pipe and prevent directional deviation caused by on-site vibration, ensuring fire extinguishing accuracy. In addition, the six through slots on the side of the support pipe can balance the air pressure inside and outside the pipe, preventing jamming of the fire extinguishing bombs during storage or launch, while also positioning the fire extinguishing bombs to prevent them from colliding and deviating, ensuring the stability of the fire extinguishing mechanism. 3. The high-precision transmission structure composed of the second connecting rod, threaded sleeve, and lead screw is backlash-free and provides smooth transmission. When the motor drives the lead screw to rotate, the threaded sleeve can drive the second connecting rod to make slight adjustments, achieving precise control of the rotation angle of the bearing tube. This allows the fire to be aimed at small-scale fire sources such as localized sparks inside the electrical cabinet, avoiding waste or accidental spraying of fire extinguishing bombs. At the same time, the motor is connected to the main unit, allowing the entire "lead screw-threaded sleeve-second connecting rod-bearing tube" to rotate synchronously with the motor. Combined with the rotation of the bearing tube around the bearing ring, this forms a "dual adjustment," expanding the coverage angle of the fire extinguishing bomb from a single plane to three-dimensional space, increasing the fire extinguishing coverage range of a single robot. Furthermore, the automated motor drive eliminates the need for firefighters to operate the equipment at close range, avoiding exposure to high temperatures, high smoke, and toxic gas environments, thus ensuring operational safety. 4. The inward-retracting claw block on the right side of the carrying tube can limit the end of the fire extinguishing bullet inside the tube, preventing the fire extinguishing bullet from slipping when the robot climbs slopes or crosses obstacles, ensuring that the fire extinguishing mechanism is "ready to be released at any time". The seven fire extinguishing bullets configured can deal with multiple fire source scenarios such as multiple equipment catching fire at the same time in the workshop, or meet the needs of continuous fire extinguishing and re-spraying to prevent reignition, without the need for frequent returns to the resupply point for replacement, extending the time of a single inspection and fire extinguishing by the robot. In addition, the solenoid valve on the upper left end of the carrying tube has a response speed of milliseconds, which can instantly drive the traction ring, and drive the two symmetrically distributed grippers to open and close quickly through the first link, shortening the response time of the fire extinguishing bullet release. Moreover, the double grippers can clamp or release from both sides of the fire extinguishing bullet simultaneously, ensuring that the force is even when the fire extinguishing bullet slides out, avoiding tilting and deviation. When closed, it can also tightly fix the fire extinguishing bullet, reduce damage from transportation collisions, and improve storage stability. Attached Figure Description

[0010] Figure 1 This is a side view of the structure of this utility model; Figure 2 This is a schematic diagram of the support column and vision module structure of this utility model; Figure 3 This is a schematic diagram of the gripper and solenoid valve structure of this utility model; Figure 4 This is a schematic diagram of the second connecting rod and threaded sleeve structure of this utility model; Figure 5 This is a schematic diagram of the traction ring and the first connecting rod structure of this utility model; Figure 6 This is a schematic diagram of the lead screw and motor structure of this utility model.

[0011] In the diagram: 1. Main unit; 2. Track; 3. Support column; 4. Vision module; 5. Bearing tube; 6. Traction ring; 7. First connecting rod; 8. Gripper; 9. Solenoid valve; 10. Bearing ring; 11. Fire extinguishing bomb; 12. Second connecting rod; 13. Threaded sleeve; 14. Lead screw; 15. Motor; 16. Guide groove. Detailed Implementation

