1. A valve opening device is characterized in that: including fixing base (1), be equipped with inhalant canal (3) in fixing base (1), fixing base (1) one side is equipped with out water passageway (4), it is linked together with inhalant canal (3) to go out water passageway (4), be equipped with transmission shaft (5), screw rod (6), nut (7) and slip pressure water board (9) in inhalant canal (3), transmission shaft (5) axial is equipped with screw rod hole (11), be equipped with screw rod (6) in transmission shaft (5), transmission shaft (5) lower extreme is equipped with nut (7), transmission shaft (5) and nut (7) fixed connection, transmission shaft (5) below is equipped with slip pressure water board (9), inhalant canal (3) are worn out on transmission shaft (5) upper portion and are driven by driving motor (12), transmission shaft (5) upper portion is through bearing and fixing base (1) sealed fixed connection, transmission shaft (5) are worn out to screw rod (6) lower extreme, Nut (7) and slip pressurized-water board (9) fixed connection, screw rod (6) and nut (7) threaded connection, slip pressurized-water board (9) and inhalant canal (3) sliding connection, slip pressurized-water board (9) lower extreme stretches out fixing base (1) and forms the extrusion end of opening the valve.

2. A valve opening device according to claim 1, wherein: the lower end of the screw rod (6) is provided with a ring sleeve (8), the upper end of the sliding water pressing plate (9) is provided with a connecting groove (13), the lower end of the screw rod (6) is arranged in the connecting groove (13), the inner wall of the ring sleeve (8) is fixedly connected with the screw rod (6), and the outer wall of the ring sleeve (8) is fixedly connected with the sliding water pressing plate (9).

3. A valve opening device according to claim 1 or 2, wherein: the water inlet channel (3) is characterized in that guide limiting blocks (10) are fixedly arranged on two sides of the inner wall of the water inlet channel, and the sliding water pressing plate (9) is connected with the guide limiting blocks (10) in a sliding mode.

4. The utility model provides a fire control water intaking robot, includes chassis (14) and track (15), be equipped with control storehouse (16) and water cannon (17) on chassis (14), chassis (14) lower extreme is equipped with running gear (18), running gear (18) cooperate with track (15), are equipped with control system, its characterized in that in control storehouse (16): the water-saving water dispenser is characterized in that the chassis (14) is provided with the valve opening device (100) as claimed in claim 1 or 2, the track (15) is provided with at least one track water valve (19), a butt joint water taking mechanism (20) is arranged between the valve opening device (100) and the track water valve (19), the valve opening device (100) is in butt joint with the track water valve (19) through the butt joint water taking mechanism (20) to take water, the fixing seat (1) is fixedly connected with a rack (21) of the chassis (14), a water outlet channel (4) on the fixing seat (1) is communicated with a water inlet of the water cannon (17), the transmission motor (12) is fixed on the rack (21) and is controlled and driven by the control system, and the track water valve (19) is fixedly connected with the track (15).

5. A fire fighting water intake robot as recited in claim 4, wherein: the butt joint water taking mechanism (20) comprises a sliding seal sleeve (22), a sealing ring (23), a left rack plate (24), a right rack plate (25), a fixing frame (26), a left gear (27), a left gear shaft (28), a left worm wheel (29), a right gear (30), a right gear shaft, a right worm wheel (31), a worm shaft (32) and a worm motor (33), wherein the sliding seal sleeve (22) is arranged on the outer side of the fixing seat (1), the inner wall of the sliding seal sleeve (22) is in sealing sliding connection with the outer wall of the fixing seat (1), the sealing ring (23) is fixedly arranged at the lower end of the sliding seal sleeve (22), the falling part of the sliding seal sleeve (22) abuts against the upper end face of the track water valve (19) through the sealing ring (23) to realize butt joint, the left rack plate (24) and the right rack plate (25) are arranged on the left side and the right side of the sliding seal sleeve (22), the fixing frame (26) is respectively arranged on the front side and the rear side of the sliding seal sleeve (22), the fixing frame (26) is fixedly connected with the rack (21), the right end of the left rack plate (24) is fixedly connected with the sliding sealing sleeve (22), the left end of the left rack plate (24) is provided with a left gear (27), the left gear (27) is meshed with a rack on the left rack plate (24), the left gear (27) is fixed on a left gear shaft (28), two ends of the left gear shaft (28) are fixedly connected with the fixing frames (26) on two sides through bearings, one end of the left gear shaft (28) penetrates through the fixing 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), the right end of the right rack plate (25) is provided with a right gear (30), the right gear (30) is meshed with a rack on the right rack plate (25), the right gear (30) is fixed on the right gear shaft, two ends of the right gear shaft are fixedly connected with the fixing frames, right-hand wheel axle one end is worn out mount (26) and is fixed be equipped with right worm wheel (31), be equipped with worm axle (32) on left side worm wheel (29) and right worm wheel (31), interval is fixed with left helical tooth (34) and right helical tooth (35) on worm axle (32), the spiral direction of left helical tooth (34) is opposite with the spiral direction of right helical tooth (35), left side helical tooth (34) and left worm wheel (29) meshing, right helical tooth (35) and right worm wheel (31) meshing, worm axle (32) both ends are through bearing and mount (26) fixed connection, mount (26) are worn out to worm axle (32) one end is driven by worm motor (33), worm motor (33) are fixed on frame (21) and are connected with control system.

