CN117824424A - Rail electromagnetic ejection type fire extinguishing device and working method - Google Patents

Abstract

The utility model belongs to the technical field of fire-fighting equipment, and relates to a track electromagnetic ejection type fire-fighting device and a working method. The first polar guide rail, the electric brush, the lead and the second polar guide rail are powered, a magnetic field is generated between the first polar guide rail and the second polar guide rail, and the electrified lead is subjected to ampere force in the magnetic field to generate advancing power, so that ejection of the fire-fighting shell is realized, the fire-fighting shell launching power, aiming and launching accuracy and precision are improved, and the application range is wide.

Description

Rail electromagnetic ejection type fire extinguishing device and working method

Technical Field

The utility model belongs to the technical field of fire-fighting equipment, and particularly relates to a track electromagnetic ejection type fire-fighting device and a working method thereof.

Background

When a mountain forest fires, rescue workers and fire extinguishing equipment cannot reach the vicinity of a fire source to extinguish the fire quickly because the mountain height Lin Mi can be taken without a road, and a fire extinguishing precedent is missed; when a fire disaster occurs in a high-rise building, the fire truck is limited by the fire extinguishing height and can not extinguish the fire rapidly and effectively because the fire point of the high-rise building is too high. There is a need for a remote fire fighting device.

At present, the remote fire-fighting equipment generally adopts remote fire-fighting shells, and the utility model patent of application publication number CN110585631A discloses a fire-fighting shell chain and a fire monitor, wherein the fire-fighting shell chain is provided with an external shell pushing device, so that even if the fire-fighting shell does not have a power device, the fire-fighting shell can be pushed into the bore of the barrel from the shell through the shell pushing device, the fire-fighting shell can be launched, and the device can manually adjust the aiming direction, so that the aiming precision is low. The utility model patent of the authorized bulletin number CN210278049U discloses a fire-fighting robot for launching fire extinguishing bombs, the utility model patent of the authorized bulletin number CN210355757U discloses a projectile-throwing patrol fire-fighting robot, the structure of the robot for launching fire extinguishing cannonballs is too simple, only rough azimuth adjustment can be performed manually, and the accuracy of projectile throwing is greatly reduced. The utility model patent of application publication number CN116929146a discloses an electromagnetic transmission system which enables adjustment of the transmission direction and distance, enabling long-range transmission.

Disclosure of Invention

The utility model aims to provide the track electromagnetic ejection type fire extinguishing device which can adjust the horizontal rotation angle and the vertical pitching angle, has high emission precision and wide application range.

The technical scheme adopted for solving the technical problems is as follows: a track electromagnetic ejection type fire extinguishing device comprises an attitude adjusting module and an electromagnetic ejection module arranged on the attitude adjusting module;

the electromagnetic ejection module comprises a supporting frame and a conductive sliding rail horizontally connected to the top of the supporting frame, wherein the inner side of the conductive sliding rail is connected with an electric brush contact assembly in a sliding manner, the outer side of the conductive sliding rail is connected with a guide system in a sliding manner, a magazine assembly is connected to the upper side of the guide system, the front end of the magazine assembly is used for installing fire-fighting shells, the front end and the rear end of the conductive sliding rail are both provided with buffer systems for weakening recoil force during fire-fighting shell emission, a sensing system for sensing the movement position of the magazine assembly is arranged below the conductive sliding rail, and the rear end of the conductive sliding rail is connected with a power transmission driving mechanism for realizing power supply;

the gesture adjusting module comprises a main frame, a gesture adjusting mechanism and a follow-up seat, wherein the gesture adjusting mechanism is arranged on the main frame, the follow-up seat is connected to the gesture adjusting mechanism and is fixedly connected with the rear part of the supporting frame, and the gesture adjusting mechanism is used for realizing ejection direction adjustment.

Further, the gesture adjusting mechanism comprises a horizontal rotation component and/or a vertical rotation component, the horizontal rotation component is arranged on the main frame, the vertical rotation component is arranged on the horizontal rotation component or the main frame, and gesture sensing components are arranged on the horizontal rotation component and the vertical rotation component.

Further, the conductive sliding rail comprises a first polar guide rail and a second polar guide rail, the first polar guide rail and the second polar guide rail are located on the same horizontal plane and are arranged in parallel, the rear ends of the first polar guide rail and the second polar guide rail are respectively connected with a power transmission driving mechanism, and the power transmission driving mechanisms of the first polar guide rail and the second polar guide rail are connected with a power module.

Further, the support frame comprises a front baffle, a rear baffle, a sliding block, a support bottom plate and a positioning boss; the front baffle and the rear baffle are respectively connected to the front end and the rear end of the conductive sliding rail, the sliding block is sleeved on the conductive sliding rail, the guide system, the magazine assembly and the electric brush contact assembly are fixedly arranged on the sliding block, the positioning boss is fixedly connected to the bottom of the front end of the sliding block, the supporting bottom plate is fixedly connected to the rear baffle, and the supporting bottom plate is fixedly connected with the follow-up seat through bolts.

Further, the guiding system is provided with two groups, each group of guiding system comprises a guiding wheel group and a supporting arm, the two groups of guiding wheel groups are respectively arranged on the outer sides of the first polar guide rail and the second polar guide rail, the two groups of guiding wheel groups are respectively fixedly connected to the two sides of the sliding block through the supporting arms, and the guiding wheel groups are used for guiding and limiting sliding of the sliding block on the first polar guide rail and the second polar guide rail.