[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0013] Please see Figure 1-6 The technical solution of this utility model includes: a main unit 1, a track 2, a support column 3, a vision module 4, a load-bearing pipe 5, a traction ring 6, a first connecting rod 7, a gripper 8, a solenoid valve 9, a load-bearing ring 10, a fire extinguishing bomb 11, a second connecting rod 12, a threaded sleeve 13, a lead screw 14, a motor 15, and a guide groove 16. Among them, an emergency extinguishing mechanism is set on the top of the main unit 1. The mechanism consists of a bearing pipe 5, a traction ring 6, a first connecting rod 7, a gripper 8 and a solenoid valve 9. The specific configuration is as follows: the solenoid valve 9 is located on the top of the bearing pipe 5, the traction ring 6 is installed on the side of the bearing pipe 5, the gripper 8 is assembled on the side of the first connecting rod 7, and the first connecting rod 7 is connected to the side of the traction ring 6. The main unit 1 is rotated and connected to the track 2 on the side. The support column 3 is fixedly connected to the top of the main unit 1. The vision module 4 is fixedly connected to the top of the support column 3. The vision module 4 is equipped with a vision camera and a thermal imaging camera. On the one hand, compared with the traditional wheel structure, the track 2 increases the contact area with the ground to improve the grip. It can effectively deal with complex terrains such as ruins, water accumulation, and uneven ground that are common in fire inspections, and avoid the robot slipping or getting stuck. It can ensure that it can reach key inspection points such as the periphery of the fire scene and the corner of the equipment room. On the other hand, the support column 3 raises the vision module 4 above the main unit 1, which can avoid the obstruction of vision by low obstacles. The vision camera can clearly capture the direction of smoke diffusion, the condition of doors and windows, and other on-site environments, which can facilitate remote personnel to intuitively judge the scene status. The thermal imaging camera can penetrate smoke and wall gaps to accurately detect hidden high temperature points such as overheating inside electrical equipment and smoldering in wall interlayers. It makes up for the defect of the vision camera being unable to identify "invisible risks" and greatly improves the efficiency of initial fire detection. The main unit 1 is rotatably connected to the support pipe 5 via a support ring 10. Six through slots are evenly distributed on the side of the support pipe 5, and a guide slot 16 is provided on the lower right side of the support pipe 5. The guide slot 16 is movably connected to one end of the second connecting rod 12. The beneficial effects of this design are reflected in three aspects: First, the support pipe 5 is rotatably connected to the main unit 1 via the support ring 10, so the direction of the support pipe 5 and the internal fire extinguishing bomb 11 can be adjusted without moving the entire main unit 1. When facing a sudden fire source on the side, only the support pipe 5 needs to be rotated to aim at the target, avoiding the response delay caused by the movement of the main unit 1. It is especially suitable for narrow spaces such as cable wells and equipment gaps. Firstly, the rapid fire extinguishing requirement; secondly, the six through slots on the side of the carrying pipe 5 can balance the air pressure inside and outside the pipe, preventing jamming caused by sudden changes in air pressure when storing or launching the fire extinguishing bombs 11, and can also serve as positioning slots to ensure that multiple fire extinguishing bombs 11 are evenly distributed and stably placed inside the pipe, avoiding collision and displacement of the fire extinguishing bombs 11 when the robot moves or the carrying pipe 5 rotates; thirdly, the movable connection between the guide slot 16 and the second connecting rod 12 can limit and guide the rotation trajectory of the carrying pipe 5, preventing it from shaking or deviating due to vibrations such as explosions or ground bumps, ensuring accurate fire extinguishing direction and reducing failure problems when remotely controlling fire extinguishing. The other end of the second connecting rod 12 is rotatably connected to the threaded sleeve 13. The lower part of the threaded sleeve 13 is threadedly connected to the lead screw 14. The bottom of the lead screw 14 is fixedly connected to the output shaft of the motor 15, and the motor 15 is rotatably connected to the main unit 1. The advantages of this structure are mainly three: First, the threaded sleeve 13 and the lead screw 14 form a high-precision transmission structure. Compared with gear transmission and belt transmission, it has no gap and the transmission is smooth. When the motor 15 drives the lead screw 14 to rotate, the second connecting rod 12 can be slightly adjusted through the threaded sleeve 13, thereby achieving precise control of the rotation angle of the bearing tube 5, such as ±1° fine adjustment. It can accurately target small fire sources such as local sparks in the electrical cabinet, avoiding the waste of fire extinguishing bombs 11 or accidental spraying to unrelated areas. Secondly, the motor 15 is rotatably connected to the host 1, allowing the entire transmission and execution mechanism of "lead screw 14 - threaded sleeve 13 - second connecting rod 12 - bearing tube 5" to rotate synchronously with the motor 15. Combined with the rotation of the bearing tube 5 around the bearing ring 10, a "dual rotation adjustment" is formed, which expands the coverage angle of the fire extinguishing bomb 11 from a single plane to a three-dimensional space such as ceiling fire sources and ground smoldering points, greatly improving the fire extinguishing coverage of a single robot and reducing the need for coordination of multiple devices. Thirdly, the motor 15 drives automated operation, eliminating the need for firefighters to adjust the direction of the bearing tube 5 at close range, avoiding personnel exposure to dangerous scenarios of high temperature, high concentration of smoke, and toxic gases, and ensuring the safety of fire fighting operations. The right side of the support tube 5 features an inwardly retracting claw block, and seven fire extinguishing bombs 11 are disposed inside the support tube 5. A solenoid valve 9 is fixedly connected to the upper left end of the support tube 5, and a traction ring 6 is fixedly connected to the shaft end of the solenoid valve 9. The side of the traction ring 6 is rotatably connected to one end of the first connecting rod 7, and the other end of the first connecting rod 7 is rotatably connected to a gripper 8. The grippers 8 are rotatably connected to the support tube 5 and are symmetrically distributed in two pairs. Firstly, the inwardly retracting claw block on the right side of the support tube 5 can limit the end of the fire extinguishing bombs 11 inside the tube, preventing the fire extinguishing bombs 11 from slipping off the right end of the support tube 5 when the robot climbs slopes or crosses obstacles, ensuring that the fire extinguishing mechanism is always in a "ready to release" state. Secondly, the configuration of seven fire extinguishing bombs 11 can handle multiple fires, such as multiple equipment catching fire simultaneously in the workshop. In terms of fire suppression, it can meet the needs of continuous fire extinguishing and re-spraying to prevent reignition, eliminating the need for the robot to frequently return to the resupply point to replace the fire extinguishing bomb 11, thus extending its single inspection and fire extinguishing operation time; thirdly, the solenoid valve 9 has a response speed of milliseconds, and can instantly drive the traction ring 6 to move after detecting the fire source, which drives the gripper 8 to open and close quickly through the first link 7, greatly shortening the response time of the release of the fire extinguishing bomb 11, seizing the critical window for initial fire extinguishing - and the two symmetrical grippers 8 can simultaneously clamp or release from both sides of the fire extinguishing bomb 11, ensuring that the force is even when the fire extinguishing bomb 11 slides out, avoiding tilting or deviation from the target due to force on one side. When the grippers 8 are closed, they can also tightly fix the fire extinguishing bomb 11, reducing collision damage during transportation and improving storage stability.