6. A fire fighting water intake robot as recited in claim 5, wherein: be equipped with spacing fixed establishment (36) on track water valve (19), spacing fixed establishment (36) including colluding grillage (37), direction slide mechanism (38), collude board (39), limiting plate (40) and eccentric wheel (41), sliding seal cover (22) the place ahead and rear are equipped with respectively colludes grillage (37), collude and be equipped with direction slide mechanism (38) between grillage (37) and mount (26), collude grillage (37) through direction slide mechanism (38) and mount (26) sliding connection, collude grillage (37) lower extreme and extend towards the center of sliding seal cover (22) and form colluding board (39), track water valve (19) upper end front and back both sides outwards extend respectively and form limiting plate (40), collude spacing round of hole (42) on grillage (37) at an interval, both ends are fixed eccentric wheel (41) respectively around left side gear shaft (28), the front end and the rear end of the right gear shaft are respectively and fixedly provided with an eccentric wheel (41), the eccentric wheel (41) is arranged in a limiting wheel hole (42), when the eccentric wheel (41) rotates, the hook plate frame (37) moves upwards along with the eccentric wheel (41), and the upper end surface of the hook plate (39) abuts against the lower end surface of the limiting plate (40) to realize the limiting and fixed connection of the fixing frame (26) and the track water valve (19).

7. A water intake from fire fighting robot as recited in claim 5 or 6, wherein: the track water valve (19) comprises a valve body (47), a constant-pressure valve opening mechanism (48) is arranged in the valve body (47), the constant-pressure valve opening mechanism (48) comprises a main valve core (49), a first valve opening mechanism (50), a main valve fixing sleeve (51) and a main spring (52), the first valve opening mechanism (50) comprises a pilot valve (53), a pilot base (54) and a pilot spring (55), the valve body (47) is fixedly connected with a track (15), a water taking channel (57) is arranged in the middle of an upper valve cover (56) of the valve body (47), a water flow channel (58) is arranged on the valve body (47) along the extending direction of the track (15), a main valve core (49) is arranged below the upper valve cover (56) of the valve body (47), the pilot valve (53) is arranged in the main valve core (49), and the main valve core (49) comprises a main valve connecting seat (59) and a main valve guide seat (60), the water taking device is characterized in that a pilot channel (61) is axially arranged on the main valve connecting seat (59), the upper end of the main valve connecting seat (59) is in sealing and abutting contact with the lower end of the upper valve cover (56), the lower end of the main valve connecting seat (59) is fixedly connected with the upper end of the main valve guide seat (60), water inlet holes (62) are formed in the outer wall of the upper end of the main valve guide seat (60) at intervals, a pilot base (54) is arranged at the lower end of the main valve guide seat (60), a guide channel (63) is axially arranged on the main valve guide seat (60), the guide channel (63), the pilot channel (61) and the water taking channel (57) are communicated, the guide channel (63) is communicated with the water flow channel (58) through the water inlet holes (62), the diameter of the guide channel (63) is larger than that of the pilot channel (61), the pilot valve (53) is positioned below the sliding water pressing plate (9), and the upper end of the pilot valve (53) extends out of the main valve connecting seat (59) and is arranged in the water taking channel (57), the middle part of the pilot valve (53) is in sealed sliding connection with the pilot channel (61), the lower end of the pilot valve (53) extends into the pilot channel (63) and is in sliding connection with the pilot channel (63), the outer diameter of the upper end of the pilot valve (53) is smaller than the outer diameter of the middle part of the pilot valve (53), the lower end of the pilot valve (53) is provided with a pilot spring (55), the upper end of the pilot spring (55) is abutted against the lower end face of the pilot valve (53), the lower end of the pilot spring is abutted against the pilot base (54), after the pilot valve (53) is pressed by the sliding water pressing plate (9), the pilot spring (55) is extruded by the pilot valve (53) and moves downwards, water in the water flow channel (58) enters the pilot channel (63) and the pilot channel (61) through the water inlet channel (57) and flows into the water inlet channel (3), the pilot base (54) is fixedly connected with the main valve guide seat (60), the outer wall of the main valve guide seat (60) is provided with a main valve fixing sleeve (51), the utility model discloses a valve, including main valve guide holder (60) and the fixed cover of main valve (51), main valve guide holder (60) and the fixed cover of main valve (51) outer wall cover have main spring (52), the fixed cover of main valve (51) lower extreme and lower valve gap (64) fixed connection of valve body (47), main spring (52) upper end and main valve connecting seat (59) lower terminal surface support and lean on, and the lower extreme supports with lower valve gap (64) upper end and supports and lean on, main valve connecting seat (59) are through pressing the back, and main valve connecting seat (59) extrusion main spring (52) and move down, and main valve connecting seat (59) and last valve gap (56) separate, rivers passageway (58) and water intaking passageway (57) intercommunication.