Further, the brush contact assembly comprises a brush, a wire, tensioning elastic element, a fixing base and a guide adjusting rod, wherein the fixing base is connected to the sliding block, the brush, the wire, the tensioning elastic element and the guide adjusting rod are respectively provided with two sets, the two sets of brushes are respectively arranged on the inner sides of the first polar guide rail and the second polar guide rail and respectively contact with the inner sides of the first polar guide rail and the second polar guide rail, the top of each set of brushes is connected with the fixing base through the tensioning elastic element, the two sets of wires are respectively arranged in the corresponding tensioning elastic element, the top ends of the two sets of wires are mutually connected, the bottom ends of the two sets of wires are respectively connected with the corresponding brushes, the first polar guide rail forms a current path with the second polar guide rail through the brush, the guide adjusting rod is arranged on one side of the tensioning elastic element, the upper end of the guide adjusting rod is fixedly connected to the fixing base, and the lower part of the guide adjusting rod is in contact limit with the brush.

Further, the magazine assembly includes magazine, magazine fixed bolster and the female seat of magazine, and the female seat of magazine fixed bolster fixed mounting in the top of slider, and magazine fixed bolster fixed mounting is in the front end of the female seat of magazine, and magazine fixed mounting is in the magazine fixed bolster, and the magazine opening is forward, is used for filling fire control shell in the magazine.

Further, the buffer system comprises a front buffer and/or a rear buffer, the front buffer is sleeved at the front ends of the first polar guide rail and the second polar guide rail, and the rear buffer is fixedly arranged on the rear baffle.

Further, sensing system includes range finding module, infrared module and sighting module, range finding module fixed mounting is on the rear end face of leading baffle, and range finding module is located same horizontal plane with the location boss of slider front end bottom, range finding module be used for measuring with the distance of slider, sighting module sets up in braced frame's front end, infrared module passes through the installing support to be connected in braced frame's front end, and infrared module sets up in the front side of the below of the buffer system of electrically conductive slide rail rear end, infrared module is used for detecting the initial position of location slider.

Further, the gesture sensing assembly comprises a horizontal gesture sensing module and a vertical gesture sensing module, wherein the horizontal gesture sensing module is arranged on the horizontal rotary assembly and is used for sensing the horizontal direction rotation angle and the gesture of the horizontal rotary assembly in real time; the vertical gesture sensing module is arranged on the vertical rotation component and used for sensing the vertical rotation angle and gesture of the vertical rotation component in real time.

The working method of the rail electromagnetic ejection type fire extinguishing device comprises the following steps:

1) The horizontal rotating assembly runs to drive the vertical rotating assembly and the follow-up seat to horizontally rotate, so that the electromagnetic ejection module arranged on the follow-up seat is driven to horizontally rotate, the horizontal direction angle adjustment of the electromagnetic ejection module is realized, and meanwhile, the horizontal posture sensing module senses the horizontal direction rotating angle and the posture of the horizontal rotating assembly in real time;

2) The vertical rotation assembly runs to drive the follow-up seat and the electromagnetic ejection module on the follow-up seat to rotate in the vertical direction, so that the vertical pitching angle adjustment of the electromagnetic ejection module is realized, and meanwhile, the vertical posture sensing module senses the vertical rotation angle and the posture of the vertical rotation assembly in real time;

3) After the shooting direction is adjusted by the aiming module, the horizontal rotating assembly and the vertical rotating assembly, the power supply module supplies power to the first polar guide rail through a power transmission driving mechanism connected with the first polar guide rail, the first polar guide rail is communicated with the second polar guide rail through two sets of electric brushes and wires, then the first polar guide rail returns to the power supply module through the power transmission driving mechanism connected with the second polar guide rail to form a closed current loop, a downward magnetic field is generated between the first polar guide rail and the second polar guide rail, the energized wires are stressed by amperes in the magnetic field to generate forward power, the sliding block is pushed to move forward along the first polar guide rail and the second polar guide rail in an accelerating way, high speed is obtained, and therefore fire-fighting shells are shot, and the front buffer is used for buffering the sliding block in a decelerating way; the distance measuring module measures the distance of the positioning boss at the bottom of the front end of the sliding block in real time, so that the power supply module adjusts the power supply strength and controls the power failure;

4) After the emission is finished, the power supply module supplies power to the second polar guide rail through a power transmission driving mechanism connected with the second polar guide rail, the second polar guide rail is communicated with the first polar guide rail through two sets of electric brushes and wires, then the second polar guide rail returns to the power supply module through the power transmission driving mechanism connected with the first polar guide rail to form a closed current loop, an upward magnetic field is generated between the second polar guide rail and the first polar guide rail, the electrified wire is subjected to ampere force in the magnetic field so as to generate backward power, the sliding block is pushed to accelerate to move backward along the first polar guide rail and the second polar guide rail, and the rear buffer is used for decelerating and buffering the sliding block; the infrared module detects the position of the positioning slide block in real time so as to ensure that the positioning slide block returns to the initial position.

The utility model has the following beneficial effects:

1. the track electromagnetic ejection type fire extinguishing device provided by the utility model has the advantages that the first polar guide rail, the electric brush, the lead wire and the second polar guide rail are powered, a magnetic field is generated between the first polar guide rail and the second polar guide rail, and the electrified lead wire is subjected to ampere force in the magnetic field so as to generate forward power, so that ejection of fire-fighting shells is realized, and the fire-fighting shell emission power is improved.

