WO2023001101A1 - 螺旋取水水阀及消防机器人 - Google Patents

螺旋取水水阀及消防机器人 Download PDF

Info

Publication number
WO2023001101A1
WO2023001101A1 PCT/CN2022/106241 CN2022106241W WO2023001101A1 WO 2023001101 A1 WO2023001101 A1 WO 2023001101A1 CN 2022106241 W CN2022106241 W CN 2022106241W WO 2023001101 A1 WO2023001101 A1 WO 2023001101A1
Authority
WO
WIPO (PCT)
Prior art keywords
valve
shaft
seat
fixedly connected
fixed
Prior art date
Application number
PCT/CN2022/106241
Other languages
English (en)
French (fr)
Inventor
陶泽文
王亚丽
张鹏宇
姜京伟
于鑫力
李振兴
郝松松
杜阳
Original Assignee
山东未来机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110822776.1A external-priority patent/CN113404873A/zh
Priority claimed from CN202122766973.4U external-priority patent/CN216343986U/zh
Application filed by 山东未来机器人有限公司 filed Critical 山东未来机器人有限公司
Priority to EP22845266.0A priority Critical patent/EP4375545A1/en
Publication of WO2023001101A1 publication Critical patent/WO2023001101A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/28—Accessories for delivery devices, e.g. supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D83/00—Containers or packages with special means for dispensing contents
    • B65D83/14—Containers or packages with special means for dispensing contents for delivery of liquid or semi-liquid contents by internal gaseous pressure, i.e. aerosol containers comprising propellant for a product delivered by a propellant
    • B65D83/44—Valves specially adapted therefor; Regulating devices
    • B65D83/52—Valves specially adapted therefor; Regulating devices for metering
    • B65D83/54—Metering valves ; Metering valve assemblies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03B—INSTALLATIONS OR METHODS FOR OBTAINING, COLLECTING, OR DISTRIBUTING WATER
    • E03B9/00—Methods or installations for drawing-off water
    • E03B9/02—Hydrants; Arrangements of valves therein; Keys for hydrants
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/02—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with screw-spindle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/02—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with screw-spindle
    • F16K1/04—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with screw-spindle with a cut-off member rigid with the spindle, e.g. main valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/12—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with streamlined valve member around which the fluid flows when the valve is opened
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/24—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with valve members that, on opening of the valve, are initially lifted from the seat and next are turned around an axis parallel to the seat
    • F16K1/26—Shape or arrangement of the sealing Not used
    • F16K1/28—Movable sealing bodies Not used
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F16K1/34—Cutting-off parts, e.g. valve members, seats
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F16K1/34—Cutting-off parts, e.g. valve members, seats
    • F16K1/36—Valve members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F16K1/34—Cutting-off parts, e.g. valve members, seats
    • F16K1/36—Valve members
    • F16K1/40—Valve members of helical shape
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/44—Mechanical actuating means
    • F16K31/50—Mechanical actuating means with screw-spindle or internally threaded actuating means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K41/00—Spindle sealings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K41/00—Spindle sealings
    • F16K41/02—Spindle sealings with stuffing-box ; Sealing rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K41/00—Spindle sealings
    • F16K41/02—Spindle sealings with stuffing-box ; Sealing rings
    • F16K41/08—Spindle sealings with stuffing-box ; Sealing rings with at least one ring provided with axially-protruding peripheral closing-lip
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L17/00—Joints with packing adapted to sealing by fluid pressure
    • F16L17/02—Joints with packing adapted to sealing by fluid pressure with sealing rings arranged between outer surface of pipe and inner surface of sleeve or socket
    • F16L17/04—Joints with packing adapted to sealing by fluid pressure with sealing rings arranged between outer surface of pipe and inner surface of sleeve or socket with longitudinally split or divided sleeve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L21/00—Joints with sleeve or socket
    • F16L21/06—Joints with sleeve or socket with a divided sleeve or ring clamping around the pipe-ends
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L33/00—Arrangements for connecting hoses to rigid members; Rigid hose connectors, i.e. single members engaging both hoses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/08—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/08—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members
    • F16L37/10—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members using a rotary external sleeve or ring on one part
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/08—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members
    • F16L37/10—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members using a rotary external sleeve or ring on one part
    • F16L37/113—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members using a rotary external sleeve or ring on one part the male part having lugs on its periphery penetrating into the corresponding slots provided in the female part
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/28—Couplings of the quick-acting type with fluid cut-off means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/28—Couplings of the quick-acting type with fluid cut-off means
    • F16L37/38—Couplings of the quick-acting type with fluid cut-off means with fluid cut-off means in only one of the two pipe-end fittings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/28—Couplings of the quick-acting type with fluid cut-off means
    • F16L37/38—Couplings of the quick-acting type with fluid cut-off means with fluid cut-off means in only one of the two pipe-end fittings
    • F16L37/40—Couplings of the quick-acting type with fluid cut-off means with fluid cut-off means in only one of the two pipe-end fittings with a lift valve being opened automatically when the coupling is applied
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D3/00—Arrangements for supervising or controlling working operations
    • F17D3/10—Arrangements for supervising or controlling working operations for taking out the product in the line
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C35/00—Permanently-installed equipment
    • A62C35/20—Hydrants, e.g. wall-hoses, wall units, plug-in cabinets

