CN111366036B - High-rise building fire extinguishing bomb electromagnetic catapulting control system based on computer - Google Patents
High-rise building fire extinguishing bomb electromagnetic catapulting control system based on computer Download PDFInfo
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- CN111366036B CN111366036B CN202010197969.8A CN202010197969A CN111366036B CN 111366036 B CN111366036 B CN 111366036B CN 202010197969 A CN202010197969 A CN 202010197969A CN 111366036 B CN111366036 B CN 111366036B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B6/00—Electromagnetic launchers ; Plasma-actuated launchers
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
- F42B12/46—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances
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Abstract
The invention relates to a computer-based high-rise building fire extinguishing bomb electromagnetic ejection control system which comprises a measuring module, a leveling module, an action module, an emission module and an indication module and realizes automatic control of high-rise building fire extinguishing bomb electromagnetic ejection. The measuring module can measure the inclination angle of the workbench and the position of an ignition point, is used for keeping the workbench horizontal and accurately positioning the launching position by the leveling module and the action module, and additionally, a contact sensor is introduced, so that the capacitor cannot be charged before loading, the misoperation of the system is prevented, and the safety of operators is ensured. The invention realizes the control of all actions of the electromagnetic ejection of the fire extinguishing bomb of the high-rise building, and has high automation degree, simple and safe operation.
Description
Technical Field
The invention relates to an electromagnetic ejection control system for fire extinguishing bombs, in particular to a computer-based electromagnetic ejection control system for fire extinguishing bombs in high-rise buildings.
Background
A large amount of materials of high-rise buildings are concentrated, once a fire disaster happens, a chimney effect is easily generated, three-dimensional combustion is formed, and rapid extension of smoke and fire is aggravated. At present, a fire extinguishing bomb is a main mode for solving the problem of fire extinguishing of high-rise buildings, and the prior art generally adopts hand throwing launching, gunpowder launching, air cannon launching and electromagnetic ejection. The hand throwing emission has low practical value because the emission distance is small; although the problem of small launching distance is solved by powder launching and air cannon launching, the launching distance is not adjustable, the repeatability is poor, certain potential safety hazards exist, a fire fighter is easy to panic, and the electromagnetic launching launcher has the advantages of large launching power, good repeatability and high safety, and is an ideal fire extinguishing bomb launching mode.
The patent No. CN 110279956A discloses a launching mechanism of a vehicle-mounted electromagnetic launching system of a fire extinguishing bomb for high-rise buildings, which comprises a rotary disk, a base, an adjusting frame and a launching cylinder, wherein the inner ring of the rotary disk is connected with a bottom plate, and the base, the adjusting frame and the launching cylinder rotate around the rotary disk under the driving of a motor to adjust the launching direction; an adjusting frame and a shooting barrel are fixed on the base and provide support for the adjusting frame and the shooting barrel; the upper end and the lower end of the adjusting frame are respectively connected with the ejection barrel and the base, and the rotation motion of the trapezoidal screw can be converted into the rotation motion of the ejection barrel around the first cylindrical pin for adjusting the ejection angle; the mechanism has the advantages that the discharging coil and the fire extinguishing bomb are arranged in the ejection cylinder, the discharging coil generates instantaneous electromagnetic force, the fire extinguishing bomb is accurately launched, the mechanism is simple in structure and easy to process and manufacture, a box-type small truck can be used for fixing and transporting, the fire extinguishing rescue can be conveniently carried out on narrow streets, the practicability is good, the mechanism does not carry out detailed description on the electromagnetic launching principle, the actions such as angle adjustment, aiming and bomb loading need to be completed by operators, and errors easily occur when the efficiency is not high. The control mechanism of the vehicle-mounted electromagnetic ejection system for the fire extinguishing bomb in the high-rise building, which is disclosed in the patent number CN 110307749 a, only describes a control method for electromagnetic ejection of the fire extinguishing bomb, and still does not solve the problem that a launching mechanism needs manual control, so that the mechanism still has the defects of low operating efficiency and large working error.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a computer-based electromagnetic ejection control system for a fire extinguishing bomb of a high-rise building.