2. The track electromagnetic ejection type fire extinguishing device realizes the horizontal rotation angle adjustment and the vertical pitching angle adjustment of the electromagnetic ejection module through the horizontal rotation assembly and the vertical rotation assembly, is matched with the aiming module, and improves the aiming and emission accuracy and precision of the fire extinguishing shell.

3. The track electromagnetic ejection type fire extinguishing device can be loaded on different movable chassis according to the needs, and has the advantages of strong maneuverability, high flexibility and wide application range.

Drawings

Fig. 1 is a schematic overall perspective view of an electromagnetic ejection type fire extinguishing device for a track.

Fig. 2 is a schematic overall perspective view of an electromagnetic ejection module of the track electromagnetic ejection type fire extinguishing device.

Fig. 3 is an enlarged view of a partial structure at a in fig. 2 according to the present utility model.

Fig. 4 is a schematic top view of an electromagnetic ejection module of the track electromagnetic ejection fire extinguishing device of the present utility model.

Fig. 5 is a cross-sectional view taken along line B-B of fig. 4 in accordance with the present utility model.

Fig. 6 is a schematic overall perspective view of a posture adjusting module of the track electromagnetic ejection type fire extinguishing device.

Fig. 7 is a schematic diagram of a front view of a posture adjusting module of the track electromagnetic ejection type fire extinguishing device.

Fig. 8 is a cross-sectional view taken along line C-C of fig. 7 in accordance with the present utility model.

Fig. 9 is a schematic overall perspective view of the track electromagnetic ejection type fire extinguishing device applied to a fire extinguishing robot.

Fig. 10 is a schematic structural view of a power module of the track electromagnetic ejection fire extinguishing device applied to a fire extinguishing robot.

Fig. 11 is a schematic structural view of a control module of the track electromagnetic ejection fire extinguishing device applied to a fire extinguishing robot.

In the figure, 1, a mobile chassis, 2, an electromagnetic ejection module, 3, an attitude adjusting module, 4, a power supply module, 5 and a control module; 21. the device comprises a supporting component 22, a conductive sliding rail 23, a supporting frame 24, a sensing system 25, a buffer system 26, a guiding system 27, a magazine component 28, a fire-fighting shell 29, a brush contact component 210 and a power transmission driving mechanism;

211. longitudinal support rods 212, reinforcing rods 213 and fixing mechanisms;

221. a first polarity rail, 222, a second polarity rail;

231. front baffle 232, rear baffle 233, sliding block 234, supporting bottom plate 235 and positioning boss;

241. a ranging module, 242, an infrared module, 243, and an aiming module;

251. front buffer, 252, rear buffer;

261. the guide wheel group, 262 and the support arm;

271. the magazine, 272, the magazine fixing bracket, 273, the magazine mother seat;

291. the electric brush, 292, the lead, 293, the tensioning elastic element, 294, the fixing seat, 295 and the guide adjusting rod;

31. the device comprises a main frame, 32, a horizontal rotation assembly, 33, a vertical rotation assembly, 34, a gesture sensing assembly, 35 and a follow-up seat;

321. the horizontal rotary motor 322, the horizontal transmission assembly 323, the rotary disc 324 and the guide support assembly;

331. a vertical rotary motor 332, a vertical transmission component 333 and a vertical fixing frame;

341. a horizontal gesture sensing module 342, a vertical gesture sensing module;

351. a support arc groove 352 for fixing the arc block;

41. the power supply comprises a protective shell, 42, a power supply, 43, a power supply management system, 44, a power supply module, 45 and a heat dissipation system;

51. the cabinet body, 52, control setting module, 53, controller, 54, driver.

Detailed Description

The following are specific examples of the present utility model, and the technical solutions of the present utility model are further described, but the scope of the present utility model is not limited to these examples. All changes and equivalents that do not depart from the gist of the utility model are intended to be within the scope of the utility model.

As shown in fig. 1, the track electromagnetic ejection type fire extinguishing device comprises an attitude adjusting module 3 and an electromagnetic ejection module 2 arranged on the attitude adjusting module 3.

As shown in fig. 2, the electromagnetic ejection module 2 includes a supporting frame 23 and a conductive sliding rail 22 horizontally connected to the top of the supporting frame 23, wherein an electric brush contact assembly 29 is slidably connected to the inner side of the conductive sliding rail 22, a guiding system 26 is slidably connected to the outer side of the conductive sliding rail 22, a magazine assembly 27 is connected to the upper side of the guiding system 26, the front end of the magazine assembly 27 is used for installing a fire-fighting projectile 28, a buffer system 25 for weakening recoil force when the fire-fighting projectile 28 is launched is arranged at the front end and the rear end of the conductive sliding rail 22, a sensing system 24 for sensing the movement position of the magazine assembly 27 is arranged below the conductive sliding rail 22, and a power transmission driving mechanism 210 for realizing power supply is connected to the rear end of the conductive sliding rail 22.

In order to improve the supporting stability of the supporting frame 23, in some embodiments of the present application, as shown in fig. 2, the electromagnetic ejection module 2 further includes a supporting component 21 connected below the supporting frame 23, where the supporting component 21 includes a longitudinal supporting rod 211 and a fixing mechanism 213, the longitudinal supporting rod 211 is located below the conductive sliding rail 22, a front end of the longitudinal supporting rod 211 is fixedly mounted on the front baffle 231, a rear end of the longitudinal supporting rod 211 is fixedly mounted on the fixing mechanism 213, and the fixing mechanism 213 is fixedly mounted on a front end of the supporting bottom plate 234.