Definitions

  • the invention relates to the technical field of fire-fighting equipment, in particular to a spiral water intake valve and a fire-fighting robot.
  • the water source of existing fire trucks or fire fighting devices usually comes from fire storage tanks, and the water capacity is limited.
  • the applicant applied for an invention application with the publication number CN113404872A and the name is track water valve, track water valve.
  • the valve includes a valve body, and a main valve core is arranged in the valve body. It is characterized in that: the main valve core is provided with a first-opening valve mechanism, and the first-opening valve mechanism includes a pilot valve, a pilot base and a pilot spring.
  • a water flow channel in the valve body There is a water flow channel in the valve body, a water intake channel is provided in the middle of the upper bonnet of the valve body, a pilot valve is provided in the main valve core, and the main valve core includes a main valve connecting seat and a main valve guiding seat.
  • the upper end of the valve connecting seat is sealed against the lower end of the upper bonnet, the main valve connecting seat is provided with a pilot channel, the lower end of the main valve connecting seat is fixedly connected with the upper end of the main valve guiding seat, and the outer wall of the upper end of the main valve guiding seat is spaced
  • There is a water inlet hole the lower end of the main valve guide seat is provided with a pilot base, the main valve guide seat is provided with a guide channel, the three channels of the guide channel, the pilot channel and the water intake channel are connected, and the guide channel passes through the inlet
  • the water hole communicates with the water flow channel, the diameter of the guide channel is larger than the diameter of the pilot channel, the upper end of the pilot valve protrudes from the main valve connection seat and is placed in the water intake channel, the middle part of the pilot valve is in sealing and sliding connection with the pilot channel, and the lower end of the pilot valve extends into the guide channel.
  • the channel is slidingly connected with the guide channel.
  • the outer diameter of the upper end of the pilot valve is smaller than the outer diameter of the middle part of the pilot valve.
  • the lower end of the pilot valve is provided with a pilot spring.
  • the upper end of the pilot spring is against the lower end surface of the pilot valve, and the lower end is against the pilot base.
  • the pilot base is fixedly connected with the main valve guide seat. After the pilot valve is pressed, the pilot valve squeezes the pilot spring and moves downward.
  • the water in the water flow channel enters the guide channel and pilot channel through the water inlet hole and flows out through the water intake channel.
  • the disadvantage of the above-mentioned patent is that the structure is complex, the spring is easily damaged and loses elasticity during repeated use, which leads to the failure of the reset of the pilot valve, the loss of sealing of the valve body, and water leakage, which increases the maintenance cost and use cost of the valve body.
  • the wheels of the water cannon are installed in the rails on both sides.
  • the stepping motor on the frame is equipped with driving gears, and is fixed on the axle through the toothed transmission gears.
  • the wheel gears on the top are linked; the middle part of the water cannon frame is equipped with a guide tube, the lower part of the guide tube is equipped with a horizontal rotation tube, and the upper part is equipped with a butt joint tube.
  • the inner ring of the butt joint tube is designed with a reciprocating oil seal groove.
  • the positioning switch on the vehicle frame senses the position of the positioning piece, that is, the docking position of the water intake of the water valve, and the one-way water valve There is a gasket around the water outlet on the bottom of the valve box, and a gasket on the bottom of the valve plate.
  • the guide rod in the center of the valve plate, which is installed in series on the round hole in the center of the single-piece guide frame and the four-side guide frame.
  • the guide rod is installed in series.
  • Compression spring, the signal docking plate is installed on the frame, there are contacts on it, the camshaft and the motor are installed behind it, and the ring gear is installed on the horizontal rotation tube, which meshes with the worm rod fixed on the frame and rotates horizontally.
  • the middle part of the pipe is equipped with a vertical rotation motor.
  • the turbine fixed on the motor shaft drives the ring gear on the water cannon tube to rotate through the transmission wheel.
  • a cable slot is designed and fixed on the horizontal rotation tube.
  • a winding box There is a winding box, a winding wheel is installed on the axis of the box, a coil spring is installed inside, and a cable is wound on the winding wheel.
  • Two pulleys are installed at the entrance of the winding box, and the gear on the winding wheel shaft meshes with the timing gear.
  • the coaxial cam is equipped with a signal switch at the parallel position of the cam, a spiral wire is installed at the outlet of the reel, and a rack is installed in the track.
  • the synchronous wheel on the top is connected to the synchronous wheel on the other side and the drive gear through the synchronous belt.
  • the water cannons are installed in the front and rear of the water cannon vehicle, which are connected through water pipes, and a butt joint is installed in the middle of the water pipes.
  • the structure of the above patents is complex , the worm gear drive is used to drive the butt pipe to rise and open the water valve to complete the docking, and the worm gear drive generates a lot of heat, and the tooth surface is easy to wear. If it is underwater for a long time, corrosion will aggravate the wear and the equipment cost is high; Lift the top-opening water valve and press it to the lower plane with the track to connect to the water source, but the water pressure in the track is different from that in the water cannon car. If you directly open the water valve to get water, the pressure is too high and the operation is laborious.
  • the purpose of the present invention is to solve the deficiencies of the existing technology, and provide a spiral water intake system with ingenious structure, maintenance-free, automatic alignment, accurate and fast alignment, good sealing performance, long service life, no attenuation in performance, and low cost of use. valves and fire robots.
  • a spiral water intake valve comprising a valve body, the valve body is provided with a main valve core, characterized in that: the valve body is provided with a spiral water intake mechanism, the spiral water intake mechanism includes a butt joint and a connecting seat, the main The valve core includes a main valve sealing seat and a main valve screw. The upper end of the main valve sealing seat is provided with a butt joint, and the lower end is fixedly connected with the main valve screw.
  • a water intake channel is provided in the middle of the upper valve cover of the valve body.
  • the lower end of the butt joint is fixedly connected with the main valve sealing seat, the main valve sealing seat is sealed and connected with the upper valve cover, the lower end of the main valve screw is provided with a connecting seat, and the middle of the connecting seat is provided with a guide groove , the lower end of the connecting seat is provided with a permeable hole, the lower end of the connecting seat is sealed and fixedly connected with the lower valve cover of the valve body, the inner wall of the guide groove is provided with threads, the permeable hole communicates with the guide groove, and the main valve
  • the lower end of the screw is placed in the guide groove and threaded with the connecting seat, so as to facilitate the docking of the fire fighting equipment and the butt joint, and then drive the butt joint to rotate, so that the main valve screw moves downward relative to the connecting seat, the sealing seat of the main valve is separated from the upper valve cover, and the water flow out of the valve body.
  • the upper end surface of the main valve sealing seat of the present invention has a guide block in a circular array with the axis of the main valve screw as the center of the circle, the lower end of the guide block is fixedly connected with the main valve sealing seat, and the outer end surface of the guide block is inclined from top to bottom.
  • the sealing seat of the main valve rises, the sealing seat of the main valve is sealed and connected with the upper valve cover, and the outer wall of the guide block and the inner wall of the water intake channel are abutted against the limit, so as to facilitate the contact and abutment between the guide block and the inner wall of the water intake channel, so that the main valve core can be automatically guided. Yes, it is convenient for docking.
  • the upper end surface of the main valve sealing seat of the present invention is provided with a guide ring, the outer end surface of the guide ring is inclined from top to bottom, and the lower end of the guide ring is fixedly connected with the main valve sealing seat.
  • the sealing seat of the main valve is sealed and connected with the upper bonnet, and the outer wall of the guide ring is abutted against the inner wall of the water intake channel to make contact with the inner wall of the water intake channel through the guide ring, so that the main valve core can be automatically guided and quickly docked.
  • a connecting sleeve is provided between the main valve screw and the connecting seat of the present invention, the connecting sleeve is placed in the guide groove, the outer wall of the connecting sleeve is fixedly connected with the guiding groove, the inner wall of the connecting sleeve is provided with threads, and the connecting sleeve is threaded with the main valve screw rod. connection, so as to protect the connection seat through the connection sleeve, and the connection sleeve is easy to disassemble.
  • the butt joint of the present invention is in the shape of a cone or a polygon, so as to facilitate fast and convenient butt joint.
  • the main valve sealing seat of the present invention is fixed with a sealing pad, and the main valve sealing seat is sealed and connected with the upper bonnet of the valve body through the sealing pad, so as to facilitate sealing through the sealing pad.
  • the sealing pad of the present invention is in the shape of a sleeve, and the sealing pad is set on the main valve sealing seat and fixedly connected with the main valve sealing seat. The tightness of the main valve sealing seat and the upper bonnet.
  • a fire-fighting robot comprising a chassis and a track, the chassis is provided with a control cabin and a water cannon, the lower end of the chassis is provided with a walking mechanism, the walking mechanism is matched with the track, and a control system is arranged in the control cabin, It is characterized in that: at least one of the above-mentioned spiral water intake valves is provided on the track, the spiral water intake valve is fixedly connected with the track, and a valve opening mechanism is provided on the chassis, and the valve opening mechanism includes a fixed seat and the valve shaft, the fixed seat is fixedly connected with the frame of the chassis, the fixed seat is provided with a valve shaft hole, the fixed seat is provided with a water inlet channel, and one side of the fixed seat is provided with a water outlet channel, so One end of the water outlet channel communicates with the water inlet of the water monitor, and the other end communicates with the water inlet channel.
  • the valve shaft is placed in the valve shaft hole and is sealed and slidably connected with the valve shaft hole.
  • the upper end of the valve shaft passes through the fixing seat.
  • Lifting and rotating mechanism the lower end of the valve shaft is provided with a valve opening wrench, the valve shaft is connected with the lifting and rotating mechanism, the lifting and rotating mechanism is connected with the control system, the upper end of the valve opening wrench is fixedly connected with the valve shaft, and the lower end protrudes out of the water inlet
  • the channel is mated with the butt joint of the spiral water intake valve, the valve opening mechanism is connected with the spiral water intake valve, the water intake channel is connected with the water intake channel, the lifting and rotating mechanism drives the valve shaft and the valve opening wrench, and the valve opening wrench drives the main valve
  • the core rotates and moves down to separate from the upper valve cover, so that the water in the track enters the water inlet channel through the water intake channel, and then enters the water cannon through the water outlet channel to realize fire protection operations.
  • the water valve is opened and closed in
  • a sealing butt joint mechanism is provided between the spiral water intake valve of the present invention and the valve opening mechanism.
  • the sealing butt joint mechanism of the present invention includes a sliding sealing sleeve, a sealing ring, a left rack plate, a right rack plate, a fixed frame, a left gear, a left gear shaft, a left worm wheel, a right gear, a right gear shaft, a right worm wheel, and a worm shaft and a worm motor
  • the outer side of the fixed seat is provided with a sliding sealing sleeve
  • the inner wall of the sliding sealing sleeve is sealed and slidably connected with the outer wall of the fixing seat
  • the lower end of the sliding sealing sleeve is fixed with a sealing ring
  • the sliding sealing sleeve falls through the sealing ring and the screw
  • the upper bonnet of the water intake valve is in contact with each other for sealing connection
  • the left and right rack plates are provided on the left and right sides of the sliding sealing sleeve
  • the front and rear sides of the sliding sealing sleeve are respectively provided with fixing frames
  • One end of the right gear shaft passes through the fixing frame and is fixedly provided with a right worm gear.
  • the left worm gear and the right worm gear are provided with worm shafts.
  • Left helical teeth and right helical teeth are fixed at intervals on the worm shafts.
  • the left helical teeth The helical direction of the right helical tooth is opposite to the helical direction of the right helical tooth.
  • the left helical tooth meshes with the left worm gear, and the right helical tooth meshes with the right worm wheel.
  • the fixed frame is driven by a worm motor, which is fixed on the frame and connected with the control system to facilitate starting the worm motor.
  • the rack plate and the right rack plate move up and down synchronously to realize the up-and-down movement of the sliding sealing sleeve.
  • the sealing ring at the lower end of the sliding sealing sleeve is against the upper valve cover, the sliding sealing sleeve and the spiral water intake valve realize sealing docking.
  • a limit fixing mechanism is provided between the spiral water intake valve of the present invention and the valve opening mechanism, and the limit fixing mechanism includes a hook plate frame, a guiding sliding mechanism, a hook plate, a limit plate and an eccentric wheel, and the sliding sealing sleeve
  • the front and the rear are respectively equipped with a hook plate frame, and a guide sliding mechanism is provided between the hook plate frame and the fixed frame.
  • the center of the sleeve extends to form a hook plate, and the front and rear sides of the upper valve cover of the spiral water intake valve extend outwards respectively to form a limit plate.
  • the hook plate frame is provided with limit wheel holes at intervals, and the front and rear ends of the left gear shaft
  • the eccentric wheels are respectively fixed, and the front and rear ends of the right gear shaft are respectively fixed with eccentric wheels.
  • the eccentric wheels are placed in the limit wheel holes.
  • the plate frame moves up with the eccentric wheel, and the upper surface of the hook plate and the lower end surface of the limit plate are abutted to realize the limited fixed connection between the fixed frame and the screw water intake valve, so as to facilitate the start of the worm motor, which drives the worm shaft and is driven by the worm gear.
  • Drive the left gear and the right gear to rotate, and then drive the eccentric wheel to rotate.
  • the hook plate rises under the action of the eccentric wheel.
  • the upper surface of the plate is fixed against the lower end surface of the limiting plate, so as to realize the sealing and fixing of the hook plate and the spiral water intake valve.
  • the valve shaft is axially provided with a detection hole, and the valve shaft is provided with an in-position sensor and an in-position probe rod from top to bottom, and the in-position sensor is sealed and fixedly connected with the inner wall of the valve shaft.
  • In-position probe rod the inner wall of the valve shaft below the in-position sensor is fixed with a retaining ring, the in-position sensor is connected to the control system, the outer diameter of the upper part of the in-position probe rod is smaller than the outer diameter of the middle part of the in-position probe rod, and the in-position probe The outer diameter of the middle part of the rod is smaller than the inner diameter of the stop ring, and a limit spring is arranged between the upper part of the in-position probe rod and the stop ring.
  • the limit spring and the stop ring are placed under the in-position sensor, the in-position probe rod is slidingly connected with the valve shaft, the lower end of the in-position probe rod passes through the valve shaft and connected with the valve opening wrench, and the valve opening wrench is inserted into the butt joint , the butt joint can drive the in-position probe rod to move upwards and be sensed by the in-position sensor to realize the docking in place.
  • the valve opening wrench of the present invention is provided with a probe rod hole in the middle, and the probe rod hole communicates with the detection hole.
  • the upper end of the docking groove communicates with the hole of the probe rod, the outer diameter of the lower part of the probe rod in place is smaller than the outer diameter of the middle part of the probe rod in place, the hole of the probe rod is smaller than the outer diameter of the middle part of the probe rod in place, and the lower end of the probe rod in place passes through
  • the hole through the probe rod is placed in the joint docking groove to abut against the butt joint, so that when the valve opening wrench is docked with the butt joint, the butt joint moves up against the in-position probe rod, sensed by the in-position sensor, and docked in place.
  • the outer wall of the lower end of the valve opening wrench of the present invention is radially fixed with a driving block, and the upper end of the main valve sealing seat is fixed with a stopper.
  • the valve sealing seat rotates and lifts, so that the valve opening wrench drives the main valve core to move synchronously through the driving block and the stopper.
  • the valve opening wrench of the present invention is a universal sleeve, and the lower end of the in-position probe rod passes through the valve shaft and is fixedly connected with the core rod of the universal sleeve, so that when the universal sleeve is plugged into the butt joint, the butt joint is upward Squeeze the core rod of the universal sleeve, the core rod moves up with the in-position probe rod, and is sensed by the in-position sensor to realize the docking in place.
  • the lifting and rotating mechanism of the present invention includes a ball spline pair, a bearing, a bearing seat, a spline pulley, a ball screw pair, a transmission connecting rod and a driving mechanism.
  • the upper end of the valve shaft is provided with a ball spline pair.
  • the upper end of the shaft is fixedly connected to the lower end of the spline shaft of the ball spline pair, the upper end of the spline shaft is fixedly connected to the bearing seat through the bearing, and the spline shaft nut of the ball spline pair is fixedly connected to the fixed seat through the bearing.
  • the outer wall of the spline shaft nut is fixed with a spline pulley, one side of the bearing seat is provided with a ball screw pair, the bearing seat is fixedly connected with the nut of the ball screw pair through a transmission connecting rod, and the ball screw pair
  • the screw of the screw is connected with the fixed seat through the bearing, the bracket, and the screw of the spline pulley and the ball screw pair are respectively driven by the driving mechanism, so as to facilitate the rotation of the screw of the ball screw pair through the driving mechanism, driving the nut to move up and down, and the nut
  • the transmission connecting rod drives the spline shaft and the valve shaft to move up and down, and the valve shaft drives the valve opening wrench to move down to connect with the spiral track water valve.
  • the spline pulley is driven to rotate by the driving mechanism, and then drives the spline outer cylinder to rotate to realize the spline.
  • the spline shaft drives the valve shaft to rotate, so that the valve opening wrench drives the main valve sealing seat to rotate to realize the screw on-off valve.
  • the driving mechanism of the present invention can be composed of a ball screw drive motor and a ball spline drive motor, the ball screw drive motor and the ball spline drive motor are respectively connected to the control system, and the screw of the ball screw pair is composed of Driven by a drive motor, the spline pulley is driven by a ball spline drive motor through gear transmission, so as to drive the valve opening wrench to move up and down through the ball screw drive motor, and drive the valve shaft to rotate through the ball spline drive motor to open the valve
  • the wrench drives the main valve sealing seat to rotate to realize the screw on/off valve.
  • the spline pulley of the present invention is connected with a spline drive pulley via a synchronous belt, the spline drive pulley is fixed on the spline drive pulley shaft, and a bidirectional torque limiter is installed on the spline drive pulley shaft, The two-way torque limiter is connected with the control system to prevent overloading of the ball spline drive motor.
  • the driving mechanism of the present invention can also be composed of a total drive motor, a first drive gear, a clutch, a second drive gear, a first driven gear, a synchronous belt, a spline drive pulley, a spline drive pulley shaft and a second driven pulley.
  • a total drive motor is provided on one side of the fixed seat, the total drive motor is connected to the control system, the total drive motor is connected to the fixed seat through a bracket, and a second A drive gear and a clutch, the first drive gear is fixedly connected to the output shaft of the total drive motor, the first drive gear meshes with the first driven gear, and the first driven gear is fixedly connected to the screw of the ball screw pair , the clutch is fixedly connected with the output shaft of the total drive motor, the clutch is connected with the control system, the output shaft of the clutch is fixedly provided with a second drive gear, and the spline pulley is connected with a spline through a synchronous belt Drive pulley, the spline drive pulley is fixed on the spline drive pulley shaft, the lower end of the spline drive pulley shaft is provided with a second driven gear, and the second driven gear is fixed to the spline drive pulley shaft
  • the second driven gear meshes with the second driving
  • the lower end of the valve shaft hole is fixed with a sealing plate, and the valve shaft is sealed and connected with the sealing plate, so as to prevent water flow from entering between the valve shaft hole and the valve shaft.
  • the screw of the ball screw pair according to the present invention is fixedly connected to the bracket through the bearing, the screw bearing seat, the bracket is fixedly connected to the fixing seat, the screw bearing seat at the upper end of the screw is provided with a valve closing sensor, and the valve closing sensor Connected with the control system, the transmission connecting rod is fixed with an induction block, and the induction block cooperates with the valve closing sensor, so that when the screw rod rises and the valve shaft returns to the position, the induction block touches the closing valve sensor, The valve closing sensor senses the sensing block to confirm that the valve closing is in place.
  • Limiting baffles are respectively provided on the front and rear sides of the lower end of the limiting wheel hole in the present invention, and the limiting baffles are fixedly connected with the hook frame, and a lubricating oil groove is formed between the two limiting baffles and the limiting wheel hole.
  • Lubricating oil is provided in the oil groove, and when the eccentric wheel is rotating, the eccentric wheel contacts with the lubricating oil in the lubricating oil groove, so as to improve the smoothness of the rotation of the eccentric wheel through the lubricating oil.
  • the upper end of the hook plate frame of the present invention is provided with at least one down-pressing mechanism, and the down-pressing mechanism includes an upper connecting seat, a lower connecting seat and a spring, and the hook plate frame is provided with at least one lower connecting seat, and the lower connecting seat
  • the seat is fixedly connected with the hook frame