8. A water intake from fire fighting robot as recited in claim 5 or 6, wherein: inhalant canal (3) upper end one side is equipped with pressure sensor (65), pressure sensor (65) and fixing base (1) fixed connection.

9. A water intake from fire fighting robot as recited in claim 5 or 6, wherein: a pilot valve opening detection mechanism (66) is arranged in the frame (21).

10. A fire fighting water intake robot as recited in claim 9, wherein: the pilot valve opening detection mechanism (66) comprises a water pressing plate proximity sensor (67) and a wire outlet joint (68), the water pressing plate proximity sensor (67) is arranged on one side of the lower end of the sliding water pressing plate (9), a wire guide hole is formed in the sliding water pressing plate (9), a wire through hole is formed in the screw rod (6), a sealing cover (69) is arranged at the upper end of the transmission shaft (5), a wire through hole is formed in the middle of the sealing cover (69), the water pressing plate proximity sensor (67) is located above the main valve core (49), a wire of the water pressing plate proximity sensor (67) penetrates through the sliding water pressing plate (9), the screw rod (6) and the sealing cover (69) to be fixedly connected with the wire outlet joint (68), the wire outlet joint (68) is fixedly connected with the sealing cover (69), the sealing cover (69) is hermetically connected with the transmission shaft (5), and the sealing cover (69) is fixedly connected with the bearing seat (2), and the lead of the outlet joint (68) is connected with a control system.

11. A fire fighting water intake robot as recited in claim 9, wherein: the pilot valve opening detection mechanism (66) is a magnetostrictive displacement sensor (70), the magnetostrictive displacement sensor (70) is arranged at the upper end of the bearing seat (2), a pipe hole is axially formed in the screw (6), the magnetostrictive displacement sensor (70) is fixedly connected with the bearing seat (2), a waveguide tube (71) of the magnetostrictive displacement sensor (70) penetrates through the screw hole (11) and the pipe hole and is arranged in the screw (6), a movable magnetic ring (72) of the magnetostrictive displacement sensor (70) is fixedly connected with the screw (6), and the magnetostrictive displacement sensor (70) is connected with a control system.

12. A water intake fire fighting robot as recited in claim 5, 6, 10 or 11, wherein: be equipped with positioning mechanism (73) on track water valve (19), positioning mechanism (73) are including locating piece (74) and location proximity sensor, both ends are equipped with locating piece (74) respectively about track water valve (19), locating piece (74) and track water valve (19) fixed connection, be equipped with location proximity sensor on frame (21) of locating piece (74) top, location proximity sensor cooperatees with locating piece (74), location proximity sensor and frame (21) fixed connection, location proximity sensor is connected with control system.