Technical scheme
The electromagnetic ejection control system for the fire extinguishing bomb of the high-rise building based on the computer is characterized by comprising a measuring module, a leveling module, an action module, an emission module, an indication module, a programmable controller and the computer, wherein the measuring module comprises a first dip angle measuring instrument, a second dip angle measuring instrument, a third dip angle measuring instrument, a fourth dip angle measuring instrument, a distance measuring instrument, a fifth dip angle measuring instrument, a first dip angle measuring instrument, a second dip angle measuring instrument, a third dip angle measuring instrument, a fourth dip angle measuring instrument, a fifth dip angle measuring instrument, a fourth dip angle measuring instrument, a third dip angle measuring instrument, a fourth dip angle measuring instrument, a third,The four dip angle measuring instruments are respectively fixed on four edges of the upper surface of the workbench and used for measuring the dip angle of the workbench, and the four dip angle measuring instruments feed the measured angle back to the programmable controller and the computer in real time for leveling the workbench; the distance measuring instrument and the fifth inclinometer are arranged on the launcher, the linear distance l between the launching point and the ignition point and the included angle theta between the straight line where the launching point and the ignition point are located and the horizontal line are sequentially measured, the computer calculates the horizontal distance s and the vertical distance h between the launching point and the ignition point according to the measured data l and theta, then calculates the launching angle alpha and the launching speed V of the cannonball in the computer in an iterative mode according to the mass M of the cannonball, the air resistance coefficient C, the air density rho, the diameter D of the cannonball and the gravity acceleration g, and finally calculates the launching angle alpha and the launching speed V of the cannonball according to a formula
Calculating the charging voltage, where A-shell cross-sectional area, p0-density of projectile, c0-the propagation velocity of the stress wave in the projectile, the system constant of the K-RLC tank; the leveling module comprises a first leveling motor, a second leveling motor, a third leveling motor, a fourth leveling motor, a fifth leveling motor, a sixth leveling motor, a seventh leveling motor, an eighth leveling motor and a ninth leveling motor, and all the motors are used for leveling the workbench to enable the workbench to be positioned on a horizontal plane; the action module comprises a pitching motor, a rotating motor and a contact sensor, before the position of an ignition point is measured, the pitching motor and the rotating motor are driven firstly, a distance measuring instrument aims at the position of the ignition point, then distance measurement is carried out, a computer calculates a launching angle alpha and then transmits data to a programmable controller, the programmable controller sends a signal to the pitching motor, the pitching motor rotates to a specified position according to the obtained data, then a fire extinguishing bomb is loaded into a gun barrel, a positioning pin at the tail part of the fire extinguishing bomb is in contact with the contact sensor, the contact sensor feeds the signal back to the programmable controller, the launching module is in a state to be charged, and otherwise charging cannot be carried out; the emitting module comprises a transformer TM1, a first diode D1, a second diode D2, a first thyristor M1, a second thyristor M2 and a third thyristorM3, a current-limiting resistor R1, a smoothing inductor L1, a pulse capacitor C1, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST 1; after the voltage of the transformer TM1 is boosted, a pulse capacitor C1 is charged after a rectifier bridge is formed by a first diode D1, a second diode D2, a first thyristor M1 and a second thyristor M2, a current-limiting resistor R1 and a flat wave inductor L1 are used for preventing overlarge current, a circuit is protected, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST1 are used for measuring data in the circuit in the charging process, and after the charging is finished, the energy of the pulse capacitor is instantly released into a transmitting coil fixedly connected with a gun barrel by switching on a thyristor M3; the indicating module comprises a charging completion indication, a leveling completion indication, a rotation completion indication, a pitching completion indication, a motor fault indication and a charging fault indication, and is used for an operator to observe the action state of the system in real time.
The system also comprises HMI human-machine interaction equipment which communicates with the computer and the programmable controller through the Ethernet.
The leveling module is specifically as follows:
after receiving data measured by the first inclinometer, the second inclinometer, the third inclinometer and the fourth inclinometer, the computer judges whether the workbench is level or not, if the workbench is not in the horizontal position, the computer judges which direction the workbench inclines, if the workbench is inclined forwards, the first leveling motor is driven, the sixth leveling motor and the seventh leveling motor move, the motors drive the workbench through screws to enable the front part of the workbench to rise and monitor the data of the four inclinometers in real time until the workbench is in the horizontal position; and similarly, if the automobile seat is inclined backwards, a third leveling motor, a fourth leveling motor and a ninth leveling motor are driven to move, if the automobile seat is inclined leftwards, a first leveling motor, a second leveling motor and a third leveling motor are driven, and if the automobile seat is inclined rightwards, a seventh leveling motor, an eighth leveling motor and a ninth leveling motor are driven.