  • at least one spring is provided on the lower connection seat
  • an upper connection seat is provided on the fixed frame
  • the upper connection seat is fixedly connected with the fixed frame
  • the upper connection seat is opposite to the lower connection seat
  • the spring In a compressed state, one end of the spring is fixedly connected to the upper connection seat, and the other end is fixedly connected to the lower connection seat, so that when the eccentric wheel drives the hook plate to move down, the spring will open and push the hook plate frame downward after being squeezed to realize the hook.
  • the plate is separated from the limiting plate.
  • the upper connecting seat of the present invention is provided with at least one upper spring groove opening downward, and the lower connecting seat is provided with at least one lower spring groove opening upward, and one end of the spring is placed in the upper spring groove and fixed with the upper spring groove Connect, and the other end is placed in the lower spring groove and fixedly connected with the lower spring groove, so as to guide the spring through the upper and lower spring grooves and prevent the spring from skewing.
  • the guide sliding mechanism of the present invention includes a first sliding bar and a sliding limit block, a sliding limit block is arranged in the middle of the fixed frame, a guide groove is arranged in the middle of the hook plate frame, and the left and right sides of the inner wall of the guide groove are respectively
  • a first sliding bar is fixed, and the sliding limiting block is placed in the guide groove and is slidably connected with the guiding groove through the first sliding bar.
  • the position of the hook plate frame makes the hook plate frame unable to move left and right through the guide groove, the sliding limit block and the first slide bar.
  • the guide sliding mechanism of the present invention also includes a front and rear limit sliding mechanism, the front and rear limit sliding mechanism includes a second sliding bar and a sliding limit seat, and the two ends of the fixed frame are respectively provided with a sliding limit seat, and the sliding
  • the limit seat is fixedly connected with the fixed frame, and an opening limit groove facing the hook frame is provided between the sliding limit seat and the fixed frame, and the front and rear sides of the opening limit groove are respectively fixed with second sliding bars,
  • the left and right ends of the hook frame are respectively placed in the opening limit groove and are slidably connected with the opening limit groove through the second sliding bar, so as to limit the front and rear of the hook frame through the sliding limit seat, so that the hook frame cannot move forward and backward. move.
  • a positioning mechanism is provided between the spiral water intake valve and the valve opening mechanism.
  • the positioning mechanism includes a positioning block and a positioning proximity sensor.
  • the left and right ends of the upper valve cover of the spiral water intake valve are respectively provided with positioning blocks.
  • the positioning block is fixedly connected with the upper bonnet, the frame above the positioning block is provided with a positioning proximity sensor, the positioning proximity sensor is matched with the positioning block, the positioning proximity sensor is fixedly connected with the frame, and the positioning proximity sensor is fixedly connected with the frame.
  • the positioning proximity sensor is connected with the control system, so that when the frame approaches the screw water intake valve from the side of the screw water intake valve, the positioning block on the left or right side of the spiral water intake valve is sensed by the positioning proximity sensor on the frame, Frame starts to decelerate, and along with frame advances, when the locating block on the right side or the left side on the spiral water intake valve is sensed by the positioning proximity sensor on the frame, the frame stops.
  • the upper end surface of the upper valve cover of the present invention is provided with a sealing groove, and the lower end of the sealing ring is embedded in the sealing groove to seal the sliding sealing sleeve and the spiral water intake valve, so as to facilitate the fixing of the sealing ring through the sealing groove and increase the stability of the docking.
  • the frame of the present invention is fixed with a video intercom device and a flame detector, and the video intercom device and the flame detector are respectively connected with the control system, so as to facilitate early perception of the fire source.
  • the outer side of the frame of the present invention is fixed with a protective cover to help protect the components on the frame.
  • the present invention has the advantages of ingenious structure, maintenance-free, automatic alignment, accurate and fast alignment, good sealing performance, long service life, no attenuation in performance, and low use cost.
  • Fig. 1 is a kind of structural representation of spiral water intake valve in the present invention.
  • Fig. 2 is an enlarged schematic view of the main valve core in Fig. 1 of the present invention.
  • Fig. 3 is another structural schematic diagram of the spiral water intake valve in the present invention.
  • Fig. 4 is an enlarged schematic view of the main valve core in Fig. 3 of the present invention.
  • Fig. 5 is a sectional view of Fig. 3 of the present invention.
  • Fig. 6 is another schematic structural view of the spiral water intake valve in the present invention.
  • Fig. 7 is a structural schematic diagram of the fire fighting robot of the present invention.
  • Fig. 8 is a side view of Fig. 7 without the track of the present invention.
  • Fig. 9 is a structural schematic diagram of the fire fighting robot of the present invention without the protective cover and the spiral water intake valve.
  • Fig. 10 is a cross-sectional view of the fire fighting robot of the present invention from an angle.
  • Fig. 11 is a sectional view of another angle of the fire fighting robot of the present invention.
  • Fig. 12 is a structural schematic diagram of a valve opening wrench, a butt joint, and a main valve core in the fire fighting robot of the present invention.
  • Fig. 13 is a structural schematic diagram of another valve opening wrench, butt joint and main valve core in the fire fighting robot of the present invention.
  • Fig. 14 is a sectional view of Fig. 13 of the present invention.
  • Fig. 15 is a schematic diagram of the docking of the valve opening mechanism and the screw water intake valve of the present invention.
  • Fig. 16 is a schematic diagram of the state of opening the spiral water intake valve after the valve opening mechanism of the present invention is docked with the spiral water intake valve.
  • Fig. 17 is a schematic structural view of the sealing butt joint mechanism of the present invention.
  • Figure 18 is a side sectional view of Figure 17 of the present invention.
  • Fig. 19 is a schematic diagram of the state where the hook plate and the limit plate are opposite to each other in the position-limiting and fixing mechanism of the present invention.
  • Fig. 20 is a schematic diagram of the abutting state of the hook plate and the limit plate in the limit fixing mechanism of the present invention.
  • Fig. 21 is a schematic structural view of the hook plate frame in the present invention.
  • Fig. 22 is a schematic structural view of the valve opening mechanism of the present invention.
  • Fig. 23 is a sectional view of Fig. 22 of the present invention.
  • Fig. 24 is another structural schematic diagram of the valve opening mechanism of the present invention.
  • Fig. 25 is a sectional view of the driving mechanism in Fig. 24 of the present invention.
  • Fig. 26 is a schematic diagram of the structure of the valve opening wrench in the valve opening mechanism of the present invention as a universal sleeve.
  • a spiral water intake valve comprising a valve body 111, the valve body 111 is provided with a main valve core 112, and is characterized in that: the valve body 111 is provided with a spiral water intake mechanism 113, and the spiral water intake mechanism 113 includes a docking Joint 16 and connection seat 115, the main valve core 112 includes a main valve sealing seat 116 and a main valve screw 117, the upper end of the main valve sealing seat 116 is provided with a butt joint 16, and the lower end is fixedly connected with the main valve screw 117, the The middle of the upper valve cover 77 of the valve body 111 is provided with a water intake channel 123, the butt joint 16 is placed in the water intake channel 123, the lower end of the butt joint 16 is fixedly connected with the main valve sealing seat 116, and the main valve sealing seat 116 is connected to the upper valve sealing seat 116.
  • the cover 77 is sealed and connected, the lower end of the main valve screw 117 is provided with a connecting seat 115, the middle of the connecting seat 115 is provided with a guide groove 119, the lower end of the connecting seat 115 is provided with a water hole 120, and the lower end of the connecting seat 115 is connected to the valve
  • the lower valve cover 121 of the body 111 is sealed and fixedly connected, the inner wall of the guide groove 119 is provided with threads, the permeable hole 120 communicates with the guide groove 119, and the lower end of the main valve screw 117 is placed in the guide groove 119 to connect with the connecting seat 115 Threaded connection to facilitate the docking of the firefighting equipment and the butt joint, and then drive the butt joint to rotate, so that the main valve screw moves downward relative to the connecting seat, the main valve sealing seat is separated from the upper valve cover, and the water flows out of the valve body.
  • the upper end surface of the main valve sealing seat 116 of the present invention takes the axis of the main valve screw 117 as a circle center and has a guide block 122 in a circular array. Tilting downwards and outwards, the water intake channel 123 in the middle of the upper valve cover 77 is circular.
  • the main valve sealing seat 116 rises, the main valve sealing seat 116 is in sealing connection with the upper valve cover 77, and the outer wall of the guide block 122 is connected to the water intake channel 123.
  • the inner wall abuts against the limit position, so as to facilitate contact and abutment with the inner wall of the water intake channel through the guide block, so that the main valve core can be automatically guided to facilitate docking.
  • the upper end surface of the main valve sealing seat 116 of the present invention is provided with a guide ring 114, the outer end surface of the guide ring 114 is inclined outward from top to bottom, and the lower end of the guide ring 114 is fixedly connected with the main valve sealing seat 116.
  • the water intake channel 123 in the middle of the upper valve cover 77 is circular.
  • the outer wall of the guide ring 114 is in contact with the inner wall of the water intake channel 123. Through the contact and abutment of the guide ring and the inner wall of the water intake channel, the main valve core can be automatically guided and quickly docked.
  • a connecting sleeve 124 is provided between the main valve screw 117 and the connecting seat 115 of the present invention, the connecting sleeve 124 is placed in the guide groove 119, the outer wall of the connecting sleeve 124 is fixedly connected with the guiding groove 119, and the inner wall of the connecting sleeve 124 is provided with threads , the connecting sleeve 124 is threadedly connected with the main valve screw rod 117, so as to protect the connecting seat through the connecting sleeve, and the connecting sleeve is easy to disassemble.
  • the butt joint 16 of the present invention is conical or polygonal, and the outer diameter of the upper end of the butt joint 16 is smaller than the outer diameter of the lower end of the butt joint 16, so as to facilitate fast and convenient butt joint.
  • the main valve sealing seat 116 of the present invention is fixed with a sealing gasket 125, and the main valve sealing seat 116 is sealed and connected with the upper valve cover 77 of the valve body 111 through the sealing gasket 125, so as to facilitate sealing through the sealing gasket.
  • the sealing gasket 125 of the present invention is in a sleeve shape, and the sealing gasket 125 is set on the main valve sealing seat 116 and is fixedly connected with the main valve sealing seat 116.
  • the upper end of the main valve sealing seat 116 is connected to the upper valve cover 77 through the sealing gasket 125.
  • the airtight connection improves the sealing performance between the sealing seat of the main valve and the upper valve cover.
  • a fire-fighting robot comprising a chassis 14 and a track 15, the chassis 14 is provided with a control cabin and a water cannon 17, the lower end of the chassis 14 is provided with a running mechanism 18, and the running mechanism 18 is matched with the track 15, the
  • a control system in the control cabin which is characterized by:
  • the track 15 is provided with at least one above-mentioned spiral water intake valve 19, the screw water intake valve 19 is fixedly connected with the track 15, the chassis 14 is provided with a valve opening mechanism 100, and the valve opening mechanism 100 It includes a fixed seat 1 and a valve shaft 2, the fixed seat 1 is fixedly connected with the frame 21 of the chassis 14, the fixed seat 1 is provided with a valve shaft hole 5, and the fixed seat 1 is provided with a water inlet channel 3, One side of the fixed seat 1 is provided with a water outlet channel 4, one end of the water outlet channel 4 communicates with the water inlet of the water monitor 17, and the other end communicates with the water inlet channel 3, and the valve shaft 2 is placed in the valve shaft hole 5 It is sealed and slidingly connected with the valve shaft hole 5.
  • the upper end of the valve shaft 2 passes through the fixed seat 1 to provide a lifting and rotating mechanism 6.
  • the lower end of the valve shaft 2 is provided with a valve opening wrench 7.
  • the valve shaft 2 is connected to the lifting and rotating mechanism 6.
  • the lifting and rotating mechanism 6 is connected to the control system, the upper end of the valve opening wrench 7 is fixedly connected to the valve shaft 2, and the lower end protrudes from the water inlet channel 3 to be mated with the butt joint 16 of the spiral water intake valve 19, and the valve opening mechanism 100 is docked with the spiral water intake valve 19, the water inlet channel 3 is connected with the water intake channel 123, the lifting and rotating mechanism 6 drives the valve shaft 2 and the valve opening wrench 7, and the valve opening wrench 7 drives the main valve core 112 to rotate and move down to the upper valve cover 118 is separated, so that the water in the track 15 enters the water inlet channel 3 through the water intake channel 123, and then enters the water cannon through the water outlet channel 4 to realize fire-fighting operations.
  • a sealing butt joint mechanism 20 is provided between the spiral water intake valve 19 of the present invention and the valve opening mechanism 100 .
  • the sealing docking mechanism 20 of the present invention includes a sliding sealing sleeve 22, a sealing ring 23, a left rack plate 24, a right rack plate 25, a fixed frame 26, a left gear 27, a left gear shaft 28, a left worm wheel 29, and a right gear 30 , right gear shaft, right worm wheel 31, worm shaft 32 and worm motor 33, the outer side of described fixed seat 1 is provided with sliding sealing sleeve 22, and the inner wall of described sliding sealing sleeve 22 is sealed and slidably connected with fixed seat 1 outer wall, and described sliding sealing
  • the lower end of the sleeve 22 is fixed with a sealing ring 23, and the sliding sealing sleeve 22 falls through the sealing ring 23 and is connected to the upper valve cover 77 of the spiral water intake valve 19 to seal and seal.
  • the left and right rack plates are arranged on the left and right sides of the sliding sealing sleeve 22 24 and the right rack plate 25, the front and rear sides of the sliding sealing sleeve 22 are respectively provided with a fixed frame 26, the fixed frame 26 is fixedly connected with the frame 21, and the right end of the left rack plate 24 is fixedly connected with the sliding sealing sleeve 22, Left rack plate 24 left end is provided with left gear 27, and left gear 27 is meshed with the rack on left rack plate 24, and described left gear 27 is fixed on the left gear shaft 28, and described left gear shaft 28 two ends pass bearing It is fixedly connected with the fixed frame 26 on both sides, and one end of the left gear shaft 28 passes through the fixed frame 26 and is fixedly provided with a left worm gear 29, the left end of the right rack plate 25 is fixedly connected with the sliding sealing sleeve 22, and the right end of the right rack plate 25 A right gear 30 is provided, and the right gear 30 meshes with the upper rack of the right rack plate 25.
  • the right gear 30 is fixed on the right gear shaft, and the two ends of the right gear shaft are fixedly connected with the fixing frames 26 on both sides through bearings.
  • one end of the right gear shaft passes through the fixed frame 26 and is fixedly provided with a right worm gear 31, and the left worm gear 29 and the right worm gear 31 are provided with a worm shaft 32, and the left helical teeth 34 and the right helical teeth 34 are fixed at intervals on the worm shaft 32.
  • Helical tooth 35 the helical direction of the left helical tooth 34 is opposite to the helical direction of the right helical tooth 35, the left helical tooth 34 meshes with the left worm wheel 29, the right helical tooth 35 meshes with the right worm wheel 31, and the worm shaft 32
  • Both ends are fixedly connected with the fixed frame 26 through bearings, one end of the worm shaft 32 passes through the fixed frame 26 and is driven by a worm motor 33, and the worm motor 33 is fixed on the frame 21 and connected with the control system to facilitate starting the worm motor , the worm motor drives the worm shaft, drives the left gear and the right gear to rotate through the worm gear transmission, and then drives the left rack plate and the right rack plate to move up and down synchronously to realize the up and down movement of the sliding sealing sleeve.
  • the sealing ring at the lower end of the sliding sealing sleeve
  • the sliding seal sleeve and the screw water intake valve realize sealing butt joint.
  • a limit fixing mechanism 36 is provided between the spiral water intake valve 19 of the present invention and the valve opening mechanism 100, and the limit fixing mechanism 36 includes a hook plate frame 37, a guide sliding mechanism 38, a hook plate 39, a limit plate 40 and The eccentric wheel 41, the front and rear of the sliding sealing sleeve 22 are respectively provided with a hook plate frame 37, and a guide sliding mechanism 38 is arranged between the described hook plate frame 37 and the fixed frame 26, and the described hook plate frame 37 is guided through the guide slide mechanism.
  • the hook plate frame 37 is slidingly connected with the fixed frame 26, the lower end of the hook plate frame 37 extends toward the center of the sliding sealing sleeve 22 to form a hook plate 39, and the front and rear sides of the upper valve cover 77 of the spiral water intake valve 19 extend outward respectively to form a limit plate 40, the hook plate frame 37 is provided with limiting wheel holes 42 at intervals, the front and rear ends of the left gear shaft 28 are respectively fixed with eccentric wheels 41, and the front and rear ends of the right gear shaft are respectively fixed with eccentric wheels 41, The eccentric wheel 41 is placed in the limit wheel hole 42.
  • the hook plate frame 37 moves up with the eccentric wheel 41, and the upper end surface of the hook plate 39 and the limit plate 40.
  • the lower end surfaces of the 40 are abutted against each other to realize the limited and fixed connection between the fixed frame 26 and the spiral water intake valve 19, so as to facilitate the starting of the worm motor, which drives the worm shaft, drives the left gear and the right gear to rotate through the worm gear and worm transmission, and then drives the eccentric wheel to rotate , when the sliding sealing sleeve moves down, the hook plate rises under the action of the eccentric wheel, and when the sealing ring at the lower end of the sliding sealing sleeve is against the upper valve cover of the screw water intake valve, the upper surface of the hook plate is fixed against the lower end surface of the limit plate, Realize the sealing and fixing of the hook plate and the spiral water intake valve.
  • the valve shaft 2 of the present invention is axially provided with a detection hole, and the valve shaft 2 is provided with an in-position sensor 8 and an in-position probe rod 9 from top to bottom, and the in-position sensor 8 is sealed and fixedly connected with the inner wall of the valve shaft 2, so that An in-position probe rod 9 is provided below the in-position sensor 8, and a stop ring 10 is fixedly provided on the inner wall of the valve shaft 2 below the in-position sensor 8.
  • the in-position sensor 8 is connected with the control system, and the outer diameter of the upper part of the in-position probe rod 9 is Less than the outer diameter of the middle part of the probe rod 9 in place, the outer diameter of the middle part of the probe rod 9 in place is smaller than the inner diameter of the retaining ring 10, a limit spring 11 is arranged between the upper part of the probe rod 9 in place and the retaining ring 10, and the limit spring 11 is squeezed and sleeved on the upper part of the in-position probe rod 9, the upper end of the in-position probe rod 9 passes through the limit spring 11, and the retaining ring 10 is placed under the in-position sensor 8, and the in-position probe rod 9 is slidably connected with the valve shaft 2, The lower end of the in-position probe rod 9 passes through the valve shaft 2 and is connected with the valve opening wrench 7. After the valve opening wrench 7 is plugged into the butt joint 16, the butt joint 16 can drive the in-position probe rod 9 to move upwards and is sensed by the in-position sensor 8. , to achieve
  • the valve opening wrench 7 of the present invention is provided with a probe rod hole in the middle, and the probe rod hole communicates with the detection hole.
  • the upper end of the joint docking groove 12 communicates with the probe rod hole
  • the outer diameter of the lower part of the probe rod 9 in place is smaller than the outer diameter of the middle part of the probe rod 9 in place
  • the probe rod hole is smaller than the outer diameter of the middle part of the probe rod in place
  • the lower end of the in-position probe rod 9 passes through the probe rod hole and is placed in the joint docking groove 12 to abut against the butt joint 16, so that when the valve opening wrench and the butt joint are docked in place, the butt joint moves up against the in-position probe rod, It is sensed by the in-position sensor and docked in place.
  • the outer wall of the lower end of the valve opening wrench 7 of the present invention is radially fixed with a driving block 79, and the upper end of the main valve sealing seat 116 is fixed with a stopper 80.
  • the driving block 79 and the butt joint 16 are plugged together.
  • the block 80 abuts against each other, driving the main valve sealing seat 116 to rotate and lift, so that the valve opening wrench drives the main valve core to move synchronously through the driving block and the block.
  • the valve opening wrench 7 of the present invention is a universal sleeve 13, and the lower end of the in-position probe rod 9 passes through the valve shaft 2 and is fixedly connected with the core rod of the universal sleeve 13, so as to facilitate the insertion of the universal sleeve and the butt joint.
  • the butt joint squeezes the core rod of the universal sleeve upwards, and the core rod moves up with the in-position probe rod, which is sensed by the in-position sensor to realize the butt in place.
  • the lifting and rotating mechanism 6 of the present invention includes a ball spline pair 47, a bearing, a bearing seat 48, a spline pulley 49, a ball screw pair 50, a transmission connecting rod 51 and a drive mechanism 52, and the upper end of the valve shaft 2 is provided with a
  • the ball spline pair 47, the upper end of the valve shaft 2 is fixedly connected with the lower end of the spline shaft 53 of the ball spline pair 47, the upper end of the spline shaft 53 is fixedly connected with the bearing seat 48 through a bearing, and the ball spline pair 47
  • the spline shaft nut 54 is fixedly connected with the fixed seat 1 through a bearing, the outer wall of the spline shaft nut 54 is fixed with a spline pulley 49, and one side of the bearing seat 48 is provided with a ball screw pair 50, and the bearing
  • the seat 48 is fixedly connected with the nut 55 of the ball screw pair 50 through the transmission connecting rod 51
  • the valve wrench moves down and connects with the water valve on the spiral track.
  • the spline pulley is driven to rotate by the drive mechanism, which in turn drives the spline outer cylinder to rotate to realize the rotation of the spline shaft.
  • the spline shaft drives the valve shaft to rotate, so that the valve opening wrench drives The sealing seat of the main valve rotates to realize the screw switch valve.
  • the drive mechanism 52 of the present invention can be made up of a ball screw drive motor 57 and a ball spline drive motor 58, the ball screw drive motor 57 and the ball spline drive motor 58 are respectively connected with the control system, the ball screw pair 50