13. A water intake fire fighting robot as recited in claim 5, 6, 10 or 11, wherein: and a control valve mechanism (75) is arranged on the frame (21).

14. A fire fighting water intake robot as recited in claim 13, wherein: the control valve mechanism (75) comprises a stop valve (76) and a connecting end (77), one end of the stop valve (76) is communicated with the water outlet channel (4) through the connecting end (77), the other end of the stop valve is connected with a water inlet of the water cannon (17) through the connecting end (77), and the stop valve (76) is connected with a control system.

15. A fire fighting water intake robot as recited in claim 13, wherein: the control valve mechanism (75) is a ball valve (78), the ball valve (78) is fixedly arranged in the water cannon (17) or the water outlet channel (4), and the ball valve (78) is controlled by a control system.

16. A water intake fire fighting robot as claimed in claim 5, 6, 10, 11, 14 or 15, wherein: be equipped with bradyseism mechanism (79) on running gear (18), bradyseism mechanism (79) are equipped with bradyseism frame (80) and bradyseism subassembly (81) including bradyseism frame (80), and the wheel hub of every wheel (103) is equipped with bradyseism frame (80) in running gear (18), bradyseism frame (80) are through bearing and wheel hub fixed connection, bradyseism frame (80) both sides are equipped with bradyseism subassembly (81) respectively, bradyseism subassembly (81) are including bradyseism pole (82), bradyseism spring (84), the cover has bradyseism spring (84) on bradyseism pole (82), and bradyseism pole (82) upper end and frame (21) fixed connection, bradyseism pole (82) lower extreme and bradyseism frame (80) sliding connection, bradyseism spring (84) upper end and frame (21) counterbalance are leaned on, and the lower extreme offsets with bradyseism frame (80).

17. A water intake fire fighting robot as claimed in claim 5, 6, 10, 11, 14 or 15, wherein: the lower end of the rack (21) is provided with a wheel downward pressing and sticking mechanism (85), the wheel downward pressing and sticking mechanism (85) comprises a sticking frame (86) and a sticking assembly (87), each side of two sides of the lower end of the rack (21) is at least provided with one sticking frame (86), the sticking frames (86) are fixedly connected with the rack (21), two sticking assemblies (87) are arranged on the sticking frames (86) at intervals, each sticking assembly (87) comprises a guide rod (88), a guide sleeve (89), a sticking spring (90), a cushion block (91), a nut, a pressing wheel frame (92) and a pressing wheel (104), two through holes are arranged on the sticking frames (86) at intervals, two guide sleeves (89) are arranged on the sticking frames (86) at intervals, the guide sleeves (89) are fixedly connected with the sticking frame (86), the middle of each guide sleeve (89) is provided with the guide rod (88), and the upper ends of the guide rods (88) penetrate through the cushion blocks (91) and are fixedly connected with locking nuts, the lower end of the pressing wheel frame (92) penetrates through the guide sleeve (89) and is fixedly connected with the lower end of the tight adhering frame (86), the guide rod (88) is connected with the guide sleeve (89) in a sliding mode, the tight adhering spring (90) is sleeved on the guide rod (88), the upper end of the tight adhering spring (90) is abutted against the cushion block (91), the lower end of the tight adhering spring (90) is abutted against the tight adhering frame (86), a pressing wheel (104) is arranged on the face, facing the track (15), of the pressing wheel frame (92), the pressing wheel (104) is fixedly connected with the pressing wheel frame (92) through a bearing, a pressing walking track is arranged at the lower end of the track (15), and the pressing wheel (104) is arranged at the lower end of the track (15) and is in matched rolling connection with the.

18. A water intake fire fighting robot as claimed in claim 5, 6, 10, 11, 14 or 15, wherein: and a torque limiter (93) is arranged on the transmission motor (12).