Advantageous effects
The invention provides a computer-based high-rise building fire extinguishing bomb electromagnetic ejection control system which is divided into a measuring module, a leveling module, an action module, an emission module and an indication module, and realizes automatic control of high-rise building fire extinguishing bomb electromagnetic ejection. The measuring module can measure the inclination angle of the workbench 2 and the position of an ignition point, is used for keeping the workbench 2 horizontal and accurately positioning the launching position by the leveling module and the action module, and additionally, a contact sensor is introduced, so that the capacitor cannot be charged before loading, system misoperation is prevented, and the safety of operators is ensured. The invention realizes the control of all actions of the electromagnetic ejection of the fire extinguishing bomb of the high-rise building, and has high automation degree, simple and safe operation.
Drawings
FIG. 1 is a general schematic diagram of the control system of the present invention.
FIG. 2 is a leveling module and action module control schematic.
Fig. 3 is a schematic diagram of measurement module control.
Fig. 4 is a schematic view of the fire extinguishing bomb and the gun barrel.
Fig. 5 is a control diagram of a transmitting module.
FIG. 6 is a flow chart of the control method of the control system.
In the figure, 1-launcher, 2-workbench, 3-support plate, 4-inclinometer, 5-inclinometer, 6-inclinometer, 8-inclinometer, 7-pitching motor, 9-rotating motor, 10-leveling motor, 11-leveling motor, 12-leveling motor, 13-leveling motor, 14-leveling motor, 15-leveling motor, 16-leveling motor, 17-leveling motor, 18-leveling motor, 19-distance measuring instrument, 20-leveling motor, 21-fire extinguishing bomb, 22-transmitting coil, 23-contact sensor and 24-gun barrel.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention provides a computer-based electromagnetic ejection control system for a fire extinguishing bomb in a high-rise building, which comprises a measuring module, a leveling module, an action module, an emission module and an indication module, and can realize the functions of measurement, adjustment, emission, alarm and the like of an electromagnetic ejection mechanism of the fire extinguishing bomb. The system adopts a plurality of motors to adjust a launching platform to the level firstly, then uses a vision aiming system to aim at a fire source and then measures the distance of the fire source, then calculates a launching angle and a charging voltage through software, charges and discharges a capacitor after loading, launches a fire extinguishing bomb, and then repeats the process of loading and launching until the fire is controlled.
A computer-based electromagnetic ejection system for fire extinguishing bombs on vehicles in high-rise buildings comprises a launching rack 1, a workbench 2, a supporting plate 3, a first inclination angle measuring instrument 4, a second inclination angle measuring instrument 5, a third inclination angle measuring instrument 6, a fourth inclination angle measuring instrument 8, a pitching motor 7, a rotating motor 9, a first leveling motor 10, a second leveling motor 11, a third leveling motor 12, a fourth leveling motor 13, a fifth leveling motor 14, a sixth leveling motor 15, a seventh leveling motor 16, an eighth leveling motor 17, a ninth leveling motor 18, a distance measuring instrument 19, a fifth inclination angle measuring instrument 20, a fire extinguishing bomb 21, a launching coil 22, a contact sensor 23, a gun barrel 24, a transformer TM1, diodes D1, D2 and a thyristor M1, m2, M3, a current-limiting resistor R1, a smoothing inductor L1, a pulse capacitor C1, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST 1.
Referring to fig. 1, the electromagnetic ejection control system for the fire extinguishing bomb of the high-rise building based on the computer comprises a measuring module consisting of an inclination angle measuring instrument and a distance measuring instrument, a leveling module consisting of nine leveling motors, an action module consisting of a rotating motor, a pitching motor and a contact sensor, a transmitting module consisting of a capacitor charging and discharging main loop and an indicating module consisting of a charging completion indication, a leveling completion indication, a rotating completion indication, a pitching completion indication, a motor fault indication and a charging fault indication.