In order to further improve the support stability of the support frame 23, in some embodiments of the present application, two sides of the middle portion of the longitudinal support bar 211 are respectively connected with a reinforcing bar 212, and the reinforcing bar 212 is connected and fixed with the fixing mechanism 213 through a connecting rod.

As shown in fig. 2-5, the support frame 23 includes a front bezel 231, a rear bezel 232, a slider 233, a support floor 234, and a positioning boss 235. The front baffle 231 and the rear baffle 232 are respectively connected to the front end and the rear end of the conductive slide rail 22, the slide block 233 is sleeved on the conductive slide rail 22, the guide system 26, the magazine assembly 27 and the brush contact assembly 29 are fixedly installed on the slide block 233, the positioning boss 235 is fixedly connected to the bottom of the front end of the slide block 233, the supporting bottom plate 234 is fixedly connected to the rear baffle 232, and the supporting bottom plate 234 is fixedly connected with the follow-up seat 35 through bolts.

As shown in fig. 2 and 4, the conductive sliding rail 22 includes a first polar guide rail 221 and a second polar guide rail 222, the first polar guide rail 221 and the second polar guide rail 222 are located on the same horizontal plane and are arranged in parallel, front ends of the first polar guide rail 221 and the second polar guide rail 222 are fixedly connected to a rear end surface of the front baffle 231, rear ends of the first polar guide rail 221 and the second polar guide rail 222 are fixedly connected to a front end surface of the rear baffle 232, rear ends of the first polar guide rail 221 and the second polar guide rail 222 are respectively connected with a power transmission driving mechanism 210, and the power transmission driving mechanisms 210 of the first polar guide rail 221 and the second polar guide rail 222 are connected with a power module.

As shown in fig. 2, 3 and 4, the guiding system 26 is provided with two sets, each set of guiding system 26 includes a guiding wheel set 261 and a supporting arm 262, the two sets of guiding wheel sets 261 are respectively disposed at the outer sides of the first polar guide rail 221 and the second polar guide rail 222, the two sets of guiding wheel sets 261 are respectively fixedly connected to two sides of the sliding block 233 through the supporting arms 262, and the guiding wheel sets 261 are used for guiding and limiting the sliding of the sliding block 233 on the first polar guide rail 221 and the second polar guide rail 222.

In some embodiments of the present application, the guide pulley group 261 includes connecting block, two sets of shaft and four guide pulleys, the connecting block passes through the bolt and is connected fixedly with support arm 262, the shaft is connected respectively to both ends around the connecting block, two sets of shaft are vertical setting, and set up around conductive slide rail 22, the guide pulley is connected respectively to the upper end and the lower extreme of every set of shaft, the guide pulley level sets up, conductive slide rail 22 is located between the guide pulleys of shaft upper end and lower extreme, and conductive slide rail 22 and guide pulley contact, play the direction spacing function at slider 233 removal in-process.

As shown in fig. 3, the brush contact assembly 29 includes a brush 291, a wire 292, a tension elastic element 293, a fixing seat 294 and a guiding adjustment rod 295, wherein the front end of the fixing seat 294 is connected to the slider 233, the brush 291, the wire 292, the tension elastic element 293 and the guiding adjustment rod 295 are respectively provided with two sets, the two sets of brushes 291 are respectively arranged on the inner sides of the first polar guide rail 221 and the second polar guide rail 222 and respectively contact with the inner sides of the first polar guide rail 221 and the second polar guide rail 222, the top of each set of brushes 291 is connected with the fixing seat 294 through the tension elastic element 293, the two sets of wires 292 are respectively arranged in the corresponding tension elastic element 293, the top ends of the two sets of wires 292 are mutually connected, the bottom ends of the two sets of wires 292 are respectively connected with the corresponding brushes 291, the first polar guide rail 221 and the second polar guide rail 222 form a current path through the brushes 291 and the wires 292, the guiding adjustment rod 295 is arranged on one side of the tension elastic element 293, the upper end of the guiding adjustment rod 295 is fixedly connected to the fixing seat 294, and the lower part of the guiding adjustment rod 295 is in contact with the brush 291.

The contact surfaces of the brushes 291 with the first and second polarity rails 221 and 222 are provided in arc shapes corresponding to the first and second polarity rails 221 and 222.

As shown in fig. 4, the magazine assembly 27 includes a magazine 271, a magazine fixing bracket 272 and a magazine parent 273, the magazine parent 273 is fixedly mounted on the top of the slider 233, the magazine fixing bracket 272 is fixedly mounted on the front end of the magazine parent 273, the magazine 271 is fixedly mounted in the magazine fixing bracket 272, the magazine 271 is opened forward, and the inside of the magazine 271 is used for loading the fire-fighting cannonball 28.

As shown in fig. 4, the buffer system 25 includes a front buffer 251 and/or a rear buffer 252, and one or both of the front buffer 251 and the rear buffer 252 may be selected for simultaneous use as desired. The front buffer 251 is provided with two groups, which are respectively sleeved at the front ends of the first polar guide rail 221 and the second polar guide rail 222, the rear end of the rear buffer 252 is fixedly arranged on the front end surface of the rear baffle 232, and the rear buffer 252 is positioned between the first polar guide rail 221 and the second polar guide rail 222.