[0014] Working principle: When a fire inspection robot is in use, during the movement and inspection phases, the track 2 connected to the side of the main unit 1 increases the ground contact area and improves the grip, enabling the robot to move stably in complex fire-fighting scenarios such as ruins, water accumulation, and uneven ground, avoiding slippage or getting stuck, and ensuring that it reaches the key inspection area. At the same time, the vision module 4 raised above the main unit 1 by the support column 3 works synchronously. The vision camera avoids the obstruction of low obstacles and captures on-site images such as smoke diffusion and broken doors and windows, while the thermal imaging camera penetrates the smoke and wall gaps to detect hidden high temperature points or initial fire sources. When the temperature exceeds the standard, an early warning is triggered, buying time for fire fighting. After fire detection, the direction adjustment stage begins. The main unit 1 is rotatably connected to the support tube 5 via the support ring 10. The support tube 5 can be initially aligned with the fire source around the support ring 10 without moving the main unit 1 to reduce response delay. Subsequently, the motor 15 starts, and its output shaft drives the lead screw 14 to rotate. The lead screw 14 cooperates with the threaded sleeve 13 to convert into linear motion, which drives the second connecting rod 12 to move along the guide groove 16 of the support tube 5, realizing a slight angle adjustment of the support tube 5. The guide groove 16 can also limit vibration and prevent deviation, ensuring that the fire extinguishing bomb 11 is aligned with the fire source. Next is the fire extinguishing execution phase. The solenoid valve 9 at the left end of the bearing pipe 5 responds quickly, and the shaft end drives the traction ring 6 to rotate. The traction ring 6 pulls the first connecting rod 7, causing the two symmetrical grippers 8 connected to the bearing pipe 5 to open. The fire extinguishing bomb 11 slides out along the bearing pipe 5 to extinguish the fire. The seven fire extinguishing bombs 11 in the pipe can cope with multiple fire sources or the need for supplementary spraying. The six through slots on the side balance the air pressure to prevent jamming and position the fire extinguishing bombs 11 to avoid collision. After the fire is extinguished, the operation enters the closed-loop stage. The vision module 4 continuously monitors the temperature and smoke in the fire-extinguished area. If the thermal imaging camera detects signs of reignition, such as local temperature exceeding the standard, the system can repeat the direction adjustment and fire extinguishing process to spray fire extinguishing bombs 11. Until the area temperature drops to the safe threshold, the robot resumes the normal inspection mode, completing the complete fire-fighting operation process from inspection to fire extinguishing to monitoring. If the open flame spreads excessively, the equipment can be actively moved to ensure equipment safety.