Referring to fig. 2, the measuring module includes a first inclinometer 4, a second inclinometer 5, a third inclinometer 6, a fourth inclinometer 8, a distance measuring device 19 and a fifth inclinometer 20, wherein the first inclinometer 4, the second inclinometer 5, the third inclinometer 6 and the fourth inclinometer 8 are respectively fixed on four edges of the upper surface of the workbench 2 and used for measuring the inclination angle of the workbench 2, the first inclinometer 4 and the third inclinometer 6 are used for measuring the inclination angle of the workbench 2, and the second inclinometer 5 and the fourth inclinometer 8 are used for measuring the inclination angle of the workbench 2The four dip angle measuring instruments feed the measured angles back to the programmable controller and the computer in real time for leveling the workbench 2; the distance measuring instrument 19 and the fifth inclinometer 20 are fixed on the launcher 1 and used for measuring the position of an ignition point, wherein the distance measuring instrument 19 measures the linear distance l between the launching point and the ignition point, the fifth inclinometer 20 measures the included angle theta between the linear line where the launching point and the ignition point are located and the horizontal line, the computer can calculate the horizontal distance s and the vertical distance h between the launching point and the ignition point according to the measured data l and theta, then calculate the launching angle alpha and the launching speed V of the cannonball in an iterative mode in the computer according to the mass M of the cannonball, the air resistance coefficient C, the air density rho, the diameter D of the cannonball and the gravity acceleration g of the cannonball, and then calculate the launching angle alpha and the launching speed V of the cannonball according to a formula
Calculating a charging voltage, wherein V is the initial velocity of the projectile, A is the cross-sectional area of the projectile, p0-density of projectile, c0-propagation velocity of stress wave in the projectile, system constant of K-RLC tank.
Referring to fig. 3, the leveling module is composed of a first leveling motor 10, a second leveling motor 11, a third leveling motor 12, a fourth leveling motor 13, a fifth leveling motor 14, a sixth leveling motor 15, a seventh leveling motor 16, an eighth leveling motor 17 and a ninth leveling motor 18, all the motors are connected with the lower surface of the supporting plate 3 through lead screws, and the supporting plate 3 is fixedly connected with the workbench 2 and used for leveling the workbench 2 to be on a horizontal plane. After receiving data measured by the first inclinometer 4, the second inclinometer 5, the third inclinometer 6 and the fourth inclinometer 8, the computer judges whether the workbench 2 is level or not, if the workbench is not in the horizontal position, the workbench is inclined to which direction, if the workbench is inclined forwards, the first leveling motor 10, the sixth leveling motor 15 and the seventh leveling motor 16 are driven to move, and the motors drive the workbench 2 through screws to enable the front part of the workbench 2 to rise and monitor data of the four inclinometers in real time until the workbench 2 is in the horizontal position; and similarly, if the device tilts backwards, the third leveling motor 12, the fourth leveling motor 13 and the ninth leveling motor 18 are driven to move, if the device tilts leftwards, the first leveling motor 10, the second leveling motor 11 and the third leveling motor 12 are driven, and if the device tilts rightwards, the first leveling motor 16, the eighth leveling motor 17 and the ninth leveling motor 18 are driven.
Referring to fig. 3-4, the action module is composed of a pitching motor 7, a rotating motor 9 and a contact sensor 23, the pitching motor 7 is installed on the launcher 1, the rotating motor 9 is installed on the workbench 2, the pitching motor 7 is used for adjusting the launching angle of the launcher 1, and the rotating motor 9 is used for adjusting the rotating angle of the workbench 2; before the ignition point position is measured, firstly, the pitching motor 7 and the rotating motor 9 are driven to enable the distance measuring instrument 19 to aim at the ignition point position, then distance measurement is carried out, then the computer calculates the emission angle alpha and then transmits data to the programmable controller, the programmable controller sends signals to the pitching motor 7 through a servo amplifier and an encoder, the pitching motor rotates to a specified position according to the obtained data, then loading is carried out, the fire extinguishing bomb 21 is loaded into a barrel 24, a positioning pin at the tail of the fire extinguishing bomb is in contact with the contact sensor 23, the contact sensor 23 feeds the signals back to the programmable controller, the system is in a state to be charged, and otherwise, charging cannot be carried out.