As shown in fig. 5, the sensing system 24 includes a ranging module 241, an infrared module 242 and a targeting module 243, the ranging module 241 is fixedly mounted on the rear end surface of the front baffle 231, and the ranging module 241 and the positioning boss 235 at the bottom of the front end of the slider 233 are located on the same horizontal plane, the ranging module 241 is used for measuring the distance between the ranging module 241 and the slider 233, the targeting module 243 is disposed at the front end of the supporting frame 23 and is fixedly connected with the front end of the supporting assembly 21, the infrared module 242 is connected to the fixing mechanism 213 through a mounting bracket, and the infrared module 242 is disposed at the front side below the buffer system 25 at the rear end of the conductive sliding rail 22, and the infrared module 242 is used for detecting the initial position of the positioning slider 233. The ranging module 241 is a laser ranging sensor, and the aiming module 243 comprises a binocular vision sensor and a laser ranging sensor, and is used for performing reconnaissance, ranging and aiming on the environment in front of the track electromagnetic ejection type fire extinguishing device and objects to be aimed.

In some embodiments of the present application, positioning boss 235 and ranging module 241 are both located between conductive track 22 and reinforcing rod 212.

The gesture adjusting module 3 comprises a main frame 31, a gesture adjusting mechanism and a follow-up seat 35, wherein the gesture adjusting mechanism is installed on the main frame 31, the follow-up seat 35 is connected to the gesture adjusting mechanism, the follow-up seat 35 is fixedly connected with the rear part of the supporting frame 23, and the gesture adjusting mechanism is used for realizing ejection direction adjustment.

The attitude adjusting mechanism comprises a horizontal rotating assembly 32 and/or a vertical rotating assembly 33, the horizontal rotating assembly 32 is used for adjusting the heading angle of the electromagnetic ejection module 2, and the vertical rotating assembly 33 is used for adjusting the pitch angle of the electromagnetic ejection module 2. The horizontal turning assembly 32 and the vertical turning assembly 33 are collectively referred to as an attitude adjustment mechanism, and one or both of them may be selected for use as desired.

When the posture adjusting mechanism is only the horizontal rotation assembly 32, the horizontal rotation assembly 32 is mounted on the main frame 31, and the horizontal rotation assembly 32 is connected with the follow-up seat 35, so that horizontal rotation, namely heading angle adjustment, of the electromagnetic ejection module 2 is realized. When the posture adjusting mechanism is only the vertical rotation component 33, the vertical rotation component 33 is mounted on the main frame 31, and the vertical rotation component 33 is connected with the follow-up seat 35, so that the vertical rotation, namely pitch angle adjustment, of the electromagnetic ejection module 2 is realized.

When the posture adjustment mechanism includes the horizontal turning assembly 32 and the vertical turning assembly 33, the horizontal turning assembly 32 is mounted on the main frame 31, and the vertical turning assembly 33 is mounted on the horizontal turning assembly 32. Taking this as an example, as shown in fig. 6, the posture adjustment module 3 includes a main frame 31, a horizontal rotation assembly 32, a vertical rotation assembly 33, and a follower seat 35, the horizontal rotation assembly 32 is installed on the main frame 31, the vertical rotation assembly 33 is fixedly installed above the horizontal rotation assembly 32, the follower seat 35 is connected to the vertical rotation assembly 33, the follower seat 35 is used for connecting and fixing the electromagnetic ejection module 2, and both the horizontal rotation assembly 32 and the vertical rotation assembly 33 are provided with a posture sensing assembly 34.

As shown in fig. 7 and 8, the gesture sensing assembly 34 is an encoder, and includes a horizontal gesture sensing module 341 and a vertical gesture sensing module 342, where the horizontal gesture sensing module 341 is installed on the horizontal rotation assembly 32, and is used for sensing the horizontal rotation angle and gesture of the horizontal rotation assembly 32 in real time; the vertical gesture sensing module 342 is mounted on the vertical rotation component 33, and is configured to sense a vertical rotation angle and a gesture of the vertical rotation component 33 in real time.

In some embodiments of the present application, as shown in fig. 7 and 8, the horizontal rotation assembly 32 includes a horizontal rotation motor 321, a horizontal transmission assembly 322, a rotation disc 323 and a guiding support assembly 324, the horizontal rotation motor 321 is fixedly installed below the top of the main frame 31, an output shaft of the horizontal rotation motor 321 passes through the main frame 31 upwards and then is connected with the horizontal transmission assembly 322, the horizontal transmission assembly 322 is fixedly connected with the rotation disc 323, the rotation disc 323 and the lower part of the horizontal transmission assembly 322 are connected with the guiding support assembly 324, the top end of the output shaft of the horizontal rotation motor 321 is connected with the horizontal gesture sensing module 341, and the horizontal gesture sensing module 341 is fixedly connected to the main frame 31 through a bracket.