  • the screw 56 is driven by the ball screw drive motor 57
  • the spline pulley 49 is driven by the ball spline drive motor 58 through the gear transmission, so as to facilitate the valve opening wrench to move up and down through the ball screw drive motor.
  • the driving motor drives the valve shaft to rotate, so that the valve opening wrench drives the main valve sealing seat to rotate to realize the screw on-off valve.
  • the spline pulley 49 of the present invention is connected with a spline drive pulley 64 through a synchronous belt 63, and the spline drive pulley 64 is fixed on the spline drive pulley shaft 65, and the spline drive pulley shaft 65 is installed There is a two-way torque limiter 68, which is connected with the control system to help prevent the ball spline drive motor from overloading.
  • the drive mechanism 52 of the present invention can also be made up of total drive motor 59, first drive gear 60, clutch 67, second drive gear 61, first driven gear 62, synchronous belt 63, spline drive pulley 64, spline
  • the driving pulley shaft 65 and the second driven gear 66 are composed of a total drive motor 59 on one side of the fixed seat 1, the total drive motor 59 is connected with the control system, and the total drive motor 59 is connected to the fixed seat 1 through a bracket.
  • the output shaft of the total drive motor 59 is provided with a first drive gear 60 and a clutch 67 at intervals, the first drive gear 60 is fixedly connected with the output shaft of the total drive motor 59, and the first drive gear 60 is connected to the first
  • the driven gear 62 meshes, the first driven gear 62 is fixedly connected to the screw rod 56 of the ball screw pair 50, the clutch 67 is fixedly connected to the output shaft of the total drive motor 59, the clutch 67 is connected to the control system,
  • the output shaft of the clutch 67 is fixedly provided with a second drive gear 61, and the spline pulley 49 is connected with a spline drive pulley 64 via a synchronous belt 63, and the spline drive pulley 64 is fixed on the spline drive.
  • the lower end of the spline drive pulley shaft 65 is provided with a second driven gear 66, and the second driven gear 66 is fixedly connected with the spline drive pulley shaft 65, and the second driven gear 66 is connected with the spline drive pulley shaft 65.
  • the second drive gear 61 is meshed to facilitate the total drive motor to drive the screw of the ball screw pair and the spline pulley to rotate.
  • the lower end of the valve shaft hole 5 is fixed with a sealing plate 69, and the valve shaft 2 is sealed and connected with the sealing plate 69, so as to prevent water from entering between the valve shaft hole and the valve shaft.
  • the screw 56 of the ball screw pair 50 of the present invention is fixedly connected with the support through the bearing and the screw bearing seat 70, the support is fixedly connected with the fixed seat 1, and the screw bearing seat 70 at the upper end of the screw 56 is provided with a valve closing sensor 71, the valve closing sensor 71 is connected with the control system, and the transmission connecting rod 51 is fixed with an induction block, and the induction block cooperates with the valve closing sensor 71, so that when the screw rod rises and the valve shaft returns to the position , the sensing block touches the closing valve sensor, and the closing valve sensor senses the sensing block to confirm that the closing valve is in place.
  • Limiting baffles 95 are respectively provided on the front and rear sides of the lower end of the limiting wheel hole 42 of the present invention, and the limiting baffles 95 are fixedly connected with the hook plate frame 37, and two limiting baffles 95 are formed between the limiting wheel holes 42.
  • a lubricating oil tank, the lubricating oil tank is provided with lubricating oil, and when the eccentric wheel 41 is rotating, the eccentric wheel 41 is in contact with the lubricating oil in the lubricating oil tank, so as to improve the smoothness of the rotation of the eccentric wheel through the lubricating oil.
  • the upper end of the hook frame 37 of the present invention is provided with at least one pressing mechanism 43, and the pressing mechanism 43 includes an upper connection seat 44, a lower connection seat 45 and a spring 46, and the hook frame 37 is provided with at least one lower Connecting seat 45, described lower connecting seat 45 is fixedly connected with hook plate frame 37, described lower connecting seat 45 is provided with at least one spring 46, described fixed mount 26 is provided with upper connecting seat 44, upper connecting seat 44 and Fixture 26 is fixedly connected, and upper connecting seat 44 is opposite to lower connecting seat 45, and spring 46 is in a compressed state.
  • the spring opens after being squeezed and pushes the hook plate frame downward to realize the separation of the hook plate and the limit plate.
  • the upper connecting seat 44 of the present invention is provided with at least one upper spring groove with an opening downward
  • the lower connecting seat 45 is provided with at least one lower spring groove with an upward opening
  • one end of the spring 46 is placed in the upper spring groove and
  • the spring groove is fixedly connected, and the other end is placed in the lower spring groove and is fixedly connected with the lower spring groove, so as to guide the spring through the upper and lower spring grooves and prevent the spring from skewing.
  • the guiding and sliding mechanism 38 of the present invention includes a first sliding bar 97 and a sliding limit block 98, a sliding limiting block 98 is provided in the middle of the fixed frame 26, a guide groove 94 is provided in the middle of the hook plate frame 37, and The left and right sides of the inner wall of the guide groove 94 are respectively fixed with the first sliding bar 97, and the sliding limiting block 98 is placed in the guiding groove 94 and is slidably connected with the guiding groove 94 through the first sliding bar 97.
  • Fixture 26 is fixedly connected, in order to be beneficial to the position of the hook frame by sliding limit block limit, make hook plate frame can not move left and right by guide groove, slide limit block and first slide bar.
  • the guide slide mechanism 38 of the present invention also includes a front and rear limit slide mechanism 96, the front and rear limit slide mechanism 96 includes a second slide bar 99 and a slide limit seat 101, and the two ends of the fixed frame 26 are respectively provided with slide limiters.
  • Seat 101, the sliding limit seat 101 is fixedly connected with the fixed frame 26, and an opening limiting groove towards the hook frame 37 is provided between the sliding limiting seat 101 and the fixing frame 26, and the opening limiting groove
  • the front and rear sides are respectively fixed with a second sliding bar 99, and the left and right ends of the hook plate frame 37 are respectively placed in the opening limit groove and are slidably connected with the opening limit groove through the second sliding bar 99, so as to facilitate the sliding limit.
  • the seat limits the front and back of the hook plate frame, so that the hook plate frame cannot move forward and backward.
  • a positioning mechanism 75 is provided between the spiral water intake valve 19 of the present invention and the valve opening mechanism 100.
  • the positioning mechanism 75 includes a positioning block 76 and a positioning proximity sensor 78.
  • the upper valve cover 77 of the spiral water intake valve 19 is left or right.
  • the two ends are respectively provided with a positioning block 76, and the positioning block 76 is fixedly connected with the upper valve cover 77, and the frame 21 above the positioning block 76 is provided with a positioning proximity sensor 78, and the positioning proximity sensor 78 and the positioning block 76
  • the positioning proximity sensor 78 is fixedly connected to the frame 21, and the positioning proximity sensor 78 is connected to the control system, so that when the frame approaches the screw water intake valve from the side of the screw water intake valve, the screw water intake valve
  • the positioning block on the left or right side is sensed by the positioning proximity sensor on the frame, and the frame starts to slow down.
  • the rack stops are provided between the spiral water intake valve 19 of the present invention and the valve opening mechanism 100.
  • the upper end surface of the upper valve cover 77 is provided with a sealing groove, and the lower end of the sealing ring 23 is embedded in the sealing groove to seal the sliding sealing sleeve 22 with the spiral water intake valve 19, so as to facilitate the fixing of the sealing ring through the sealing groove and increase the docking stability.
  • the frame 21 of the present invention is fixed with a video intercom device 72 and a flame detector 73, and the video intercom device 72 and the flame detector 73 are respectively connected with the control system to facilitate early perception of fire sources.
  • the outer side of the frame 21 of the present invention is fixed with a protective cover 74 to help protect the components on the frame.
  • a water flow channel is provided in the valve body, and the water flow channel communicates with the water flow in the track.
  • the water flow channel is connected with the water intake channel to realize water intake.
  • the butt joint in the present invention is conical or polygonal, and the taper can be conical or non-conical. According to the shape of the butt joint, it can be divided into three types of structures: One type is that the butt joints are conical, as shown in attached drawings 1, 2 and 12; the second type is that the butt joints are non-conical. In this embodiment, as shown in attached drawings 13-16, the butt joints are in the shape of a pentagonal cone shape; the third category is that the butt joint is in a polygonal shape, as shown in Figure 3- Figure 5;
  • the spiral water intake valve of the present invention there are two structures of the gasket between the main valve sealing seat and the upper valve cover: one is shown in Figure 5, the upper end of the main valve sealing seat is provided with a gasket, the gasket is ring-shaped, and the main There is a sealing groove on the upper end surface of the valve sealing seat to place the sealing gasket.
  • the main valve sealing seat is squeezed and sealed with the lower end surface of the upper valve cover through the sealing gasket. This sealing method is not limited by the height.
  • the main valve sealing seat touches the The upper valve cover can be sealed; the other is shown in Figure 6, the gasket is in the shape of a sleeve, the gasket wraps the main valve sealing seat from top to bottom, and the gasket can be fixed on The sealing seat of the main valve can be pressed and fixed on the sealing seat of the main valve by bolts and fixing plates, which can be selected according to the needs.
  • the sealing gasket of this shape greatly improves the sealing performance of the sealing seat of the main valve and the upper valve cover, and The gasket is not easy to move or fall off.
  • the contact area between the gasket and the sealing seat of the main valve is relatively small, and the friction is also small.
  • the above sealing methods can be selected according to the needs.
  • the shape of the butt joint used by the two sealing methods is not limited.
  • the driving mechanism of valve opening mechanism has two kinds of modes, a kind of as accompanying drawing 22 and accompanying drawing 23 adopt ball screw drive motor to drive ball screw pair, Drive the valve shaft to move up and down, use the ball spline drive motor to drive the ball spline pair to drive the valve shaft to rotate, the ball spline drive motor can be installed with a two-way torque limiter to protect the ball spline drive motor, the two-way torque limiter, the ball spline
  • the drive motor and the ball screw drive motor are respectively connected to the control system, such as the PLC control system; another drive mode is shown in Figure 24 and Figure 25, the ball screw pair and the ball spline pair are both passed by the main drive motor
  • the gears are linked to drive, and the clutch is used to control whether the ball spline pair is used.
  • the total drive motor and the clutch are controlled by the control system respectively, and the two driving modes can be set as required; in the present invention
  • valve opening wrench cooperates with the butt joint to drive the main valve core to rotate and move up and down.
  • the lower end of the valve opening wrench is provided with a joint butt joint groove, the joint butt joint groove is conical, and the inner diameter of the upper end of the joint butt joint groove is smaller than the joint butt joint groove
  • the inner diameter of the lower end and the outer wall of the valve opening wrench are provided with driving blocks at intervals.
  • This type of valve opening wrench corresponds to the first type of butt joint, that is, the butt joint is conical.
  • the butt joint is also It is conical, so the valve opening wrench can rotate relative to the butt joint, as shown in Figure 1, Figure 2 and Figure 12, the outside of the butt joint is provided with stoppers at intervals, and the stoppers are fixed on the sealing seat of the main valve.
  • the valve core When docking in the groove, you can turn the valve opening wrench, and the valve opening wrench rotates relative to the butt joint, so that the driving block and the stopper are in contact, driving the stopper and then driving the main valve sealing seat to rotate and move.
  • This structure is convenient, fast, and High accuracy;
  • the second type of valve opening wrench structure the lower end of the valve opening wrench is provided with a joint butt joint groove, the joint butt joint groove is not conical, it can be polygonal cone or polygonal shape, corresponding to the second type of butt joint and the first type Three types of butt joints, the shape of the joint butt joint groove matches the shape of the butt joint.
  • the inner diameter of the upper end is smaller than the inner diameter of the lower end of the docking groove of the joint.
  • the butt joint of the spiral water intake valve is also in the shape of a pentagonal cone. The wrench rotates and moves up and down,
  • valve opening wrench is a universal sleeve, and the universal sleeve can match the butt joints of the spiral water intake valves of different angles and shapes.
  • the shape of the butt joints is not limited.
  • the butt joint can lift the core rod of the universal sleeve, the alignment is accurate and fast, and the alignment can be completed at one time, and the butt joint enters the universal sleeve
  • the core rod of the butt joint against the universal sleeve moves up, the core rod drives the in-position probe rod to move up, the in-position probe rod rises and squeezes the spring, the upper end of the in-position probe rod is sensed by the in-position sensor, and the signal is transmitted to the control system.
  • the three valve opening wrenches can be selected and set according to the needs.
  • Accompanying drawing 7-accompanying drawing 16 is the structure diagram of fire-fighting robot in the present invention, and the present invention is installed on the frame of chassis with valve opening mechanism when using, and walking mechanism is set on chassis, and walking mechanism cooperates with track, and fire-fighting robot
  • the walking wheels on both sides are respectively clamped on the inner side of the track, so that the walking wheels and the track are closely attached to facilitate the walking of the fire-fighting robot.
  • a plurality of spiral water intake valves can be set on one track.
  • the track can be set on the top, and the valve opening mechanism is set At the bottom, the valve opening mechanism can also be set at the top and the track is set at the bottom.
  • a groove can be set in the middle of the road wheel, as shown in Figure 8, and the corresponding track is located on the road wheel.
  • Protrusions can be set at the groove to facilitate the walking wheels to hang on the track, and to connect the chassis with the limit limit of the track to prevent the fire-fighting robot from falling.
  • the positional relationship between the track and the valve opening mechanism can be set according to actual needs. This embodiment Described by the valve opening mechanism at the top and the track at the bottom,
  • the walking mechanism of the fire-fighting robot walks and inspects on the track.
  • the flame detector detects a fire, it transmits the signal to the control system.
  • the control system senses the screw water intake valve through the positioning mechanism, specifically the left end of the upper valve cover and Two positioning blocks are set on the right end, and two positioning proximity sensors on the left and right are correspondingly set on the frame.
  • the positioning block is sensed by the positioning proximity sensor on the right side of the frame, and the frame starts to slow down.
  • the positioning block on the right end of the upper valve cover is sensed by the positioning proximity sensor on the right side of the frame.
  • the positioning block at the left end of the upper valve cover is sensed by the positioning proximity sensor on the left side of the frame, the frame stops moving, and starts to dock with the screw water intake valve; the sealing docking mechanism is started, and the control system starts the worm gear motor, which drives the worm shaft , the left gear is driven to rotate clockwise by worm gear and worm drive, and the right gear is rotated counterclockwise, which in turn drives the left rack plate and the right rack plate to move downward synchronously.
  • the sliding seal sleeve and the spiral water intake valve are docked, as shown in Figure 11.
  • the left gear shaft rotates clockwise
  • the right gear shaft rotates counterclockwise, driving the top of the eccentric wheel from the proximal end to the distal end
  • the hook plate frame rises with the drive of the eccentric wheel
  • the hook plate frame drives the hook plate to rise, as shown in Figure 20, the hook plate hooks the limit plate, so that the position of the fixed frame and the spiral water intake valve are fixed.
  • the valve opening mechanism uses the first type of valve opening wrench, that is, the joint of the valve opening wrench.
  • the groove is also conical, as shown in Figure 12.
  • the spline shaft of the key pair rotates, driving the valve opening wrench to rotate, so that the drive block on the outside of the valve opening wrench is in contact with the stopper on the outside of the valve core, and then the control system is driving the ball screw pair, so that the lifting and rotation are synchronized.
  • the key shaft drives the valve shaft, and the valve opening wrench moves down and rotates, and the valve opening wrench rotates and moves down with the stopper through the drive block, thereby driving the main valve core to rotate and move down until the main valve sealing seat of the spiral water intake valve is in contact with the valve.
  • the upper valve cover is separated, the water flow in the spiral water intake valve enters the water inlet channel, and the driving mechanism is closed so that the valve shaft does not rotate or move down, and the valve opening operation is completed;
  • the control system When closing the valve in this way, the control system first drives the spline shaft of the ball spline to rotate in the opposite direction, so that the valve opening wrench rotates in the opposite direction relative to the stopper, so that the other side of the drive block on the outside of the valve opening wrench touches the stopper, and continues
  • the spline shaft that drives the ball spline rotates, and at the same time, the screw that drives the ball screw rotates synchronously, so that the valve opening wrench rotates and moves up with the butt joint.
  • the ball spline drive motor and ball screw drive motor are selected, the current loop of the ball spline drive motor senses the current change, and the ball spline drive motor transmits the signal to the control system, if a two-way torque limiter is installed on the ball spline drive motor, then the two-way torque limiter reaches the limit torque and disconnects at this time, the two-way torque limiter transmits a signal to the control system, and the control system stops driving the ball spline drive motor, if The main drive motor plus clutch control is selected.
  • the current loop of the main drive motor senses the current change and transmits the signal to the control system.
  • the control system controls the clutch to be disconnected, the second drive gear stops rotating, and then the ball spline pair Stop the rotation, the spline shaft continues to move up with the valve shaft and the valve opening wrench, the valve opening wrench is separated from the butt joint, the in-position probe rod is not squeezed, the in-position probe rod moves down under the elastic force of the limit spring, and the in-position sensor If the in-position probe rod cannot be sensed, the valve opening wrench continues to move up until the closing valve sensor senses the sensing block on the transmission connecting rod and transmits the signal to the control system, the screw of the ball screw pair stops rotating, and the spline shaft no longer rises , realize closing the valve and recovering the valve shaft in place;
  • the butt joint is in a non-conical shape.
  • the butt joint is in the shape of a pentagonal cone.
  • a valve opening wrench, the butt joint and the joint butt joint groove are inserted into place, or the butt joint is inserted into the universal sleeve, and the core rod of the universal sleeve is lifted up.
  • the control system drives the spline of the ball spline pair
  • the key shaft rotates.
  • the screw of the ball screw pair is also rotating, and the lifting and rotation are synchronized.
  • the spline shaft moves down and rotates with the valve shaft and the valve opening wrench.
  • the valve opening wrench drives the butt joint, and then drives the main valve core. Rotate downward, as shown in Figure 16, the sealing seat of the main valve is separated from the upper valve cover downward, the water in the spiral water intake valve flows into the water intake channel through the water intake channel, and the driving mechanism is closed so that the valve shaft does not rotate or move down. Complete the valve opening operation;
  • the driving mechanism drives the screw of the ball screw pair to rotate, the nut of the ball screw pair drives the spline shaft of the ball spline to move upward through the transmission connecting rod, and at the same time, the driving mechanism drives the spline of the ball spline
  • the key shaft rotates
  • the spline shaft rotates and moves upward with the valve shaft and the valve opening wrench, so that the butt joint of the spiral water intake valve rotates upward. If the ball spline drive motor and ball screw drive motor are selected, the current loop of the ball spline drive motor senses the current change, and the ball spline drive motor transmits the signal to the control system.
  • the drive motor plus clutch control at this time, the current loop of the total drive motor senses the current change and transmits the signal to the control system, the control system controls the clutch to disconnect, the second drive gear stops rotating, and then the ball spline pair stops rotating,
  • the key shaft continues to move up with the valve shaft and the valve opening wrench, the valve opening wrench is separated from the butt joint, the in-position probe rod is not squeezed, and the in-position probe rod moves down under the action of the spring back force of the limit spring, and the in-position sensor cannot sense the position
  • the probe rod and the valve opening wrench continue to move up until the valve closing sensor senses the induction block on the transmission connecting rod and transmits the signal to the control system, the screw of the ball screw pair stops rotating, and the spline shaft no longer rises to realize valve closing , the valve shaft is recovered in place.
  • connection seat of the spiral water intake valve of the present invention is provided with a permeable hole, one end of the permeable hole communicates with the guide groove, and the other end communicates with the water flow channel, so as to prevent the water in the guide groove from being too large when the main valve screw falls.
  • the spiral valve opening method has a simple structure, does not need to use springs, has a long service life, is maintenance-free, has no attenuation in performance, and has good sealing performance.
  • both the in-position sensor and the valve closing sensor can use proximity switches, which have fast response and stable performance.
  • the first sliding bar and the second sliding bar can use PTFE strips to reduce the friction between the hook plate frame and the fixed plate, so that the hook plate frame can move up and down more smoothly.
  • the structure of the present invention is simple, and two driving The motor or a driving motor cooperates with the clutch to realize the lifting and docking of the valve shaft and the screw switch valve.
  • the present invention has the advantages of ingenious structure, maintenance-free, automatic alignment, accurate and fast alignment, good sealing performance, long service life, no attenuation in performance, and low use cost.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Hydrology & Water Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Abstract