Referring to fig. 5, the transmitting module is composed of a transformer TM1, diodes D1 and D2, thyristors M1, M2 and M3, a current-limiting resistor R1, a smoothing inductor L1, a pulse capacitor C1, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST 1. After the voltage of the transformer TM1 is boosted, the pulse capacitor C1 is charged through a rectifier bridge formed by diodes D1, D2, M1 and M2, a current limiting resistor R1 and a flat wave inductor L1 are used for preventing overlarge current, a circuit is protected, a flow sensor TA1, a voltage sensor TV1 and a temperature sensor ST1 are used for measuring data in the circuit in the charging process, and after the charging is finished, the energy of the pulse capacitor is released to the transmitting coil 22 instantly by conducting a thyristor M3.
Referring to fig. 6, after entering an initialization state, the programmable controller performs digital processing on the obtained analog quantity; then, the measuring module judges whether the workbench 2 is horizontal, if the workbench 2 is not in accordance with the set horizontal condition, the leveling module levels until the workbench 2 is horizontal, whether the motor fails or not is monitored in real time in the leveling process, and if the motor fails, what kind of failure occurs to the motor is displayed on the HMI human-computer interaction equipment; after the workbench 2 is leveled, the programmable controller judges whether a signal that the outside aims at a fire source is obtained, if the signal does not aim at the fire source, the rotating motor 9 and the pitching motor 7 are driven to aim at the fire source, whether the motors break down or not is monitored in real time in the moving process of the two motors, after the aiming is finished, the rotating motor 9 and the pitching motor 7 are locked, the driving cannot be carried out, the measuring module carries out position measurement on an ignition point, and the pitching motor 7 is driven to reach an appointed position again after the emitting angle and the charging voltage are calculated by the computer according to the measured data; then the action module judges whether the fire extinguishing bomb is filled through the contact sensor 23, if so, the fire extinguishing bomb is directly charged, the programmable controller judges various faults in real time in the charging process, if so, the programmable controller stops running all the modules and displays the fault types on the HMI man-machine interaction equipment, and after the charging is finished, the indication is lighted, at the moment, the programmable controller judges whether the fire extinguishing bomb is leaked, and if not, a discharging signal is sent; in the whole process, an operator can perform emergency stop through an external signal, and once the emergency stop signal is sent out, all modules stop all current operations and perform initialization again.
Claims (3)
1. A computer-based electromagnetic ejection control system for fire extinguishing bombs in high-rise buildings is characterized by comprising a measuring module, a leveling module, an action module, a transmitting module, an indicating module, a programmable logic controller and a computer, the measuring module comprises a first dip angle measuring instrument (4), a second dip angle measuring instrument (5), a third dip angle measuring instrument (6), a fourth dip angle measuring instrument (8), a distance measuring instrument (19) and a fifth dip angle measuring instrument (20), wherein the first dip angle measuring instrument (4), the second dip angle measuring instrument (5), the third dip angle measuring instrument (6) and the fourth dip angle measuring instrument (8) are respectively fixed on four edges of the upper surface of the workbench (2), the four dip angle measuring instruments are used for measuring the dip angle of the workbench (2), and feeding back the measured angle to the programmable controller and the computer in real time for leveling the workbench (2); a distance measuring instrument (19) and a fifth dip angle measuring instrument (20) are arranged on the launcher (1) and are used for sequentially measuring the linear distances l and l between the launching point and the ignition pointCalculating the horizontal distance s and the vertical distance h between the firing point and the ignition point by the computer according to the measured data l and theta, calculating the projectile firing angle alpha and the projectile firing speed V in the computer in an iterative mode according to the projectile mass M, the air resistance coefficient C, the air density rho, the projectile diameter D and the gravity acceleration g, and then calculating the projectile firing angle alpha and the projectile firing speed V according to a formula