In some embodiments of the present application, as shown in fig. 7 and 8, the vertical rotation component 33 includes a vertical rotation motor 331, a vertical transmission component 332 and two sets of vertical fixing frames 333, the two sets of vertical fixing frames 333 are oppositely disposed, and are fixedly mounted on the rotation disc 323, the vertical rotation motor 331 is fixedly mounted on the vertical fixing frames 333, an output shaft of the vertical rotation motor 331 is connected with the vertical transmission component 332, the vertical transmission component 332 is fixedly connected with the follower seat 35, the vertical transmission component 332 is further connected with the vertical gesture sensing module 342, the vertical gesture sensing module 342 is fixedly mounted on the vertical fixing frames 333, two ends of the follower seat 35 are respectively provided with a support arc groove 351, inner sides of the two sets of vertical fixing frames 333 are respectively provided with a fixed arc block 352 adapting to the support arc groove 351, the fixed arc block 352 is slidably clamped in the support arc groove 351, and when the vertical rotation motor 331 rotates, the vertical transmission component 332 is driven to rotate, and the follower seat 35 is driven to rotate, and the support arc groove 351 is driven to slide along the fixed arc block 352. The fixed arc-shaped block 35 is matched with the supporting arc-shaped groove 351 to support and limit the electromagnetic ejection module 2 connected to the follow-up seat 35.

In some embodiments of the present application, as shown in fig. 7, a supporting round table is disposed below the rotary table 323, the supporting round table is fixedly mounted on the upper surface of the main frame 31, a plurality of groups of guiding support assemblies 324 are disposed on the periphery of the supporting round table, the guiding support assemblies 324 are uniformly disposed on the rotary table 324, the top of each group of guiding support assemblies 324 is fixedly connected with the rotary table 323, a pulley is disposed at the bottom of each group of guiding support assemblies 324, the pulley is disposed in the sliding groove of the periphery of the supporting round table and can slide in the sliding groove, the guiding support assemblies 324 slide in the sliding groove along with the rotation of the rotary table 323, and the guiding support assemblies 324 support and guide the rotary table 323, the vertical rotary assemblies 33 connected to the rotary table 323 and the electromagnetic ejection module 2 mounted on the follow-up seat 35.

In some embodiments of the present application, horizontal drive assembly 322 and vertical drive assembly 332 are both geared.

The working method of the rail electromagnetic ejection type fire extinguishing device comprises the following steps:

1) The horizontal rotation assembly 32 runs to drive the vertical rotation assembly 33 and the follower seat 35 to horizontally rotate, so as to drive the electromagnetic ejection module 2 arranged on the follower seat 35 to horizontally rotate, thereby realizing the horizontal angle adjustment of the electromagnetic ejection module 2, and the method is as follows: the horizontal rotary motor 321 acts to drive the horizontal transmission assembly 322 to rotate in the horizontal direction, and then drive the rotary disc 323 fixedly connected with the horizontal transmission assembly 322 to rotate in the horizontal direction, so as to drive the vertical rotary assembly 33 connected with the rotary disc 323 and the electromagnetic ejection module 2 arranged on the follow-up seat 35 to rotate in the horizontal direction, and realize the horizontal direction angle adjustment of the electromagnetic ejection module 2; meanwhile, the horizontal posture sensing module 341 senses the horizontal direction rotation angle and the posture of the horizontal transmission assembly 322 in real time;

2) The vertical rotation assembly 33 operates to drive the follow-up seat 35 and the electromagnetic ejection module 2 on the follow-up seat 35 to rotate in the vertical direction, so that the vertical pitching angle adjustment of the electromagnetic ejection module 2 is realized, and the following is specifically realized: the vertical rotary motor 331 acts to drive the vertical transmission component 332 to rotate in the vertical direction, so as to drive the follow-up seat 35 fixedly connected with the vertical transmission component 332 and the electromagnetic ejection module 2 on the follow-up seat 35 to rotate in the vertical direction, thereby realizing the vertical pitching angle adjustment of the electromagnetic ejection module 2; meanwhile, the vertical posture sensing module 342 senses the vertical direction rotation angle and posture of the vertical transmission assembly 332 in real time;

3) After the shooting direction is adjusted by the aiming module 243, the horizontal turning assembly 32 and the vertical turning assembly 33, the power supply module supplies power to the first polar guide rail 221 by a power transmission driving mechanism 210 connected with the first polar guide rail 221, the first polar guide rail 221 is communicated with the second polar guide rail 222 by two sets of brushes 291 and wires 292, then returns to the power supply module by the power transmission driving mechanism 210 connected with the second polar guide rail 222 to form a closed current loop, a downward magnetic field is generated between the first polar guide rail 221 and the second polar guide rail 222, the energized wires 292 are stressed by amperes in the magnetic field to generate forward power, the sliding block 233 is pushed to move forward along the first polar guide rail 221 and the second polar guide rail 222 in an accelerating way, high speed is obtained to shoot the fire-fighting cannonball 28, and the pre-buffer 251 is used for decelerating and buffering the sliding block 233; the distance measuring module 241 measures the distance of the positioning boss 235 at the bottom of the front end of the sliding block 233 in real time, so that the power supply module adjusts the power supply strength and controls the power failure;

4) After the emission is finished, the power supply module supplies power to the second polar guide rail 222 through the power transmission driving mechanism 210 connected with the second polar guide rail 222, the second polar guide rail 222 is communicated with the first polar guide rail 221 through two sets of electric brushes 291 and wires 292, then the second polar guide rail 222 returns to the power supply module through the power transmission driving mechanism 210 connected with the first polar guide rail 221 to form a closed current loop, an upward magnetic field is generated between the second polar guide rail 222 and the first polar guide rail 221, the energized wires 292 are subjected to ampere force in the magnetic field to generate backward power, and the sliding block 233 is pushed to accelerate backward along the first polar guide rail 221 and the second polar guide rail 222, and the rear buffer 252 is used for decelerating and buffering the sliding block 233; the infrared module 242 detects the position of the positioning slider 233 in real time to ensure that the positioning slider 233 returns to the original position.