一种螺旋取水水阀（19）及消防机器人。螺旋取水水阀（19）包括阀体（111），阀体（111）内设有主阀芯（112），阀体（111）内设有螺旋取水机构（113），螺旋取水机构（113）包括对接接头（16）和连接座（115），主阀芯（112）包括主阀密封座（116）和主阀螺杆（117），阀体（111）的上阀盖（77）中间设有取水通道（123），对接接头（16）置于取水通道（123）内，主阀密封座（116）与上阀盖（77）密封连接，主阀螺杆（117）与连接座（115）螺纹连接。消防机器人包括底盘（14）和轨道（15），轨道（15）上至少设有一个上述所述的螺旋取水水阀（19），底盘（14）上设有开阀机构（100），开阀机构包括固定座（1）和阀轴（2），阀轴（2）上端设有升降旋转机构（6），阀轴（2）下端设有开阀扳手（7），开阀扳手（7）与对接接头（16）相配合插接,螺旋取水水阀（19）与开阀机构（100）之间设有密封对接机构（20）。可自动对位、对位准确、密封性好。

Description

螺旋取水水阀及消防机器人 技术领域
本发明涉及消防设备技术领域，具体是指一种螺旋取水水阀及消防机器人。
背景技术
现有的消防车或消防装置的水源通常来自消防储罐，水容量有限，本申请人于2021年7月21日申请了一篇公开号为CN113404872A，名称为轨道水阀的发明申请，轨道水阀，包括阀体，所述阀体内设有主阀芯，其特征在于：所述主阀芯内设有先开阀机构，所述先开阀机构包括先导阀、先导底座和先导弹簧，所述阀体内设有水流通道，阀体的上阀盖中间设有取水通道，所述主阀芯内设有先导阀，所述主阀芯包括主阀连接座和主阀导向座，所述主阀连接座上端与上阀盖下端密封相抵靠，所述主阀连接座内设有先导通道，所述主阀连接座下端与主阀导向座上端固定连接，所述主阀导向座上端外壁间隔设有进水孔，所述主阀导向座下端设有先导底座，所述主阀导向座内设有导向通道，所述导向通道、先导通道、取水通道这三个通道连通，导向通道经进水孔与水流通道连通，导向通道的直径大于先导通道的直径，所述先导阀上端伸出主阀连接座置于取水通道内，先导阀中部与先导通道密封滑动连接，先导阀下端伸入导向通道内与导向通道滑动连接，先导阀上端的外径小于先导阀中部的外径，先导阀下端设有先导弹簧，所述先导弹簧上端与先导阀下端面抵靠，下端与先导底座相抵靠，先导底座与主阀导向座固定连接，所述先导阀经按压后，先导阀挤压先导弹簧并向下移动，水流通道内的水经进水孔进入导向通道和先导通道并经取水通道流出，上述专利的不足是结构复杂，弹簧在反复使用过程中容易损坏、失去弹性，导致先导阀无法复位，阀体失去密封性，出现漏水现象，提高了阀体的维修成本和使用成本。
现有的消防取水机构通常比较复杂，如中国专利CN1695751B公开了一种轨道取水灭火水炮车，其主要由输水轨道和由驱动系统、对接取水系统、转向系统、控制系统、通讯系统构成的水炮车组成，其主要特征是：在输水轨道内装有水管，水管间隔装有单向阀片水阀，在轨道下平面开有水阀出水口，水管两边平行装有轨道，轨道上部装有导电条和定位片，侧面装有对接板其上有导片，两边轨道内装有水炮车车轮，车架上的步进电机装有驱动齿轮，并通过齿合的传动齿轮与固定在车轴上的车轮齿轮联动；水炮车车架中部装有导向管，导向管下部装有横转管，上部装有对接管，对接管内圈设计有往复油封槽，其管平面有阀片顶杆和密封垫，侧面有两个排齿，并与两个正向和反向涡轮齿轮杆齿合，涡轮齿轮杆另一侧的涡轮齿齿合在有正向和反向螺纹的蜗杆上，对接时蜗杆转动驱动两个正向和反向涡轮齿轮杆转 动，其驱动对接管上升顶开水阀完成对接，车辆由车架上的定位开关感知定位片位置，即水阀取水口对接位置，单向水阀盒底面出水口四周装有密封垫，阀片底面也装有密封垫，阀片中心有导向杆，串装在单片导向架和四边导向架中心的圆孔上，导向杆上串装有压簧，车架上装有信号对接板，其上有触点，其后装有凸轮轴和电机，在横转管上装有齿圈，其与固定在车架上的涡杆齿合，横转管中部装有纵转电机，电机轴上固定的涡轮通过传动轮驱动水炮管上的齿圈转动，在横转管上设计有排线槽并固定有排线，在排线槽水平位置装有卷线盒，盒中轴上装有卷线轮，内装有卷簧，卷线轮上缠有排线，卷线盒入口装有两个滑轮，卷线轮轴上的齿轮与正时齿轮啮合，其同轴装有凸轮，凸轮平行位置装有信号开关，卷线轮出线口装有螺旋导线，在轨道内装有齿条，水炮车步进电机轴上装有驱动齿轮与齿条啮合，电机轴上装有的同步轮通过同步皮带联动另一侧同步轮和驱动齿轮，水炮车前后装有水炮，其通过水管连通，水管中间装有对接管，上述专利的不足：一是上述专利结构复杂，采用蜗轮蜗杆传动驱动对接管上升顶开水阀完成对接，而蜗轮蜗杆传动发热量大，齿面容易磨损，长期处于水下，腐蚀会加剧磨损，设备成本高；二是采用车载对接管上升顶起顶启式水阀并压到带轨道的下平面上接通水源，但是轨道内的水压与水炮车车内的水压不同，直接顶开水阀取水，压力太大，操作费力，使用成本高；三是上述专利仅采用密封垫密封，结构简单，密封不稳定，轨道或者水炮车稍有晃动，密封就会失效，导致水流溢出，无法及时灭火。
发明内容
本发明的目的是为了解决现有技术不足，提供一种结构巧妙、免维护、可自动对位、对位准确快速、密封性好、使用寿命长且性能无衰减、使用成本低的螺旋取水水阀及消防机器人。
为实现上述目的，本发明所采用的技术方案是：
一种螺旋取水水阀，包括阀体，所述阀体内设有主阀芯，其特征在于：所述阀体内设有螺旋取水机构，所述螺旋取水机构包括对接接头和连接座，所述主阀芯包括主阀密封座和主阀螺杆，所述主阀密封座上端设有对接接头，下端与主阀螺杆固定连接，所述阀体的上阀盖中间设有取水通道，所述对接接头置于取水通道内，对接接头下端与主阀密封座固定连接，所述主阀密封座与上阀盖密封连接，所述主阀螺杆下端设有连接座，所述连接座中间设有导向槽，所述连接座下端设有透水孔，所述连接座下端与阀体的下阀盖密封固定连接，所述导向槽内壁设有螺纹，所述透水孔与导向槽相连通，所述主阀螺杆下端置于导向槽内与连接座螺纹连接，以利于消防设备与对接接头对接，然后带动对接接头旋转，使得主阀螺杆相对连接座向下移动，主阀密封座与上阀盖分开，水流从阀体内流出。
本发明所述主阀密封座上端面以主阀螺杆的轴线为圆心圆周阵列有导向块，所述导向块下端与主阀密封座固定连接，导向块的外端面由上向下向外倾斜，主阀密封座上升时，主阀密封座与上阀盖密封连接，导向块外壁与取水通道内壁相抵靠限位，以利于通过导向块与取水通道内壁接触抵靠，使得主阀芯可自动导正，方便对接。
本发明所述主阀密封座上端面设有导向环，所述导向环的外端面由上向下向外倾斜，所述导向环下端与主阀密封座固定连接，主阀密封座上升时，主阀密封座与上阀盖密封连接，导向环外壁与取水通道内壁相抵靠限位，以利于通过导向环与取水通道内壁接触抵靠，使得主阀芯可自动导正，快速对接。
本发明所述主阀螺杆和连接座之间设有连接套，所述连接套置于导向槽内，连接套外壁与导向槽固定连接，连接套内壁设有螺纹，连接套与主阀螺杆螺纹连接，以利于通过连接套保护连接座，连接套装拆方便。
本发明所述对接接头呈锥形或多边形状，以利于对接快速方便。
本发明所述主阀密封座上固定设有密封垫，所述主阀密封座经密封垫与阀体的上阀盖密封连接，以利于通过密封垫实现密封。
本发明所述密封垫呈套状，所述密封垫套在主阀密封座上与主阀密封座固定连接，所述主阀密封座上端经密封垫与上阀盖密封连接，以利于提高了主阀密封座与上阀盖的密封性。
一种消防机器人，包括底盘和轨道，所述底盘上设有控制仓和水炮，所述底盘下端设有行走机构，所述行走机构与轨道相配合，所述控制仓内设有控制系统，其特征在于：所述轨道上至少设有一个上述所述的螺旋取水水阀，所述螺旋取水水阀与轨道固定连接，所述底盘上设有开阀机构，所述开阀机构包括固定座和阀轴，所述固定座与底盘的机架固定连接，所述固定座内设有阀轴孔，所述固定座内设有进水通道，所述固定座一侧设有出水通道，所述出水通道一端与水炮的进水口连通，另一端与进水通道相连通，所述阀轴置于阀轴孔内与阀轴孔密封滑动连接，所述阀轴上端穿出固定座设有升降旋转机构，阀轴下端设有开阀扳手，所述阀轴与升降旋转机构连接，所述升降旋转机构与控制系统连接，所述开阀扳手上端与阀轴固定连接，下端伸出进水通道与螺旋取水水阀的对接接头相配合插接,开阀机构与螺旋取水水阀对接，进水通道与取水通道相连通，升降旋转机构驱动阀轴和开阀扳手，开阀扳手带动主阀芯旋转下移与上阀盖分离，使得轨道内的水经取水通道进入进水通道，再经出水通道进入水炮，实现消防作业，螺旋方式开启关闭水阀，免维护、使用寿命长且性能无衰减。
本发明所述螺旋取水水阀与开阀机构之间设有密封对接机构。
本发明所述密封对接机构包括滑动密封套、密封圈、左齿条板、右齿条板、固定架、 左齿轮、左齿轮轴、左蜗轮、右齿轮、右齿轮轴、右蜗轮、蜗杆轴和蜗杆电机，所述固定座外侧设有滑动密封套，所述滑动密封套内壁与固定座外壁密封滑动连接，所述滑动密封套下端固定设有密封圈，滑动密封套下落经密封圈与螺旋取水水阀的上阀盖相抵靠密封连接，所述滑动密封套左右两侧设有左齿条板和右齿条板，所述滑动密封套前后两侧分别设有固定架，固定架与机架固定连接，所述左齿条板右端与滑动密封套固定连接，左齿条板左端设有左齿轮，左齿轮与左齿条板上齿条相啮合，所述左齿轮固定在左齿轮轴上，所述左齿轮轴两端经轴承与两侧固定架固定连接，所述左齿轮轴一端穿出固定架固定设有左蜗轮，所述右齿条板左端与滑动密封套固定连接，右齿条板右端设有右齿轮，右齿轮与右齿条板上齿条相啮合，所述右齿轮固定在右齿轮轴上，所述右齿轮轴两端经轴承与两侧固定架固定连接，所述右齿轮轴一端穿出固定架固定设有右蜗轮，所述左蜗轮和右蜗轮上设有蜗杆轴，所述蜗杆轴上间隔固定有左螺旋齿和右螺旋齿，所述左螺旋齿的螺旋方向与右螺旋齿的螺旋方向相反，所述左螺旋齿与左蜗轮啮合，右螺旋齿与右蜗轮啮合，所述蜗杆轴两端经轴承与固定架固定连接，所述蜗杆轴一端穿出固定架由蜗杆电机驱动，所述蜗杆电机固定在机架上并与控制系统连接，以利于启动蜗杆电机，蜗杆电机驱动蜗杆轴，通过蜗轮蜗杆传动带动左齿轮和右齿轮旋转，进而带动左齿条板和右齿条板同步上下移动，实现滑动密封套的上下移动，当滑动密封套下端的密封圈抵在上阀盖上时，滑动密封套与螺旋取水水阀实现密封对接。
本发明所述螺旋取水水阀和开阀机构之间设有限位固定机构，所述限位固定机构包括勾板架、导向滑动机构、勾板、限位板和偏心轮，所述滑动密封套前方和后方分别设有勾板架，所述勾板架与固定架之间设有导向滑动机构，所述勾板架经导向滑动机构与固定架滑动连接，所述勾板架下端朝向滑动密封套中心延伸形成勾板，所述螺旋取水水阀的上阀盖前后两侧分别向外延伸形成限位板，所述勾板架上间隔设有限位轮孔，所述左齿轮轴前后两端分别固定设有偏心轮，所述右齿轮轴前后两端分别固定设有偏心轮，所述偏心轮置于限位轮孔内，当偏心轮的顶端由近心端转向远心端时，勾板架随偏心轮上移，勾板上端面与限位板下端面相抵靠实现固定架与螺旋取水水阀的限位固定连接，以利于启动蜗杆电机，蜗杆电机驱动蜗杆轴，通过蜗轮蜗杆传动带动左齿轮和右齿轮旋转，进而带动偏心轮转动，滑动密封套下移的同时勾板在偏心轮作用下上升，滑动密封套下端的密封圈抵在螺旋取水水阀的上阀盖时，勾板上端面与限位板下端面相抵靠固定，实现勾板与螺旋取水水阀的密封固定。
本发明所述阀轴轴向设有检测孔，所述阀轴内从上至下设有到位传感器和到位探杆，所述到位传感器与阀轴内壁密封固定连接，所述到位传感器下方设有到位探杆，所述到位传感器下方的阀轴内壁固定设有挡环，所述到位传感器与控制系统连接，所述到位探杆上部的 外径小于到位探杆中部的外径，所述到位探杆中部外径小于挡环的内径，所述到位探杆上部和挡环之间设有限位弹簧，所述限位弹簧呈挤压状套在到位探杆上部，所述到位探杆上端穿出限位弹簧、挡环置于到位传感器下方，所述到位探杆与阀轴滑动连接，所述到位探杆下端穿出阀轴与开阀扳手连接，所述开阀扳手与对接接头插接后，对接接头可驱动到位探杆向上移动，被到位传感器感应，实现对接到位。
本发明所述开阀扳手中间设有探杆孔，探杆孔与检测孔连通，开阀扳手下端设有接头对接凹槽，所述接头对接凹槽与对接接头相配合插接，所述接头对接凹槽上端与探杆孔相连通，所述到位探杆下部的外径小于到位探杆中部的外径，所述探杆孔小于到位探杆中部的外径，所述到位探杆下端穿过探杆孔置于接头对接凹槽内与对接接头相抵靠，以利于开阀扳手与对接接头对接到位时，对接接头顶着到位探杆上移，被到位传感器感应到，对接到位。
本发明所述开阀扳手下端外壁径向固定设有驱动块，所述主阀密封座上端固定设有挡块，开阀扳手与对接接头插接后，驱动块与挡块相抵靠，带动主阀密封座旋转和升降，以使得开阀扳手通过驱动块、挡块带动主阀芯同步运动。
本发明所述开阀扳手为万用套筒，所述到位探杆下端穿出阀轴与万用套筒的芯杆固定连接，以利于万用套筒与对接接头插接时，对接接头向上挤压万用套筒的芯杆，芯杆带着到位探杆上移，被到位传感器感应到，实现对接到位。
本发明所述升降旋转机构包括滚珠花键副、轴承、轴承座、花键带轮、滚珠丝杠副、传动连杆和驱动机构，所述阀轴上端设有滚珠花键副，所述阀轴上端与滚珠花键副的花键轴下端固定连接，所述花键轴上端经轴承与轴承座固定连接，所述滚珠花键副的花键轴螺母经轴承与固定座固定连接，所述花键轴螺母外壁固定设有花键带轮，所述轴承座一侧设有滚珠丝杠副，所述轴承座经传动连杆与滚珠丝杠副的螺母固定连接，所述滚珠丝杠副的螺杆经轴承、支架与固定座连接，所述花键带轮和滚珠丝杠副的螺杆分别由驱动机构驱动，以利于通过驱动机构驱动滚珠丝杠副的螺杆旋转，带动螺母上下运动，螺母经传动连杆带动花键轴和阀轴上下运动，阀轴带动开阀扳手下移，与螺旋轨道水阀对接，花键带轮由驱动机构驱动旋转，进而带动花键外筒旋转，实现花键轴的旋转，花键轴带动阀轴旋转，使得开阀扳手带动主阀密封座旋转，实现螺旋开关阀。
本发明所述驱动机构可以由滚珠丝杠驱动电机和滚珠花键驱动电机组成，滚珠丝杠驱动电机和滚珠花键驱动电机分别与控制系统连接，所述滚珠丝杠副的螺杆由滚珠丝杠驱动电机驱动，所述花键带轮经齿轮传动由滚珠花键驱动电机驱动，以利于通过滚珠丝杠驱动电机带动开阀扳手上下移动，通过滚珠花键驱动电机带动阀轴旋转，使得开阀扳手带动主阀密 封座旋转，实现螺旋开关阀。
本发明所述花键带轮经同步带连接有花键驱动带轮，所述花键驱动带轮固定在花键驱动带轮轴上，所述花键驱动带轮轴上安装有双向扭力限制器，所述双向扭力限制器与控制系统连接，以利于防止滚珠花键驱动电机过载。
本发明所述驱动机构也可以由总驱动电机、第一驱动齿轮、离合器、第二驱动齿轮、第一从动齿轮、同步带、花键驱动带轮、花键驱动带轮轴和第二从动齿轮组成，所述固定座一侧设有总驱动电机，所述总驱动电机与控制系统连接，所述总驱动电机经支架与固定座连接，所述总驱动电机的输出轴上间隔设有第一驱动齿轮和离合器，第一驱动齿轮与总驱动电机的输出轴固定连接，所述第一驱动齿轮与第一从动齿轮啮合，所述第一从动齿轮与滚珠丝杠副的螺杆固定连接，所述离合器与总驱动电机的输出轴固定连接，所述离合器与控制系统连接，所述离合器的输出轴上固定设有第二驱动齿轮，所述花键带轮经同步带连接有花键驱动带轮，所述花键驱动带轮固定在花键驱动带轮轴上，所述花键驱动带轮轴下端设有第二从动齿轮，所述第二从动齿轮与花键驱动带轮轴固定连接，所述第二从动齿轮与第二驱动齿轮相啮合，以利于总驱动电机驱动滚珠丝杠副的螺杆和花键带轮旋转，当不需要阀轴旋转时，启动离合器即可断开，使得花键驱动带轮轴不转动。
本发明所述阀轴孔下端固定设有密封板，所述阀轴与密封板密封连接，以利于防止水流进入阀轴孔和阀轴之间。
本发明所述滚珠丝杠副的螺杆经轴承、螺杆轴承座与支架固定连接，所述支架与固定座固定连接，所述螺杆上端的螺杆轴承座上设有收阀传感器，所述收阀传感器与控制系统连接，所述传动连杆上固定设有感应块，所述感应块与收阀传感器相配合，以利于当螺杆上升，阀轴回到到位时，感应块触碰到收阀传感器，收阀传感器感应到感应块，确定收阀到位。
本发明所述限位轮孔下端前后两侧分别设有限位挡板，限位挡板与勾板架固定连接，两个限位挡板与限位轮孔之间形成润滑油槽，所述润滑油槽内设有润滑油，偏心轮在转动时，偏心轮与润滑油槽内的润滑油相接触，以利于通过润滑油提高偏心轮转动的流畅性。
本发明所述勾板架上端至少设有一个下压机构，所述下压机构包括上连接座、下连接座和弹簧，所述勾板架上至少设有一个下连接座，所述下连接座与勾板架固定连接，所述下连接座上至少设有一个弹簧，所述固定架上设有上连接座，上连接座与固定架固定连接，上连接座与下连接座相对，弹簧呈压缩状态，弹簧一端与上连接座固定连接，另一端与下连接座固定连接，以利于当偏心轮带动勾板下移时，弹簧因挤压后张开推动勾板架向下，实现勾板与限位板分开。