Calculating the charging voltage, where A is the shell cross-sectional area, p0-density of shell, c0-the propagation velocity of the stress wave in the projectile, the system constant of the K-RLC tank; the leveling module comprises a first leveling motor (10), a second leveling motor (11), a third leveling motor (12), a fourth leveling motor (13), a fifth leveling motor (14), a sixth leveling motor (15), a seventh leveling motor (16), an eighth leveling motor (17) and a ninth leveling motor (18), and all the motors are used for leveling the workbench (2) to enable the workbench to be positioned on a horizontal plane; the action module comprises a pitching motor (7), a rotating motor (9) and a contact sensor (23), before the ignition point position is measured, the pitching motor (7) and the rotating motor (9) are driven firstly, a distance measuring instrument (19) aims at the ignition point position, then distance measurement is carried out, the computer transmits data to a programmable controller after calculating an emission angle alpha, the programmable controller sends a signal to the pitching motor (7), the pitching motor (7) rotates to a specified position according to the obtained data, then loading is carried out, a fire extinguishing bomb (21) is loaded into a barrel (24), a positioning pin at the tail of the fire extinguishing bomb is in contact with the contact sensor (23), the contact sensor (23) feeds back the signal to the programmable controller after obtaining the signal, and the emission module is in a state to be charged, otherwise, charging cannot be carried out; the transmitting module comprises a transformer TM1, a first diode D1, a second diode D2, a first thyristor M1, a second thyristor M2, a third thyristor M3, a current-limiting resistor R1, a flat wave inductor L1, a pulse capacitor C1, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST 1; after the voltage of the transformer TM1 is boosted, the voltage passes through a rectifier bridge consisting of a first diode D1, a second diode D2, a first thyristor M1 and a second thyristor M2Charging a pulse capacitor C1, wherein a current limiting resistor R1 and a flat wave inductor L1 are used for preventing current from being overlarge, a circuit is protected, a current sensor TA1, a voltage sensor TV1 and a temperature sensor ST1 are used for measuring data in the circuit in the charging process, and after charging is finished, energy of the pulse capacitor is instantly released into a transmitting coil (22) fixedly connected with a gun barrel (24) by turning on a thyristor M3; the indicating module comprises a charging completion indication, a leveling completion indication, a rotation completion indication, a pitching completion indication, a motor fault indication and a charging fault indication, and is used for an operator to observe the action state of the system in real time.
2. The computer-based electromagnetic fire-extinguishing bomb ejection control system for high-rise buildings as claimed in claim 1, further comprising HMI human machine interface equipment for communicating with the computer and the programmable controller via Ethernet.
3. The computer-based electromagnetic ejection control system for fire extinguishing bombs in high-rise buildings as claimed in claim 1, wherein the leveling module is as follows:
after receiving data measured by a first inclinometer (4), a second inclinometer (5), a third inclinometer (6) and a fourth inclinometer (8), a computer judges whether a workbench (2) is level or not, if the workbench is not in the horizontal position, the workbench inclines to which direction, if the workbench is inclined forwards, a first leveling motor (10), a sixth leveling motor (15) and a seventh leveling motor (16) are driven to move, and the motors drive the workbench (2) through lead screws to enable the front part of the workbench (2) to rise and monitor data of the four inclinometers in real time until the workbench (2) is in the horizontal position; and similarly, if the device tilts backwards, a third leveling motor (12), a fourth leveling motor (13) and a ninth leveling motor (18) are driven to move, if the device tilts leftwards, a first leveling motor (10), a second leveling motor (11) and a third leveling motor (12) are driven, and if the device tilts rightwards, a seventh leveling motor (16), an eighth leveling motor (17) and a ninth leveling motor (18) are driven.
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| US20160166862A1 (en) * | 2013-07-16 | 2016-06-16 | Beijing Mechanical Equipment Institute | Fire engine suitable for fire-fighting in high-rise and super high-rise buildings |
| CN105944262A (en) * | 2016-06-06 | 2016-09-21 | 陈英红 | Electromagnetic fire extinguishing bomb launching system for high-rise building |
| CN106422115A (en) * | 2016-10-11 | 2017-02-22 | 北京电子工程总体研究所 | Remote control fire extinguishing method for high-rise buildings |
| CN206566386U (en) * | 2016-12-30 | 2017-10-20 | 北京理工大学 | It is a kind of to be used for the electromagnetic launch device of high-rise fire extinguishing |
| CN110279956A (en) * | 2019-06-25 | 2019-09-27 | 西北工业大学 | The trigger mechanism of high-rise building fire extinguisher bomb Vehicular electromagnetic ejection system |
| CN110307749A (en) * | 2019-06-25 | 2019-10-08 | 西北工业大学 | The control mechanism of high-rise building fire extinguisher bomb Vehicular electromagnetic ejection system |
| CN110631414A (en) * | 2019-09-26 | 2019-12-31 | 南京大学 | Simulated electromagnetic gun control device for accurate guidance of shells |
| CN110763081A (en) * | 2019-11-29 | 2020-02-07 | 湖北工业大学 | Electromagnetic curved shooting gun device capable of accurately controlling striking position |
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