In some embodiments of the present application, as shown in fig. 9, the track electromagnetic ejection fire extinguishing device of the present utility model may be installed and carried on a mobile chassis 1 to form a track electromagnetic ejection fire extinguishing robot, where the robot further includes a power module 4 and a control module 5, the mobile chassis 1 may be a crawler-type or wheel-type chassis with obstacle surmounting function in the prior art, the track electromagnetic ejection fire extinguishing device is fixedly installed on the mobile chassis 1 through a main frame 31 of an attitude adjustment module 3, the power module 4 and the control module 5 are installed on the mobile chassis 1, and in order to save space, the control module 5 may be installed in the main frame 31 of the attitude adjustment module 3.

In some embodiments of the present application, as shown in fig. 10, the power module 4 includes a protective housing 41, a power source 42, a power source management system 43 and a power supply module 44 are disposed in the protective housing 41, the power source 42 is connected with the power supply module 44 through the power source management system 43, the power supply module 44 is respectively connected with the power transmission driving mechanisms 210 at the rear ends of the first polar guide rail 221 and the second polar guide rail 222, so as to supply power to the first polar guide rail 221 and the second polar guide rail 222 to form a closed current loop, and a magnetic field is generated between the first polar guide rail 221 and the second polar guide rail 222 to provide electromagnetic force for movement of the slider 233. In order to prevent overheat of the power module 4 in the working process, ensure normal operation of each component in the power module 4, a heat dissipation system 45 is arranged on one side of the power module 4, and heat dissipation capability of the power module 4 is improved. The heat dissipation system 45 may be constituted by a conventional heat dissipation motor and a heat dissipation fan.

In some embodiments of the present application, as shown in fig. 11, the control module 5 includes a cabinet body 51, a control setting module 52, a controller 53 and a driver 54 are disposed in the cabinet body 51, the control setting module 52 is connected with the controller 53, the controller 53 is connected with the driver 54, the driver 54 is connected with a horizontal rotary motor 321 and a vertical rotary motor 331, the controller 53 is further connected with a ranging module 241, an infrared module 242, an aiming module 243, a horizontal gesture sensing module 341 and a vertical gesture sensing module 342, and the control setting module 52 is further connected with the power module 4.

The present utility model is not limited to the above embodiments, and any person who can learn the structural changes made under the teaching of the present utility model can fall within the scope of the present utility model if the present utility model has the same or similar technical solutions.

The technology, shape, and construction parts of the present utility model, which are not described in detail, are known in the art.

Claims (10)

1. The track electromagnetic ejection type fire extinguishing device is characterized by comprising an attitude adjusting module and an electromagnetic ejection module arranged on the attitude adjusting module;

the electromagnetic ejection module comprises a supporting frame and a conductive sliding rail horizontally connected to the top of the supporting frame, wherein the inner side of the conductive sliding rail is connected with an electric brush contact assembly in a sliding manner, the outer side of the conductive sliding rail is connected with a guide system in a sliding manner, a magazine assembly is connected to the upper side of the guide system, the front end of the magazine assembly is used for installing fire-fighting shells, the front end and the rear end of the conductive sliding rail are both provided with buffer systems for weakening recoil force during fire-fighting shell emission, a sensing system for sensing the movement position of the magazine assembly is arranged below the conductive sliding rail, and the rear end of the conductive sliding rail is connected with a power transmission driving mechanism for realizing power supply;

the gesture adjusting module comprises a main frame, a gesture adjusting mechanism and a follow-up seat, wherein the gesture adjusting mechanism is arranged on the main frame, the follow-up seat is connected to the gesture adjusting mechanism and is fixedly connected with the rear part of the supporting frame, and the gesture adjusting mechanism is used for realizing ejection direction adjustment.

2. The track electromagnetic ejection type fire extinguishing device according to claim 1, wherein the gesture adjusting mechanism comprises a horizontal rotation assembly and/or a vertical rotation assembly, the horizontal rotation assembly is mounted on the main frame, the vertical rotation assembly is mounted on the horizontal rotation assembly or the main frame, and gesture sensing assemblies are arranged on the horizontal rotation assembly and the vertical rotation assembly.

3. The track electromagnetic catapulting type fire extinguishing device according to claim 1, wherein the conductive sliding rail comprises a first polar guide rail and a second polar guide rail, the first polar guide rail and the second polar guide rail are positioned on the same horizontal plane and are arranged in parallel, the rear ends of the first polar guide rail and the second polar guide rail are respectively connected with a power transmission driving mechanism, and the power transmission driving mechanisms of the first polar guide rail and the second polar guide rail are connected with a power supply module.

4. A rail electromagnetic catapulting fire extinguishing device according to any one of claims 1-3, wherein the support frame comprises a front baffle, a rear baffle, a slider, a support base plate and a positioning boss; the front baffle and the rear baffle are respectively connected to the front end and the rear end of the conductive sliding rail, the sliding block is sleeved on the conductive sliding rail, the guide system, the magazine assembly and the electric brush contact assembly are fixedly arranged on the sliding block, the positioning boss is fixedly connected to the bottom of the front end of the sliding block, the supporting bottom plate is fixedly connected to the rear baffle, and the supporting bottom plate is fixedly connected with the follow-up seat through bolts.