本发明所述上连接座上至少设有一个开口向下的上弹簧槽，下连接座上至少设有一个开口向上的下弹簧槽，所述弹簧一端置于上弹簧槽内与上弹簧槽固定连接，另一端置于下弹簧槽内与下弹簧槽固定连接，以利于通过上、下弹簧槽来导向弹簧，防止弹簧歪斜。
本发明所述导向滑动机构包括第一滑动条和滑动限位块，所述固定架中间设有滑动限位块，所述勾板架中间设有导向槽，所述导向槽内壁左右两侧分别固定设有第一滑动条，所述滑动限位块置于导向槽内经第一滑动条与导向槽滑动连接，所述滑动限位块与固定架固定连接，以利于通过滑动限位块限位勾板架的位置，通过导向槽、滑动限位块和第一滑动条使得勾板架不能左右移动。
本发明所述导向滑动机构还包括前后限位滑动机构，所述前后限位滑动机构包括第二滑动条和滑动限位座，所述固定架两端分别设有滑动限位座，所述滑动限位座与固定架固定连接，所述滑动限位座与固定架之间设有朝向勾板架的开口限位槽，所述开口限位槽前后两侧分别固定设有第二滑动条，所述勾板架左右两端分别置于开口限位槽并经第二滑动条与开口限位槽滑动连接，以利于通过滑动限位座将勾板架前后限位，使得勾板架不能前后移动。
本发明所述螺旋取水水阀和开阀机构之间设有定位机构，所述定位机构包括定位块和定位接近传感器，所述螺旋取水水阀的上阀盖左右两端分别设有定位块，所述定位块与上阀盖固定连接，所述定位块上方的机架上设有定位接近传感器，所述定位接近传感器与定位块相配合，所述定位接近传感器与机架固定连接，所述定位接近传感器与控制系统连接，以利于当机架从螺旋取水水阀一侧靠近螺旋取水水阀时，螺旋取水水阀上左侧或右侧的定位块被机架上定位接近传感器感应到，机架开始减速，随着机架行进，当螺旋取水水阀上右侧或左侧的定位块被机架上定位接近传感器感应到时，机架停止。
本发明所述上阀盖上端面设有密封槽，密封圈下端嵌入密封槽内将滑动密封套与螺旋取水水阀密封连接，以利于通过密封槽限位固定密封圈，增加对接的稳定性。
本发明所述机架上固定设有视频对讲设备和火焰探测器，所述视频对讲设备和火焰探测器分别与控制系统连接，以利于方便及早感知火源。
本发明所述机架外侧固定设有保护罩，以利于保护机架上各部件。
本发明由于采用上述结构，具有结构巧妙、免维护、可自动对位、对位准确快速、密封性好、使用寿命长且性能无衰减、使用成本低等优点。
附图说明
图1是本发明中螺旋取水水阀的一种结构示意图。
图2是本发明图1中主阀芯的放大示意图。
图3是本发明中螺旋取水水阀的另一种结构示意图。
图4是本发明图3中主阀芯的放大示意图。
图5是本发明图3的剖视图。
图6是本发明中螺旋取水水阀的又一种结构示意图。
图7是本发明消防机器人的结构示意图。
图8是本发明图7去掉轨道的侧视图。
图9是本发明消防机器人去掉保护罩、螺旋取水水阀的结构示意图。
图10本发明消防机器人一个角度的剖视图。
图11是本发明消防机器人另一个角度的剖视图。
图12是本发明消防机器人中一种开阀扳手和对接接头、主阀芯的结构示意图。
图13是本发明消防机器人中另一种开阀扳手和对接接头、主阀芯的结构示意图。
图14是本发明图13的剖视图。
图15本发明开阀机构与螺旋取水水阀对接到位的结构示意图。
图16是本发明开阀机构与螺旋取水水阀对接后打开螺旋取水水阀的状态示意图。
图17是本发明密封对接机构的结构示意图。
图18是本发明图17的侧视剖视图。
图19是本发明中限位固定机构中勾板与限位板间隔相对的状态示意图。
图20是本发明中限位固定机构中勾板与限位板相抵靠的状态示意图。
图21是本发明中勾板架的结构示意图。
图22是本发明开阀机构的一种结构示意图。
图23是本发明图22的剖视图。
图24是本发明开阀机构的另一种结构示意图。
图25是本发明图24中驱动机构的剖视图。
图26是本发明开阀机构中开阀扳手为万用套筒的结构示意图。
附图标记：固定座1，阀轴2，进水通道3，出水通道4，阀轴孔5，升降旋转机构6，开阀扳手7，到位传感器8，到位探杆9，挡环10，限位弹簧11，接头对接凹槽12，万用套筒13，底盘14，轨道15，对接接头16，水炮17，行走机构18，螺旋取水水阀19，密封对接机构20，机架21，滑动密封套22，密封圈23，左齿条板24，右齿条板25，固定架26，左齿轮27，左齿轮轴28，左蜗轮29，右齿轮30，右蜗轮31，蜗杆轴32，蜗杆电机33，左螺旋齿34，右螺旋齿35，限位固定机构36，勾板架37，导向滑动机构38，勾板39，限位 板40，偏心轮41，限位轮孔42，下压机构43，上连接座44，下连接座45，弹簧46，滚珠花键副47，轴承座48，花键带轮49，滚珠丝杠副50，传动连杆51，驱动机构52，花键轴53，花键轴螺母54，螺母55，螺杆56，滚珠丝杠驱动电机57，滚珠花键驱动电机58，总驱动电机59，第一驱动齿轮60，第二驱动齿轮61，第一从动齿轮62，同步带63，花键驱动带轮64，花键驱动带轮轴65，第二从动齿轮66，离合器67，双向扭力限制器68，密封板69，螺杆轴承座70，收阀传感器71，视频对讲设备72，火焰探测器73，保护罩74，定位机构75，定位块76，上阀盖77，定位接近传感器78，驱动块79，挡块80，导向槽94，限位挡板95，前后限位滑动机构96，第一滑动条97，滑动限位块98，第二滑动条99，开阀机构100，滑动限位座101，阀体111，主阀芯112，螺旋取水机构113，导向环114，连接座115，主阀密封座116，主阀螺杆117，导向槽119，透水孔120，下阀盖121，导向块122，取水通道123，连接套124，密封垫125。
具体实施方式
下面结合附图，对本发明的具体实施方式作进一步详细描述。
一种螺旋取水水阀，包括阀体111，所述阀体111内设有主阀芯112，其特征在于：所述阀体111内设有螺旋取水机构113，所述螺旋取水机构113包括对接接头16和连接座115，所述主阀芯112包括主阀密封座116和主阀螺杆117，所述主阀密封座116上端设有对接接头16，下端与主阀螺杆117固定连接，所述阀体111的上阀盖77中间设有取水通道123，所述对接接头16置于取水通道123内，对接接头16下端与主阀密封座116固定连接，所述主阀密封座116与上阀盖77密封连接，所述主阀螺杆117下端设有连接座115，所述连接座115中间设有导向槽119，所述连接座115下端设有透水孔120，所述连接座115下端与阀体111的下阀盖121密封固定连接，所述导向槽119内壁设有螺纹，所述透水孔120与导向槽119相连通，所述主阀螺杆117下端置于导向槽119内与连接座115螺纹连接，以利于消防设备与对接接头对接，然后带动对接接头旋转，使得主阀螺杆相对连接座向下移动，主阀密封座与上阀盖分开，水流从阀体内流出。
本发明所述主阀密封座116上端面以主阀螺杆117的轴线为圆心圆周阵列有导向块122，所述导向块122下端与主阀密封座116固定连接，导向块122的外端面由上向下向外倾斜，所述上阀盖77中间的取水通道123呈圆形，主阀密封座116上升时，主阀密封座116与上阀盖77密封连接，导向块122外壁与取水通道123内壁相抵靠限位，以利于通过导向块与取水通道内壁接触抵靠，使得主阀芯可自动导正，方便对接。
本发明所述主阀密封座116上端面设有导向环114，所述导向环114的外端面由上向 下向外倾斜，所述导向环114下端与主阀密封座116固定连接，所述上阀盖77中间的取水通道123呈圆形，主阀密封座116上升时，主阀密封座116与上阀盖77密封连接，导向环114外壁与取水通道123内壁相抵靠限位，以利于通过导向环与取水通道内壁接触抵靠，使得主阀芯可自动导正，快速对接。
本发明所述主阀螺杆117和连接座115之间设有连接套124，所述连接套124置于导向槽119内，连接套124外壁与导向槽119固定连接，连接套124内壁设有螺纹，连接套124与主阀螺杆117螺纹连接，以利于通过连接套保护连接座，连接套装拆方便。
本发明所述对接接头16呈锥形或多边形状，对接接头16上端的外径小于对接接头16下端的外径，以利于对接快速方便。
本发明所述主阀密封座116上固定设有密封垫125，所述主阀密封座116经密封垫125与阀体111的上阀盖77密封连接，以利于通过密封垫实现密封。
本发明所述密封垫125呈套状，所述密封垫125套在主阀密封座116上与主阀密封座116固定连接，所述主阀密封座116上端经密封垫125与上阀盖77密封连接，以利于提高了主阀密封座与上阀盖的密封性。
一种消防机器人，包括底盘14和轨道15，所述底盘14上设有控制仓和水炮17，所述底盘14下端设有行走机构18，所述行走机构18与轨道15相配合，所述控制仓内设有控制系统，其特征在于：
所述轨道15上至少设有一个上述所述的螺旋取水水阀19，所述螺旋取水水阀19与轨道15固定连接，所述底盘14上设有开阀机构100，所述开阀机构100包括固定座1和阀轴2，所述固定座1与底盘14的机架21固定连接，所述固定座1内设有阀轴孔5，所述固定座1内设有进水通道3，所述固定座1一侧设有出水通道4，所述出水通道4一端与水炮17的进水口连通，另一端与进水通道3相连通，所述阀轴2置于阀轴孔5内与阀轴孔5密封滑动连接，所述阀轴2上端穿出固定座1设有升降旋转机构6，阀轴2下端设有开阀扳手7，所述阀轴2与升降旋转机构6连接，所述升降旋转机构6与控制系统连接，所述开阀扳手7上端与阀轴2固定连接，下端伸出进水通道3与螺旋取水水阀19的对接接头16相配合插接,开阀机构100与螺旋取水水阀19对接，进水通道3与取水通道123相连通，升降旋转机构6驱动阀轴2和开阀扳手7，开阀扳手7带动主阀芯112旋转下移与上阀盖118分离，使得轨道15内的水经取水通道123进入进水通道3，再经出水通道4进入水炮，实现消防作业，螺旋方式开启关闭水阀，免维护、使用寿命长且性能无衰减。
本发明所述螺旋取水水阀19与开阀机构100之间设有密封对接机构20。
本发明所述密封对接机构20包括滑动密封套22、密封圈23、左齿条板24、右齿条板25、固定架26、左齿轮27、左齿轮轴28、左蜗轮29、右齿轮30、右齿轮轴、右蜗轮31、蜗杆轴32和蜗杆电机33，所述固定座1外侧设有滑动密封套22，所述滑动密封套22内壁与固定座1外壁密封滑动连接，所述滑动密封套22下端固定设有密封圈23，滑动密封套22下落经密封圈23与螺旋取水水阀19的上阀盖77相抵靠密封连接，所述滑动密封套22左右两侧设有左齿条板24和右齿条板25，所述滑动密封套22前后两侧分别设有固定架26，固定架26与机架21固定连接，所述左齿条板24右端与滑动密封套22固定连接，左齿条板24左端设有左齿轮27，左齿轮27与左齿条板24上齿条相啮合，所述左齿轮27固定在左齿轮轴28上，所述左齿轮轴28两端经轴承与两侧固定架26固定连接，所述左齿轮轴28一端穿出固定架26固定设有左蜗轮29，所述右齿条板25左端与滑动密封套22固定连接，右齿条板25右端设有右齿轮30，右齿轮30与右齿条板25上齿条相啮合，所述右齿轮30固定在右齿轮轴上，所述右齿轮轴两端经轴承与两侧固定架26固定连接，所述右齿轮轴一端穿出固定架26固定设有右蜗轮31，所述左蜗轮29和右蜗轮31上设有蜗杆轴32，所述蜗杆轴32上间隔固定有左螺旋齿34和右螺旋齿35，所述左螺旋齿34的螺旋方向与右螺旋齿35的螺旋方向相反，所述左螺旋齿34与左蜗轮29啮合，右螺旋齿35与右蜗轮31啮合，所述蜗杆轴32两端经轴承与固定架26固定连接，所述蜗杆轴32一端穿出固定架26由蜗杆电机33驱动，所述蜗杆电机33固定在机架21上并与控制系统连接，以利于启动蜗杆电机，蜗杆电机驱动蜗杆轴，通过蜗轮蜗杆传动带动左齿轮和右齿轮旋转，进而带动左齿条板和右齿条板同步上下移动，实现滑动密封套的上下移动，当滑动密封套下端的密封圈抵在上阀盖上时，滑动密封套与螺旋取水水阀实现密封对接。
本发明所述螺旋取水水阀19和开阀机构100之间设有限位固定机构36，所述限位固定机构36包括勾板架37、导向滑动机构38、勾板39、限位板40和偏心轮41，所述滑动密封套22前方和后方分别设有勾板架37，所述勾板架37与固定架26之间设有导向滑动机构38，所述勾板架37经导向滑动机构38与固定架26滑动连接，所述勾板架37下端朝向滑动密封套22中心延伸形成勾板39，所述螺旋取水水阀19的上阀盖77前后两侧分别向外延伸形成限位板40，所述勾板架37上间隔设有限位轮孔42，所述左齿轮轴28前后两端分别固定设有偏心轮41，所述右齿轮轴前后两端分别固定设有偏心轮41，所述偏心轮41置于限位轮孔42内，当偏心轮41的顶端由近心端转向远心端时，勾板架37随偏心轮41上移，勾板39上端面与限位板40下端面相抵靠实现固定架26与螺旋取水水阀19的限位固定连接，以利于启动蜗杆电机，蜗杆电机驱动蜗杆轴，通过蜗轮蜗杆传动带动左齿轮和右齿轮旋转，进 而带动偏心轮转动，滑动密封套下移的同时勾板在偏心轮作用下上升，滑动密封套下端的密封圈抵在螺旋取水水阀的上阀盖时，勾板上端面与限位板下端面相抵靠固定，实现勾板与螺旋取水水阀的密封固定。
本发明所述阀轴2轴向设有检测孔，所述阀轴2内从上至下设有到位传感器8和到位探杆9，所述到位传感器8与阀轴2内壁密封固定连接，所述到位传感器8下方设有到位探杆9，所述到位传感器8下方的阀轴2内壁固定设有挡环10，所述到位传感器8与控制系统连接，所述到位探杆9上部的外径小于到位探杆9中部的外径，所述到位探杆9中部外径小于挡环10的内径，所述到位探杆9上部和挡环10之间设有限位弹簧11，所述限位弹簧11呈挤压状套在到位探杆9上部，所述到位探杆9上端穿出限位弹簧11、挡环10置于到位传感器8下方，所述到位探杆9与阀轴2滑动连接，所述到位探杆9下端穿出阀轴2与开阀扳手7连接，所述开阀扳手7与对接接头16插接后，对接接头16可驱动到位探杆9向上移动，被到位传感器8感应，实现对接到位。
本发明所述开阀扳手7中间设有探杆孔，探杆孔与检测孔连通，开阀扳手7下端设有接头对接凹槽12，所述接头对接凹槽12与对接接头16相配合插接，所述接头对接凹槽12上端与探杆孔相连通，所述到位探杆9下部的外径小于到位探杆9中部的外径，所述探杆孔小于到位探杆中部的外径，所述到位探杆9下端穿过探杆孔置于接头对接凹槽12内与对接接头16相抵靠，以利于开阀扳手与对接接头对接到位时，对接接头顶着到位探杆上移，被到位传感器感应到，对接到位。
本发明所述开阀扳手7下端外壁径向固定设有驱动块79，所述主阀密封座116上端固定设有挡块80，开阀扳手7与对接接头16插接后，驱动块79与挡块80相抵靠，带动主阀密封座116旋转和升降，以使得开阀扳手通过驱动块、挡块带动主阀芯同步运动。
本发明所述开阀扳手7为万用套筒13，所述到位探杆9下端穿出阀轴2与万用套筒13的芯杆固定连接，以利于万用套筒与对接接头插接时，对接接头向上挤压万用套筒的芯杆，芯杆带着到位探杆上移，被到位传感器感应到，实现对接到位。
本发明所述升降旋转机构6包括滚珠花键副47、轴承、轴承座48、花键带轮49、滚珠丝杠副50、传动连杆51和驱动机构52，所述阀轴2上端设有滚珠花键副47，所述阀轴2上端与滚珠花键副47的花键轴53下端固定连接，所述花键轴53上端经轴承与轴承座48固定连接，所述滚珠花键副47的花键轴螺母54经轴承与固定座1固定连接，所述花键轴螺母54外壁固定设有花键带轮49，所述轴承座48一侧设有滚珠丝杠副50，所述轴承座48经传动连杆51与滚珠丝杠副50的螺母55固定连接，所述滚珠丝杠副50的螺杆56经轴承、支 架与固定座1连接，所述花键带轮49和滚珠丝杠副50的螺杆56分别由驱动机构52驱动，以利于通过驱动机构驱动滚珠丝杠副的螺杆旋转，带动螺母上下运动，螺母经传动连杆带动花键轴和阀轴上下运动，阀轴带动开阀扳手下移，与螺旋轨道水阀对接，花键带轮由驱动机构驱动旋转，进而带动花键外筒旋转，实现花键轴的旋转，花键轴带动阀轴旋转，使得开阀扳手带动主阀密封座旋转，实现螺旋开关阀。
本发明所述驱动机构52可以由滚珠丝杠驱动电机57和滚珠花键驱动电机58组成，滚珠丝杠驱动电机57和滚珠花键驱动电机58分别与控制系统连接，所述滚珠丝杠副50的螺杆56由滚珠丝杠驱动电机57驱动，所述花键带轮49经齿轮传动由滚珠花键驱动电机58驱动，以利于通过滚珠丝杠驱动电机带动开阀扳手上下移动，通过滚珠花键驱动电机带动阀轴旋转，使得开阀扳手带动主阀密封座旋转，实现螺旋开关阀。