[0015] This completes a series of tasks. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0016] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fire inspection robot, comprising a main unit (1); characterized in that: An emergency extinguishing mechanism is provided above the host (1). The emergency extinguishing mechanism includes a bearing pipe (5), a traction ring (6), a first connecting rod (7), a gripper (8), and a solenoid valve (9). The solenoid valve (9) is located above the bearing pipe (5). The traction ring (6) is installed on the side of the bearing pipe (5). The gripper (8) is installed on the side of the first connecting rod (7). The first connecting rod (7) is installed on the side of the traction ring (6).

2. The fire inspection robot according to claim 1, characterized in that, The main unit (1) is rotatably connected to the track (2) on the side, and the main unit (1) is fixedly connected to the support column (3) on the top. The support column (3) is fixedly connected to the top of the vision module (4), and the vision module (4) is equipped with a vision camera and a thermal imaging camera.

3. A fire inspection robot according to claim 2, characterized in that, The host (1) is rotatably connected to the support tube (5) via the support ring (10) above it. Six through slots are evenly opened on the side of the support tube (5). A guide slot (16) is opened on the lower right side of the support tube (5). The guide slot (16) is movably connected to one end of the second connecting rod (12).

4. A fire inspection robot according to claim 3, characterized in that, The other end of the second connecting rod (12) is rotatably connected to the threaded sleeve (13), and the threaded sleeve (13) is threadedly connected to the lead screw (14) below. The bottom of the lead screw (14) is fixedly connected to the output shaft of the motor (15), and the motor (15) is rotatably connected to the host (1).

5. A fire inspection robot according to claim 4, characterized in that, The right side of the bearing tube (5) is an inwardly retracting claw block, and the bearing tube (5) is equipped with seven fire extinguishing bombs (11). The upper left end of the bearing tube (5) is fixedly connected to a solenoid valve (9), and the shaft end of the solenoid valve (9) is fixedly connected to a traction ring (6). The side of the traction ring (6) is rotatably connected to one end of the first connecting rod (7), and the other end of the first connecting rod (7) is rotatably connected to a gripper (8). The gripper (8) is rotatably connected to the bearing tube (5), and there are two grippers (8) symmetrically distributed.

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