5. The track electromagnetic ejection type fire extinguishing device according to claim 4, wherein the guiding system is provided with two groups, each group of guiding system comprises a guiding wheel group and a supporting arm, the two groups of guiding wheel groups are respectively arranged on the outer sides of the first polar guide rail and the second polar guide rail, the two groups of guiding wheel groups are respectively fixedly connected to two sides of the sliding block through the supporting arms, and the guiding wheel groups are used for guiding and limiting the sliding of the sliding block on the first polar guide rail and the second polar guide rail.

6. The track electromagnetic ejection type fire extinguishing device according to claim 4, wherein the brush contact assembly comprises brushes, wires, tensioning elastic elements, a fixed seat and a guide adjusting rod, the fixed seat is connected to the sliding block, the brushes, the wires, the tensioning elastic elements and the guide adjusting rod are respectively provided with two sets, the two sets of brushes are respectively arranged on the inner sides of the first polar guide rail and the second polar guide rail and respectively contact with the inner sides of the first polar guide rail and the second polar guide rail, the top of each set of brushes is connected with the fixed seat through the tensioning elastic elements, the two sets of wires are respectively arranged in the corresponding tensioning elastic elements, the top ends of the two sets of wires are connected with the corresponding brushes, the first polar guide rail and the second polar guide rail form a current path through the brushes and the wires, the guide adjusting rod is arranged on one side of the tensioning elastic elements, the upper end of the guide adjusting rod is fixedly connected to the fixed seat, and the lower part of the guide adjusting rod is limited by contact with the brushes.

7. The track electromagnetic ejection fire extinguishing device of claim 4, wherein the magazine assembly comprises a magazine, a magazine fixing bracket and a magazine female seat, the magazine female seat is fixedly arranged at the top of the sliding block, the magazine fixing bracket is fixedly arranged at the front end of the magazine female seat, the magazine is fixedly arranged in the magazine fixing bracket, the magazine opening faces forward, and the magazine is used for filling fire-fighting shells.

8. The track electromagnetic catapulting fire extinguishing device according to claim 4, wherein the buffer system comprises a front buffer and/or a rear buffer, the front buffer is sleeved at the front ends of the first polar guide rail and the second polar guide rail, and the rear buffer is fixedly arranged on the rear baffle.

9. The track electromagnetic ejection fire extinguishing device of claim 4, wherein the sensing system comprises a ranging module, an infrared module and a sighting module, the ranging module is fixedly installed on the rear end face of the front baffle, the ranging module is located on the same horizontal plane with a locating boss at the bottom of the front end of the sliding block, the ranging module is used for measuring the distance between the ranging module and the sliding block, the sighting module is arranged at the front end of the supporting frame, the infrared module is connected to the front end of the supporting bottom plate through a mounting bracket, the infrared module is arranged on the front side of the lower part of the buffer system at the rear end of the conductive sliding rail, and the infrared module is used for detecting the initial position of the locating sliding block.

10. A method of operating an orbital electromagnetic ejection fire extinguishing apparatus according to any of claims 5-9, comprising the steps of:

1) The horizontal rotating assembly runs to drive the vertical rotating assembly and the follow-up seat to horizontally rotate, so that the electromagnetic ejection module arranged on the follow-up seat is driven to horizontally rotate, the horizontal direction angle adjustment of the electromagnetic ejection module is realized, and meanwhile, the horizontal posture sensing module senses the horizontal direction rotating angle and the posture of the horizontal rotating assembly in real time;

2) The vertical rotation assembly runs to drive the follow-up seat and the electromagnetic ejection module on the follow-up seat to rotate in the vertical direction, so that the vertical pitching angle adjustment of the electromagnetic ejection module is realized, and meanwhile, the vertical posture sensing module senses the vertical rotation angle and the posture of the vertical rotation assembly in real time;

3) After the shooting direction is adjusted by the aiming module, the horizontal rotating assembly and the vertical rotating assembly, the power supply module supplies power to the first polar guide rail through a power transmission driving mechanism connected with the first polar guide rail, the first polar guide rail is communicated with the second polar guide rail through two sets of electric brushes and wires, then the first polar guide rail returns to the power supply module through the power transmission driving mechanism connected with the second polar guide rail to form a closed current loop, a downward magnetic field is generated between the first polar guide rail and the second polar guide rail, the energized wires are stressed by amperes in the magnetic field to generate forward power, the sliding block is pushed to move forward along the first polar guide rail and the second polar guide rail in an accelerating way, high speed is obtained, and therefore fire-fighting shells are shot, and the front buffer is used for buffering the sliding block in a decelerating way; the distance measuring module measures the distance of the positioning boss at the bottom of the front end of the sliding block in real time, so that the power supply module adjusts the power supply strength and controls the power failure;

4) After the emission is finished, the power supply module supplies power to the second polar guide rail through a power transmission driving mechanism connected with the second polar guide rail, the second polar guide rail is communicated with the first polar guide rail through two sets of electric brushes and wires, then the second polar guide rail returns to the power supply module through the power transmission driving mechanism connected with the first polar guide rail to form a closed current loop, an upward magnetic field is generated between the second polar guide rail and the first polar guide rail, the electrified wire is subjected to ampere force in the magnetic field so as to generate backward power, the sliding block is pushed to accelerate to move backward along the first polar guide rail and the second polar guide rail, and the rear buffer is used for decelerating and buffering the sliding block; the infrared module detects the position of the positioning slide block in real time so as to ensure that the positioning slide block returns to the initial position.