本发明所述花键带轮49经同步带63连接有花键驱动带轮64，所述花键驱动带轮64固定在花键驱动带轮轴65上，所述花键驱动带轮轴65上安装有双向扭力限制器68，所述双向扭力限制器68与控制系统连接，以利于防止滚珠花键驱动电机过载。
本发明所述驱动机构52也可以由总驱动电机59、第一驱动齿轮60、离合器67、第二驱动齿轮61、第一从动齿轮62、同步带63、花键驱动带轮64、花键驱动带轮轴65和第二从动齿轮66组成，所述固定座1一侧设有总驱动电机59，所述总驱动电机59与控制系统连接，所述总驱动电机59经支架与固定座1连接，所述总驱动电机59的输出轴上间隔设有第一驱动齿轮60和离合器67，第一驱动齿轮60与总驱动电机59的输出轴固定连接，所述第一驱动齿轮60与第一从动齿轮62啮合，所述第一从动齿轮62与滚珠丝杠副50的螺杆56固定连接，所述离合器67与总驱动电机59的输出轴固定连接，所述离合器67与控制系统连接，所述离合器67的输出轴上固定设有第二驱动齿轮61，所述花键带轮49经同步带63连接有花键驱动带轮64，所述花键驱动带轮64固定在花键驱动带轮轴65上，所述花键驱动带轮轴65下端设有第二从动齿轮66，所述第二从动齿轮66与花键驱动带轮轴65固定连接，所述第二从动齿轮66与第二驱动齿轮61相啮合，以利于总驱动电机驱动滚珠丝杠副的螺杆和花键带轮旋转，当不需要阀轴旋转时，启动离合器即可断开，使得花键驱动带轮轴不转动。
本发明所述阀轴孔5下端固定设有密封板69，所述阀轴2与密封板69密封连接，以利于防止水流进入阀轴孔和阀轴之间。
本发明所述滚珠丝杠副50的螺杆56经轴承、螺杆轴承座70与支架固定连接，所述支架与固定座1固定连接，所述螺杆56上端的螺杆轴承座70上设有收阀传感器71，所述 收阀传感器71与控制系统连接，所述传动连杆51上固定设有感应块，所述感应块与收阀传感器71相配合，以利于当螺杆上升，阀轴回到到位时，感应块触碰到收阀传感器，收阀传感器感应到感应块，确定收阀到位。
本发明所述限位轮孔42下端前后两侧分别设有限位挡板95，限位挡板95与勾板架37固定连接，两个限位挡板95与限位轮孔42之间形成润滑油槽，所述润滑油槽内设有润滑油，偏心轮41在转动时，偏心轮41与润滑油槽内的润滑油相接触，以利于通过润滑油提高偏心轮转动的流畅性。
本发明所述勾板架37上端至少设有一个下压机构43，所述下压机构43包括上连接座44、下连接座45和弹簧46，所述勾板架37上至少设有一个下连接座45，所述下连接座45与勾板架37固定连接，所述下连接座45上至少设有一个弹簧46，所述固定架26上设有上连接座44，上连接座44与固定架26固定连接，上连接座44与下连接座45相对，弹簧46呈压缩状态，弹簧46一端与上连接座44固定连接，另一端与下连接座45固定连接，以利于当偏心轮带动勾板下移时，弹簧因挤压后张开推动勾板架向下，实现勾板与限位板分开。
本发明所述上连接座44上至少设有一个开口向下的上弹簧槽，下连接座45上至少设有一个开口向上的下弹簧槽，所述弹簧46一端置于上弹簧槽内与上弹簧槽固定连接，另一端置于下弹簧槽内与下弹簧槽固定连接，以利于通过上、下弹簧槽来导向弹簧，防止弹簧歪斜。
本发明所述导向滑动机构38包括第一滑动条97和滑动限位块98，所述固定架26中间设有滑动限位块98，所述勾板架37中间设有导向槽94，所述导向槽94内壁左右两侧分别固定设有第一滑动条97，所述滑动限位块98置于导向槽94内经第一滑动条97与导向槽94滑动连接，所述滑动限位块98与固定架26固定连接，以利于通过滑动限位块限位勾板架的位置，通过导向槽、滑动限位块和第一滑动条使得勾板架不能左右移动。
本发明所述导向滑动机构38还包括前后限位滑动机构96，所述前后限位滑动机构96包括第二滑动条99和滑动限位座101，所述固定架26两端分别设有滑动限位座101，所述滑动限位座101与固定架26固定连接，所述滑动限位座101与固定架26之间设有朝向勾板架37的开口限位槽，所述开口限位槽前后两侧分别固定设有第二滑动条99，所述勾板架37左右两端分别置于开口限位槽并经第二滑动条99与开口限位槽滑动连接，以利于通过滑动限位座将勾板架前后限位，使得勾板架不能前后移动。
本发明所述螺旋取水水阀19和开阀机构100之间设有定位机构75，所述定位机构75包括定位块76和定位接近传感器78，所述螺旋取水水阀19的上阀盖77左右两端分别设 有定位块76，所述定位块76与上阀盖77固定连接，所述定位块76上方的机架21上设有定位接近传感器78，所述定位接近传感器78与定位块76相配合，所述定位接近传感器78与机架21固定连接，所述定位接近传感器78与控制系统连接，以利于当机架从螺旋取水水阀一侧靠近螺旋取水水阀时，螺旋取水水阀上左侧或右侧的定位块被机架上定位接近传感器感应到，机架开始减速，随着机架行进，当螺旋取水水阀上右侧或左侧的定位块被机架上定位接近传感器感应到时，机架停止。
本发明所述上阀盖77上端面设有密封槽，密封圈23下端嵌入密封槽内将滑动密封套22与螺旋取水水阀19密封连接，以利于通过密封槽限位固定密封圈，增加对接的稳定性。
本发明所述机架21上固定设有视频对讲设备72和火焰探测器73，所述视频对讲设备72和火焰探测器73分别与控制系统连接，以利于方便及早感知火源。
本发明所述机架21外侧固定设有保护罩74，以利于保护机架上各部件。
如附图1-26，本发明中的螺旋取水水阀，阀体内设有水流通道，水流通道与轨道内的水流连通，阀体的上阀盖中间设有取水通道，当主阀密封座与上阀盖分开时，水流通道与取水通道连通实现取水，本发明中对接接头呈锥形或多边形状，锥形可以是圆锥形也可以是非圆锥形，根据对接接头的形状可分成三类结构：第一类是对接接头呈圆锥状，如附图1、附图2和附图12；第二类是对接接头呈非圆锥状，本实施例中，如附图13-16，对接接头呈五角锥状；第三类是对接接头呈多边形状，如附图3-附图5；
本发明螺旋取水水阀中，主阀密封座与上阀盖之间的密封垫的结构有两种：一种如附图5，主阀密封座上端设有密封垫，密封垫呈环形，主阀密封座上端面设置一个密封槽来放置密封垫，主阀密封座经密封垫与上阀盖下端面挤压密封连接，这种密封方式不受高度限制，主阀密封座上升后触碰到上阀盖即可实现密封；另一种如附图6所示，密封垫呈套状，密封垫从上至下包裹着主阀密封座，密封垫可采用现有技术中的硫化工艺固定在主阀密封座，或者通过螺栓、固定板压紧固定在主阀密封座上，根据需要选择即可，这种形状的密封垫，大大提高了主阀密封座与上阀盖的密封性，而且密封垫不容易移动或掉落，密封垫与主阀密封座的接触面积比较小，摩擦也小，上述密封方式，根据需要选择即可，两种密封方式使用的对接接头的形状不限。
如附图22-附图26为本发明中的开阀机构，开阀机构的驱动机构有两种方式，一种如附图22和附图23采用滚珠丝杠驱动电机驱动滚珠丝杠副，带动阀轴上下移动，采用滚珠花键驱动电机驱动滚珠花键副带动阀轴旋转，滚珠花键驱动电机上可安装双向扭力限制器，保护滚珠花键驱动电机，双向扭力限制器、滚珠花键驱动电机和滚珠丝杠驱动电机分别与控 制系统连接，控制系统如PLC控制系统；另一种驱动方式如附图24和附图25，滚珠丝杠副和滚珠花键副均由总驱动电机通过齿轮联动来驱动，通过离合器来控制滚珠花键副是否使用，总驱动电机和离合器分别由控制系统控制，两种驱动方式根据需要设置即可；本发明中到位传感器与控制系统连接。
本发明中根据对接接头的形状，给出了三种开阀扳手结构，开阀扳手与对接接头相配合，可带动主阀芯旋转和上下移动，
第一种开阀扳手的结构，如附图10和附图12，开阀扳手下端设有接头对接凹槽，接头对接凹槽是圆锥状的，接头对接凹槽上端的内径小于接头对接凹槽下端的内径，开阀扳手外壁间隔设置驱动块，这种开阀扳手对应的是第一类对接接头，即对接接头呈圆锥状，因为开阀扳手的接头对接凹槽呈圆锥状，对接接头也呈圆锥状，所以开阀扳手可相对对接接头转动，如附图1、附图2和附图12，对接接头外侧间隔设置挡块，挡块固定在主阀密封座上，当阀芯插入接头对接凹槽内时，可转动开阀扳手，开阀扳手相对对接接头旋转，使得驱动块与挡块相抵靠，带动挡块进而带动主阀密封座转动和移动，这种结构对接方便、快速、准确性高；
第二种开阀扳手的结构，开阀扳手下端设有接头对接凹槽，接头对接凹槽为不是圆锥状的，可以是多角锥状或者是多边形状，对应的是第二类对接接头和第三类对接接头，接头对接凹槽的形状与对接接头的形状相配合，本实施例中，如附图23、附图13-附图16，接头对接凹槽呈五角锥状，接头对接凹槽上端的内径小于接头对接凹槽下端的内径，相应的，如附图13，螺旋取水水阀的对接接头也呈五角锥状，与接头对接凹槽相配合插接限位，对接接头随开阀扳手旋转和上下移动，
上面两种结构，等对接接头进入接头对接凹槽后，对接接头上端会触碰并顶起到位探杆，到位探杆上升挤压弹簧，到位探杆上端被到位传感器感应到，将信号传递给控制系统，实现对接到位；
第三种开阀扳手的结构，如附图26，开阀扳手为万用套筒，万用套筒可配合不同角度、不同形状的螺旋取水水阀的对接接头，对接接头的形状不限，只要对接接头能够插入万用套筒，被万用套筒固定，对接接头可顶起万用套筒的芯杆即可，对位准确快速，可一次完成对位，对接接头进入万用套筒内，对接接头顶着万用套筒的芯杆上移，芯杆带动到位探杆上移，到位探杆上升挤压弹簧，到位探杆上端被到位传感器感应到，将信号传递给控制系统，实现对接到位，三种开阀扳手根据需要选择设置即可。
如附图7-附图16为本发明中消防机器人的结构示意图，本发明在使用时，将开阀机构安装到底盘的机架上，底盘上设置行走机构，行走机构与轨道配合，消防机器人两侧的行 走轮分别夹持在轨道内侧，使得行走轮与轨道贴紧，方便消防机器人行走，一个轨道上可设置多个螺旋取水水阀，本发明中轨道可以设置在上方，开阀机构设置在下方，也可以开阀机构设置在上方，轨道设置在下方，当轨道设置在上方，开阀机构设置在下方时，行走轮中间可设置凹槽，如附图8，相应的轨道位于行走轮凹槽处可设置凸起，方便行走轮挂在轨道上，将底盘与轨道限位连接，防止消防机器人掉落，轨道和开阀机构之间的位置关系，可根据实际需求设置，本实施例以开阀机构在上方，轨道在下方来描述，
使用时，消防机器人的行走机构在轨道上行走巡查，当火焰探测器探测到火情时，将信号传递给控制系统，控制系统通过定位机构感应螺旋取水水阀，具体来说上阀盖左端和右端设置了两块定位块，机架上也相应地设置了左右两个定位接近传感器，当机架从螺旋取水水阀一侧靠近时，比如螺旋取水水阀的左侧，上阀盖左端的定位块被机架右侧的定位接近传感器感应到，机架开始减速，随着机架由左向右行进，上阀盖右端的定位块被机架右侧的定位接近传感器感应到，与此同时，上阀盖左端的定位块被机架左侧的定位接近传感器感应到，机架停止移动，与螺旋取水水阀开始对接；启动密封对接机构，控制系统启动蜗轮电机，蜗杆电机驱动蜗杆轴，通过蜗轮蜗杆传动带动左齿轮顺时针旋转，右齿轮逆时针旋转，进而带动左齿条板和右齿条板同步向下移动，当滑动密封套下端的密封圈抵在螺旋取水水阀的上端面时，滑动密封套与螺旋取水水阀实现对接，如附图11，与此同时，左齿轮轴顺时针旋转，右齿轮轴逆时针旋转，带动偏心轮的顶端由近心端向远心端转动，如附图19，勾板架随着偏心轮带动而上升，勾板架带动勾板上升，如附图20，勾板勾住限位板，使得固定架与螺旋取水水阀位置固定，完成机架与螺旋取水水阀对接；根据选择的驱动方式，先驱动滚珠丝杠副的螺杆旋转，滚珠丝杠副的螺母通过传动连杆带动滚珠花键的花键轴向下移动，花键轴带着阀轴、开阀扳手向下移动，螺旋取水水阀的对接接头进入开阀扳手内，当到位传感器感应到到位探杆时，将信号传递给控制系统，下面的步骤根据不同形状的对接接头有不同的开阀和关阀方式，
当螺旋取水水阀采用第一类对接接头时，即对接接头呈圆锥状，如附图1和附图2，此时开阀机构选用第一种开阀扳手，即开阀扳手的接头对接凹槽也是圆锥状的，如附图12，阀芯与接头对接凹槽插接到位后，控制系统控制滚珠丝杠副的螺杆停止转动，开阀扳手不在下移，此时，控制系统驱动滚珠花键副的花键轴旋转，带动开阀扳手旋转，使得开阀扳手外侧的驱动块一面与阀芯外侧的挡块相抵靠，然后控制系统在驱动滚珠丝杠副，使得升降与旋转同步，花键轴带着阀轴、开阀扳手下移并旋转，开阀扳手通过驱动块带着挡块转动和下移，进而促使主阀芯旋转下移，直到螺旋取水水阀的主阀密封座与上阀盖分开，螺旋取水水阀内的水流 进入进水通道，关闭驱动机构，使得阀轴不在转动也不在下移，完成开阀作业；
这种方式关阀时，控制系统先驱动滚珠花键的花键轴反向旋转，使得开阀扳手相对挡块反向转动，使得开阀扳手外侧的驱动块另一面与挡块相抵靠，继续驱动滚珠花键的花键轴旋转，与此同时，同步驱动滚珠丝杠的螺杆旋转，使得开阀扳手带着对接接头旋转上移，当主阀密封座上端与上阀盖下端抵靠时，此时，根据选择的驱动机构，如果选择的是滚珠花键驱动电机和滚珠丝杠驱动电机，则此时滚珠花键驱动电机的电流环感应到电流变化，滚珠花键驱动电机将信号传递给控制系统，如果滚珠花键驱动电机上安装双向扭力限制器，则此时双向扭力限制器达到限定扭矩断开，双向扭力限制器将信号传递给控制系统，控制系统停止驱动滚珠花键驱动电机，如果选择的是总驱动电机加离合器控制，此时，总驱动电机的电流环感应到电流变化，将信号传递给控制系统，控制系统控制离合器断开，第二驱动齿轮停止转动，进而滚珠花键副停止转动，花键轴继续带着阀轴和开阀扳手上移，开阀扳手与对接接头分离，到位探杆不受挤压，到位探杆在限位弹簧回弹力作用下下移，到位传感器感应不到到位探杆，开阀扳手继续上移，直到收阀传感器感应到传动连杆上的感应块，将信号传递给控制系统，滚珠丝杠副的螺杆停止转动，花键轴不再上升，实现关阀，阀轴回收到位；
当螺旋取水水阀采用第二类对接接头时，即对接接头呈非圆锥状，本实施例中给出了对接接头呈五角锥状，此时开阀机构选用第二种开阀扳手或第三种开阀扳手，对接接头与接头对接凹槽插接到位，或者对接接头插入万用套筒，将万用套筒的芯杆顶起，对接到位后，控制系统同时驱动滚珠花键副的花键轴旋转，此时，滚珠丝杠副的螺杆也在旋转，升降和旋转同步，花键轴带着阀轴、开阀扳手下移并旋转，开阀扳手带动对接接头，进而带动主阀芯旋转向下，如附图16，主阀密封座向下与上阀盖分开，螺旋取水水阀内的水流经取水通道进入进水通道，关闭驱动机构，使得阀轴不在转动也不在下移，完成开阀作业；
这种方式关阀时，驱动机构驱动滚珠丝杠副的螺杆旋转，滚珠丝杠副的螺母通过传动连杆带动滚珠花键的花键轴向上移动，同时，驱动机构驱动滚珠花键的花键轴旋转，花键轴带着阀轴、开阀扳手旋转并上移，使得螺旋取水水阀的对接接头旋转向上，当主阀密封座上端与上阀盖下端抵靠时，此时，根据选择的驱动机构，如果选择的是滚珠花键驱动电机和滚珠丝杠驱动电机，则此时滚珠花键驱动电机的电流环感应到电流变化，滚珠花键驱动电机将信号传递给控制系统，如果滚珠花键驱动电机上安装双向扭力限制器，则此时双向扭力限制器达到限定扭矩断开，双向扭力限制器将信号传递给控制系统，控制系统停止驱动滚珠花键驱动电机，如果选择的是总驱动电机加离合器控制，此时，总驱动电机的电流环感应到电流变化，将信号传递给控制系统，控制系统控制离合器断开，第二驱动齿轮停止转动，进而滚珠花键 副停止转动，花键轴继续带着阀轴和开阀扳手上移，开阀扳手与对接接头分离，到位探杆不受挤压，到位探杆在限位弹簧回弹力作用下下移，到位传感器感应不到到位探杆，开阀扳手继续上移，直到收阀传感器感应到传动连杆上的感应块，将信号传递给控制系统，滚珠丝杠副的螺杆停止转动，花键轴不再上升，实现关阀，阀轴回收到位。
本发明螺旋取水水阀中连接座上设有透水孔，透水孔一端与导向槽连通，另一端与水流通道连通，防止主阀螺杆下落时，导向槽内水多，主阀螺杆下落压力过大，螺旋开阀方式结构简单，不需要使用弹簧，使用寿命长，免维护，且性能无衰减，密封性好，本发明中到位传感器、收阀传感器均可采用接近开关，响应快，性能稳定，本发明中第一滑动条和第二滑动条可采用四氟条，以降低勾板架和固定板之间的摩擦作用，使得勾板架上下移动更加顺畅，本发明结构简单，采用两个驱动电机或者一个驱动电机配合离合器即可实现阀轴的升降对接和螺旋开关阀，相比现有技术中直接顶开的开阀取水方式来说，密封性好，不漏水，而且通过调整电机的转速，可以实现不同导程的螺旋运动，旋转开阀，降低了开阀压力，采用定位机构、密封对接机构和限位固定机构，能够自主对接轨道上的螺旋取水水阀、对接准确、密封性好、自动开阀、灭火及时、使用寿命长。
本发明由于采用上述结构，具有结构巧妙、免维护、可自动对位、对位准确快速、密封性好、使用寿命长且性能无衰减、使用成本低等优点。

Claims (24)

  1. 一种螺旋取水水阀，包括阀体(111)，所述阀体(111)内设有主阀芯(112)，其特征在于：所述阀体(111)内设有螺旋取水机构(113)，所述螺旋取水机构(113)包括对接接头(16)和连接座(115)，所述主阀芯(112)包括主阀密封座(116)和主阀螺杆(117)，所述主阀密封座(116)上端设有对接接头(16)，下端与主阀螺杆(117)固定连接，所述阀体(111)的上阀盖(77)中间设有取水通道(123)，所述对接接头(16)置于取水通道(123)内，对接接头(16)下端与主阀密封座(116)固定连接，所述主阀密封座(116)与上阀盖(77)密封连接，所述主阀螺杆(117)下端设有连接座(115)，所述连接座(115)中间设有导向槽(119)，所述连接座(115)下端设有透水孔(120)，所述连接座(115)下端与阀体(111)的下阀盖(121)密封固定连接，所述导向槽(119)内壁设有螺纹，所述透水孔(120)与导向槽(119)相连通，所述主阀螺杆(117)下端置于导向槽(119)内与连接座(115)螺纹连接。
  2. 根据权利要求1所述的一种螺旋取水水阀，其特征在于：所述主阀密封座(116)上端面设有导向环(114)，所述导向环(114)的外端面由上向下向外倾斜，所述导向环(114)下端与主阀密封座(116)固定连接，主阀密封座(116)上升时，主阀密封座(116)与上阀盖(77)密封连接，导向环(114)外壁与取水通道(123)内壁相抵靠限位。
  3. 根据权利要求1或2所述的一种螺旋取水水阀，其特征在于：所述主阀螺杆(117)和连接座(115)之间设有连接套(124)，所述连接套(124)置于导向槽(119)内，连接套(124)外壁与导向槽(119)固定连接，连接套(124)内壁设有螺纹，连接套(124)与主阀螺杆(117)螺纹连接。
  4. 根据权利要求1或2所述的一种螺旋取水水阀，其特征在于：所述主阀密封座(116)上固定设有密封垫(125)，所述主阀密封座(116)经密封垫(125)与阀体(111)的上阀盖(77)密封连接。
  5. 根据权利要求4所述的一种螺旋取水水阀，其特征在于：所述密封垫(125)呈套状，所述密封垫(125)套在主阀密封座(116)上与主阀密封座(116)固定连接，所述主阀密封座(116)上端经密封垫(125)与上阀盖(77)密封连接。
  6. 一种消防机器人，包括底盘(14)和轨道(15)，所述底盘(14)上设有控制仓和水炮(17)，所述底盘(14)下端设有行走机构(18)，所述行走机构(18)与轨道(15)相配合，所述控制仓内设有控制系统，其特征在于：所述轨道(15)上至少设有一个上述权利要求1或2或5所述的螺旋取水水阀(19)，所述螺旋取水水阀(19)与轨道(15)固定连接，所述底盘(14)上设有开阀机构(100)，所述开阀机构(100)包括固定座(1)和阀轴(2)， 所述固定座(1)与底盘(14)的机架(21)固定连接，所述固定座(1)内设有阀轴孔(5)，所述固定座(1)内设有进水通道(3)，所述固定座(1)一侧设有出水通道(4)，所述出水通道(4)一端与水炮(17)的进水口连通，另一端与进水通道(3)相连通，所述阀轴(2)置于阀轴孔(5)内与阀轴孔(5)密封滑动连接，所述阀轴(2)上端穿出固定座(1)设有升降旋转机构(6)，阀轴(2)下端设有开阀扳手(7)，所述阀轴(2)与升降旋转机构(6)连接，所述升降旋转机构(6)与控制系统连接，所述开阀扳手(7)上端与阀轴(2)固定连接，下端伸出进水通道(3)与螺旋取水水阀(19)的对接接头(16)相配合插接，开阀机构(100)与螺旋取水水阀(19)对接，进水通道(3)与取水通道123相连通，升降旋转机构(6)驱动阀轴(2)和开阀扳手(7)，开阀扳手(7)带动主阀芯(112)旋转下移与上阀盖(118)分离，使得轨道(15)内的水经取水通道(123)进入进水通道(3)，再经出水通道(4)进入水炮，实现消防作业。
  7. 根据权利要求6所述的一种消防机器人，其特征在于：所述螺旋取水水阀(19)与开阀机构(100)之间设有密封对接机构(20)。
  8. 根据权利要求7所述的一种消防机器人，其特征在于：所述密封对接机构(20)包括滑动密封套(22)、密封圈(23)、左齿条板(24)、右齿条板(25)、固定架(26)、左齿轮(27)、左齿轮轴(28)、左蜗轮(29)、右齿轮(30)、右齿轮轴、右蜗轮(31)、蜗杆轴(32)和蜗杆电机(33)，所述固定座(1)外侧设有滑动密封套(22)，所述滑动密封套(22)内壁与固定座(1)外壁密封滑动连接，所述滑动密封套(22)下端固定设有密封圈(23)，滑动密封套(22)下落经密封圈(23)与螺旋取水水阀(19)的上阀盖(77)相抵靠密封连接，所述滑动密封套(22)左右两侧设有左齿条板(24)和右齿条板(25)，所述滑动密封套(22)前后两侧分别设有固定架(26)，固定架(26)与机架(21)固定连接，所述左齿条板(24)右端与滑动密封套(22)固定连接，左齿条板(24)左端设有左齿轮(27)，左齿轮(27)与左齿条板(24)上齿条相啮合，所述左齿轮(27)固定在左齿轮轴(28)上，所述左齿轮轴(28)两端经轴承与两侧固定架(26)固定连接，所述左齿轮轴(28)一端穿出固定架(26)固定设有左蜗轮(29)，所述右齿条板(25)左端与滑动密封套(22)固定连接，右齿条板(25)右端设有右齿轮(30)，右齿轮(30)与右齿条板(25)上齿条相啮合，所述右齿轮(30)固定在右齿轮轴上，所述右齿轮轴两端经轴承与两侧固定架(26)固定连接，所述右齿轮轴一端穿出固定架(26)固定设有右蜗轮(31)，所述左蜗轮(29)和右蜗轮(31)上设有蜗杆轴(32)，所述蜗杆轴(32)上间隔固定有左螺旋齿(34)和右螺旋齿(35)，所述左螺旋齿(34)的螺旋方向与右螺旋齿(35)的螺旋方向相 反，所述左螺旋齿(34)与左蜗轮(29)啮合，右螺旋齿(35)与右蜗轮(31)啮合，所述蜗杆轴(32)两端经轴承与固定架(26)固定连接，所述蜗杆轴(32)一端穿出固定架(26)由蜗杆电机(33)驱动，所述蜗杆电机(33)固定在机架(21)上并与控制系统连接。
  9. 根据权利要求8所述的一种消防机器人，其特征在于：所述螺旋取水水阀(19)和开阀机构(100)之间设有限位固定机构(36)，所述限位固定机构(36)包括勾板架(37)、导向滑动机构(38)、勾板(39)、限位板(40)和偏心轮(41)，所述滑动密封套(22)前方和后方分别设有勾板架(37)，所述勾板架(37)与固定架(26)之间设有导向滑动机构(38)，所述勾板架(37)经导向滑动机构(38)与固定架(26)滑动连接，所述勾板架(37)下端朝向滑动密封套(22)中心延伸形成勾板(39)，所述螺旋取水水阀(19)的上阀盖(77)前后两侧分别向外延伸形成限位板(40)，所述勾板架(37)上间隔设有限位轮孔(42)，所述左齿轮轴(28)前后两端分别固定设有偏心轮(41)，所述右齿轮轴前后两端分别固定设有偏心轮(41)，所述偏心轮(41)置于限位轮孔(42)内，当偏心轮(41)的顶端由近心端转向远心端时，勾板架(37)随偏心轮(41)上移，勾板(39)上端面与限位板(40)下端面相抵靠实现固定架(26)与螺旋取水水阀(19)的限位固定连接。
  10. 根据权利要求6所述的一种消防机器人，其特征在于：所述阀轴(2)轴向设有检测孔，所述阀轴(2)内从上至下设有到位传感器(8)和到位探杆(9)，所述到位传感器(8)与阀轴(2)内壁密封固定连接，所述到位传感器(8)下方设有到位探杆(9)，所述到位传感器(8)下方的阀轴(2)内壁固定设有挡环(10)，所述到位传感器(8)与控制系统连接，所述到位探杆(9)上部的外径小于到位探杆(9)中部的外径，所述到位探杆(9)中部外径小于挡环(10)的内径，所述到位探杆(9)上部和挡环(10)之间设有限位弹簧(11)，所述限位弹簧(11)呈挤压状套在到位探杆(9)上部，所述到位探杆(9)上端穿出限位弹簧(11)、挡环(10)置于到位传感器(8)下方，所述到位探杆(9)与阀轴(2)滑动连接，所述到位探杆(9)下端穿出阀轴(2)与开阀扳手(7)连接，所述开阀扳手(7)与对接接头(16)插接后，对接接头(16)可驱动到位探杆(9)向上移动，被到位传感器(8)感应，实现对接到位。
  11. 根据权利要求10所述的一种消防机器人，其特征在于：所述开阀扳手(7)中间设有探杆孔，探杆孔与检测孔连通，开阀扳手(7)下端设有接头对接凹槽(12)，所述接头对接凹槽(12)与对接接头(16)相配合插接，所述接头对接凹槽(12)上端与探杆孔相连通，所述到位探杆(9)下部的外径小于到位探杆(9)中部的外径，所述探杆孔小于到位探杆中部的外径，所述到位探杆(9)下端穿过探杆孔置于接头对接凹槽(12)内与对接接头(16) 相抵靠。
  12. 根据权利要求6所述的一种消防机器人，其特征在于：所述开阀扳手(7)下端外壁径向固定设有驱动块(79)，所述主阀密封座(116)上端固定设有挡块(80)，开阀扳手(7)与对接接头(16)插接后，驱动块(79)与挡块(80)相抵靠，带动主阀密封座(116)旋转和升降。
  13. 根据权利要求6所述的一种消防机器人，其特征在于：所述开阀扳手(7)为万用套筒(13)。
  14. 根据权利要求7-13任一项权利要求所述的一种消防机器人，其特征在于：所述升降旋转机构(6)包括滚珠花键副(47)、轴承、轴承座(48)、花键带轮(49)、滚珠丝杠副(50)、传动连杆(51)和驱动机构(52)，所述阀轴(2)上端设有滚珠花键副(47)，所述阀轴(2)上端与滚珠花键副(47)的花键轴(53)下端固定连接，所述花键轴(53)上端经轴承与轴承座(48)固定连接，所述滚珠花键副(47)的花键轴螺母(54)经轴承与固定座(1)固定连接，所述花键轴螺母(54)外壁固定设有花键带轮(49)，所述轴承座(48)一侧设有滚珠丝杠副(50)，所述轴承座(48)经传动连杆(51)与滚珠丝杠副(50)的螺母(55)固定连接，所述滚珠丝杠副(50)的螺杆(56)经轴承、支架与固定座(1)连接，所述花键带轮(49)和滚珠丝杠副(50)的螺杆(56)分别由驱动机构(52)驱动。
  15. 根据权利要求14所述的一种消防机器人，其特征在于：所述驱动机构(52)由滚珠丝杠驱动电机(57)和滚珠花键驱动电机(58)组成，滚珠丝杠驱动电机(57)和滚珠花键驱动电机(58)分别与控制系统连接，所述滚珠丝杠副(50)的螺杆(56)由滚珠丝杠驱动电机(57)驱动，所述花键带轮(49)经齿轮传动由滚珠花键驱动电机(58)驱动。
  16. 根据权利要求14所述的一种消防机器人，其特征在于：所述花键带轮(49)经同步带(63)连接有花键驱动带轮(64)，所述花键驱动带轮(64)固定在花键驱动带轮轴(65)上，所述花键驱动带轮轴(65)上安装有双向扭力限制器(68)，所述双向扭力限制器(68)与控制系统连接。
  17. 根据权利要求14所述的一种消防机器人，其特征在于：所述驱动机构(52)由总驱动电机(59)、第一驱动齿轮(60)、离合器(67)、第二驱动齿轮(61)、第一从动齿轮(62)、同步带(63)、花键驱动带轮(64)、花键驱动带轮轴(65)和第二从动齿轮(66)组成，所述固定座(1)一侧设有总驱动电机(59)，所述总驱动电机(59)与控制系统连接，所述总驱动电机(59)经支架与固定座(1)连接，所述总驱动电机(59)的输出轴上间隔设有第一驱动齿轮(60)和离合器(67)，第一驱动齿轮(60)与总驱动电机(59)的输出轴固定 连接，所述第一驱动齿轮(60)与第一从动齿轮(62)啮合，所述第一从动齿轮(62)与滚珠丝杠副(50)的螺杆(56)固定连接，所述离合器(67)与总驱动电机(59)的输出轴固定连接，所述离合器(67)与控制系统连接，所述离合器(67)的输出轴上固定设有第二驱动齿轮(61)，所述花键带轮(49)经同步带(63)连接有花键驱动带轮(64)，所述花键驱动带轮(64)固定在花键驱动带轮轴(65)上，所述花键驱动带轮轴(65)下端设有第二从动齿轮(66)，所述第二从动齿轮(66)与花键驱动带轮轴(65)固定连接，所述第二从动齿轮(66)与第二驱动齿轮(61)相啮合。
  18. 根据权利要求14所述的一种消防机器人，其特征在于：所述滚珠丝杠副(50)的螺杆(56)经轴承、螺杆轴承座(70)与支架固定连接，所述支架与固定座(1)固定连接，所述螺杆(56)上端的螺杆轴承座(70)上设有收阀传感器(71)，所述收阀传感器(71)与控制系统连接，所述传动连杆(51)上固定设有感应块，所述感应块与收阀传感器(71)相配合。
  19. 根据权利要求9所述的一种消防机器人，其特征在于：所述限位轮孔(42)下端前后两侧分别设有限位挡板(95)，限位挡板(95)与勾板架(37)固定连接，两个限位挡板(95)与限位轮孔(42)之间形成润滑油槽，所述润滑油槽内设有润滑油，偏心轮(41)在转动时，偏心轮(41)与润滑油槽内的润滑油相接触。
  20. 根据权利要求9或19所述的一种消防机器人，其特征在于：所述勾板架(37)上端至少设有一个下压机构(43)，所述下压机构(43)包括上连接座(44)、下连接座(45)和弹簧(46)，所述勾板架(37)上至少设有一个下连接座(45)，所述下连接座(45)与勾板架(37)固定连接，所述下连接座(45)上至少设有一个弹簧(46)，所述固定架(26)上设有上连接座(44)，上连接座(44)与固定架(26)固定连接，上连接座(44)与下连接座(45)相对，弹簧(46)呈压缩状态，弹簧(46)一端与上连接座(44)固定连接，另一端与下连接座(45)固定连接。
  21. 根据权利要求9或19所述的一种消防机器人，其特征在于：所述导向滑动机构(38)包括第一滑动条(97)和滑动限位块(98)和前后限位滑动机构(96)，所述固定架(26)中间设有滑动限位块(98)，所述勾板架(37)中间设有导向槽(94)，所述导向槽(94)内壁左右两侧分别固定设有第一滑动条(97)，所述滑动限位块(98)置于导向槽(94)内经第一滑动条(97)与导向槽(94)滑动连接，所述滑动限位块(98)与固定架(26)固定连接，所述前后限位滑动机构(96)包括第二滑动条(99)和滑动限位座(101)，所述固定架(26)两端分别设有滑动限位座(101)，所述滑动限位座(101)与固定架(26)固定连接， 所述滑动限位座(101)与固定架(26)之间设有朝向勾板架(37)的开口限位槽，所述开口限位槽前后两侧分别固定设有第二滑动条(99)，所述勾板架(37)左右两端分别置于开口限位槽并经第二滑动条(99)与开口限位槽滑动连接。
  22. 根据权利要求7-13，15-19任一项权利要求所述的一种消防机器人，其特征在于：所述螺旋取水水阀(19)和开阀机构(100)之间设有定位机构(75)，所述定位机构(75)包括定位块(76)和定位接近传感器(78)，所述螺旋取水水阀(19)的上阀盖(77)左右两端分别设有定位块(76)，所述定位块(76)与上阀盖(77)固定连接，所述定位块(76)上方的机架(21)上设有定位接近传感器(78)，所述定位接近传感器(78)与定位块(76)相配合，所述定位接近传感器(78)与机架(21)固定连接，所述定位接近传感器(78)与控制系统连接。
  23. 根据权利要求7-13，15-19任一项权利要求所述的一种消防机器人，其特征在于：所述机架(21)上固定设有视频对讲设备(72)和火焰探测器(73)，所述视频对讲设备(72)和火焰探测器(73)分别与控制系统连接。
  24. 根据权利要求7-13，15-19任一项权利要求所述的一种消防机器人，其特征在于：所述机架(21)外侧固定设有保护罩(74)。
PCT/CN2022/106241 2021-07-21 2022-07-18 螺旋取水水阀及消防机器人 WO2023001101A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22845266.0A EP4375545A1 (en) 2021-07-21 2022-07-18 Spiral water intake valve and fire-fighting robot

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202110822776.1 2021-07-21
CN202110822776.1A CN113404873A (zh) 2021-07-21 2021-07-21 开阀装置及消防取水机器人
CN202122766973.4U CN216343986U (zh) 2021-11-12 2021-11-12 螺旋取水水阀
CN202122766973.4 2021-11-12
CN202210735217.1 2022-06-27
CN202210735217.1A CN115681510A (zh) 2021-07-21 2022-06-27 开阀机构及消防作业机器人

Publications (1)

Publication Number Publication Date
WO2023001101A1 true WO2023001101A1 (zh) 2023-01-26

Family

ID=84979993

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/106241 WO2023001101A1 (zh) 2021-07-21 2022-07-18 螺旋取水水阀及消防机器人

Country Status (2)

Country Link
EP (1) EP4375545A1 (zh)
WO (1) WO2023001101A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116045095A (zh) * 2023-01-28 2023-05-02 山西省水利建筑工程局集团有限公司 一种水利管道接头密封装置及其密封方法
CN116358802A (zh) * 2023-04-17 2023-06-30 山东积成仪表有限公司 一种水表密封性检测装置及检测方法
CN117605986A (zh) * 2024-01-19 2024-02-27 昆山市翌兴通光电科技有限公司 一种可防水的条形led灯具
CN117780943A (zh) * 2024-02-23 2024-03-29 山东东阀制冷科技有限公司 一种密封性高的电动阀
CN117804692A (zh) * 2024-02-28 2024-04-02 常州敏航驱动科技有限公司 一种汽车电动水阀试验台

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1097734A (en) * 1964-09-17 1968-01-03 Alfred Sidney Fall Taps for controlling the flow of water and other liquid
US20030140972A1 (en) * 2001-09-17 2003-07-31 Halvorsen Donald A. Fluid line connecting system
CN1695751A (zh) * 2005-01-20 2005-11-16 陶泽文 轨道取水水炮
CN101332345A (zh) * 2008-07-25 2008-12-31 合肥科大立安安全技术有限责任公司 轨道式自动消防炮及其自动寻址定位方法
EP2679869A1 (de) * 2012-06-28 2014-01-01 Hinni AG Hauptventil für einen Hydranten
US20180299055A1 (en) * 2015-12-03 2018-10-18 Engineered Controls International, Llc Leak resistant and serviceable receptacle
US20190195412A1 (en) * 2017-12-21 2019-06-27 Shlomo Attia Device for preventing refrigerant leaks in air conditioning system service ports
CN112393044A (zh) * 2020-12-02 2021-02-23 江苏如一石化装备有限公司 一种流体装卸用的快速接头
CN113006210A (zh) * 2021-03-01 2021-06-22 台州新三和卫浴股份有限公司 降低磨损的下水器
CN113404873A (zh) * 2021-07-21 2021-09-17 山东未来机器人有限公司 开阀装置及消防取水机器人
CN113404872A (zh) 2021-07-21 2021-09-17 山东未来机器人有限公司 轨道水阀
CN214808041U (zh) * 2021-07-21 2021-11-23 山东未来机器人有限公司 轨道水阀对接限位密封装置
CN216343986U (zh) * 2021-11-12 2022-04-19 山东未来机器人有限公司 螺旋取水水阀

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1097734A (en) * 1964-09-17 1968-01-03 Alfred Sidney Fall Taps for controlling the flow of water and other liquid
US20030140972A1 (en) * 2001-09-17 2003-07-31 Halvorsen Donald A. Fluid line connecting system
CN1695751A (zh) * 2005-01-20 2005-11-16 陶泽文 轨道取水水炮
CN1695751B (zh) 2005-01-20 2011-01-12 陶泽文 轨道取水灭火水炮车
CN101332345A (zh) * 2008-07-25 2008-12-31 合肥科大立安安全技术有限责任公司 轨道式自动消防炮及其自动寻址定位方法
EP2679869A1 (de) * 2012-06-28 2014-01-01 Hinni AG Hauptventil für einen Hydranten
US20180299055A1 (en) * 2015-12-03 2018-10-18 Engineered Controls International, Llc Leak resistant and serviceable receptacle
US20190195412A1 (en) * 2017-12-21 2019-06-27 Shlomo Attia Device for preventing refrigerant leaks in air conditioning system service ports
CN112393044A (zh) * 2020-12-02 2021-02-23 江苏如一石化装备有限公司 一种流体装卸用的快速接头
CN113006210A (zh) * 2021-03-01 2021-06-22 台州新三和卫浴股份有限公司 降低磨损的下水器
CN113404873A (zh) * 2021-07-21 2021-09-17 山东未来机器人有限公司 开阀装置及消防取水机器人
CN113404872A (zh) 2021-07-21 2021-09-17 山东未来机器人有限公司 轨道水阀
CN214808041U (zh) * 2021-07-21 2021-11-23 山东未来机器人有限公司 轨道水阀对接限位密封装置
CN216343986U (zh) * 2021-11-12 2022-04-19 山东未来机器人有限公司 螺旋取水水阀

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116045095A (zh) * 2023-01-28 2023-05-02 山西省水利建筑工程局集团有限公司 一种水利管道接头密封装置及其密封方法
CN116045095B (zh) * 2023-01-28 2023-06-06 山西省水利建筑工程局集团有限公司 一种水利管道接头密封装置及其密封方法
CN116358802A (zh) * 2023-04-17 2023-06-30 山东积成仪表有限公司 一种水表密封性检测装置及检测方法
CN116358802B (zh) * 2023-04-17 2024-03-12 山东积成仪表有限公司 一种水表密封性检测装置及检测方法
CN117605986A (zh) * 2024-01-19 2024-02-27 昆山市翌兴通光电科技有限公司 一种可防水的条形led灯具
CN117605986B (zh) * 2024-01-19 2024-03-22 昆山市翌兴通光电科技有限公司 一种可防水的条形led灯具
CN117780943A (zh) * 2024-02-23 2024-03-29 山东东阀制冷科技有限公司 一种密封性高的电动阀
CN117780943B (zh) * 2024-02-23 2024-04-30 山东东阀制冷科技有限公司 一种密封性高的电动阀
CN117804692A (zh) * 2024-02-28 2024-04-02 常州敏航驱动科技有限公司 一种汽车电动水阀试验台
CN117804692B (zh) * 2024-02-28 2024-05-03 常州敏航驱动科技有限公司 一种汽车电动水阀试验台

Also Published As

Publication number Publication date
EP4375545A1 (en) 2024-05-29

Similar Documents

Publication Publication Date Title
WO2023001101A1 (zh) 螺旋取水水阀及消防机器人
CN217502597U (zh) 开阀机构及消防作业机器人
CN112808194A (zh) 一种基于信息技术的滤油机漏油检测仪及其运行方法
CN112044004A (zh) 一种具有监控功能的自动灭火设备
CN2463619Y (zh) 一种卧式盲板阀
CN206134594U (zh) 具有限位开关功能的液位计装置
CN219481404U (zh) 一种喷洒全面的自动灭火器
CN210370577U (zh) 井控防喷装置
CN201589003U (zh) 开户防盗阀
CN206386503U (zh) 液控旋塞阀
CN208546684U (zh) 高清全景摄像机
CN112525445A (zh) 一种墙内输电线路的穿墙套管密封检测装置
CN219036280U (zh) 一种防止燃气泄漏的安全装置
CN220228770U (zh) 一种自主移动的供水管道监测器
CN214888026U (zh) 一种可清洁螺纹插装阀
CN115637946B (zh) 一种石油井口密封装置
CN214579181U (zh) 一种通过物联网远程控制的水表自动阀门装置
CN216693079U (zh) 一种安全性高的天然气管道用阻隔装置
CN112082682B (zh) 一种电气管道组装用故障预警设备
CN210951266U (zh) 一种锅炉压力自控快速泄压装置
CN209654966U (zh) 一种无菌水箱液位上下连接装置
CN112482936B (zh) 密封加强型智能观景节能消防一体窗
CN219062593U (zh) 一种活塞式遥控浮球阀
CN117309372B (zh) 一种消防报警阀水压检测装置及其检测方法
CN215950552U (zh) 一种安全性高的自控阀

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2022845266

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022845266

Country of ref document: EP

Effective date: 20240221

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22845266

Country of ref document: EP

Kind code of ref document: A1