Background

The fire refers to combustion that is out of control in time or space, and among various disasters, the fire is one of the main disasters that most generally threaten public safety and social development; the fire fighting method has great danger, causes great threat to personal safety of fire fighters, simultaneously has low efficiency, low speed and poor flexibility, and through retrieval, Chinese patent CN209670994U discloses a tunnel fire fighting water intake device and a water intake fire fighting device, the tunnel fire fighting water intake device comprises a wheel type chassis, a control cabinet and a booster pump which are arranged on the chassis, a shield which shields the control cabinet and the booster pump therein, and a water cannon arranged on the shield, wherein a water inlet of the water cannon is communicated with a water outlet of the booster pump, the control cabinet and the booster pump are arranged in the front and back, the water cannon is arranged above the control cabinet, and the cannon also comprises a battery for supplying power, the protective cover is provided with a spray head communicated with the booster pump, and also comprises a filtering mechanism and a water taking pipe which are sequentially communicated with a water inlet of the booster pump, the water taking pipe is connected with a fire-fighting storage tank or a water taking cage, the protective cover also comprises a high-temperature resistant camera communicated with a controller in a control cabinet, and a remote controller wirelessly communicated with the controller in the control cabinet, the remote controller is provided with a display screen, the fire-fighting water taking device comprises a locomotive, a fire-fighting transport vehicle dragged by the locomotive, the fire-fighting transport vehicle is provided with the tunnel fire-fighting water taking device, the tunnel fire-fighting water taking device is fixed at the front end of the fire-fighting transport vehicle, the rear end of the fire-fighting transport vehicle is provided with a large-capacity fire-fighting storage tank, the locomotive is provided with a heat insulation cover, and the outer side of the heat insulation cover is provided with a plurality of locomotive spray heads communicated with the booster pump, the fire-fighting transport vehicle is positioned at the front part of the locomotive, the rear part of the locomotive is also provided with a lifesaving transport vehicle, a lifesaving cabin is arranged on the lifesaving transport vehicle, the locomotive comprises a PLC, a data acquisition module in communication connection with the PLC, an electromagnetic valve driving module controlled by the PLC, a control screen in communication connection with the PLV and an accelerator motor controlled by the PLC, the accelerator motor is driven to increase or decrease an accelerator, wherein the data acquisition module comprises a distance measurement sensor, a three-dimensional camera and an operation parameter sensor; the solenoid valve of solenoid valve drive module correspond to concatenate and go into warning return circuit and brake control circuit, still include the remote controller, and with the remote controller correspond and the wireless transmission module of being connected with the PLC communication, the not enough of above-mentioned patent is, the intake pipe is connected with fire control storage tank or water intaking halter, and the water in fire control storage tank or the water intaking halter is limited, be not different from cup waterwheel salary to great conflagration, through the retrieval, chinese patent CN1695751B discloses a track water intaking fire extinguishing water cannon car, it mainly by water delivery track with by actuating system, butt joint water intaking system, a steering system, control system, the cannon car that communication system constitutes, its main characterized by: the water delivery track is internally provided with water pipes, the water pipes are provided with one-way valve plate water valves at intervals, the lower plane of the track is provided with a water valve outlet, the two sides of each water pipe are provided with tracks in parallel, the upper parts of the tracks are provided with conducting bars and positioning pieces, the side surfaces of the tracks are provided with butt plates on which guide pieces are arranged, the tracks on the two sides are internally provided with water cannon vehicle wheels, and a stepping motor on the frame is provided with a driving gear and is linked with wheel gears fixed on an axle through a meshed transmission gear; the water cannon vehicle has a frame, a guide tube in the middle of the frame, a transverse tube in the lower of the guide tube, a butt tube in the upper of the guide tube, a reciprocating oil seal groove in the inner ring of the butt tube, a valve sheet push rod and a sealing pad on the tube plane, two rows of teeth on the side surface of the guide tube and engaged with two forward and reverse turbine gear rods, the turbine teeth on the other side of the turbine gear rods are engaged on a worm with forward and reverse threads, the worm rotates to drive the two forward and reverse turbine gear rods to rotate during butt joint, the butt tube is driven to ascend to push open a water valve to complete butt joint, the vehicle senses the position of a positioning plate by a positioning switch on the frame, namely the butt joint position of a water valve water intake, the sealing pad is arranged around a water outlet on the bottom surface of a one-way water valve box, the sealing pad is also arranged on the bottom surface of the valve sheet, the guide rod is arranged in series on a round hole in the centers of a single guide frame and a four-side guide frame, a pressure spring is arranged on the guide rod in series, and a signal butt plate is arranged on the frame, the horizontal rotating pipe is provided with a wire arranging groove and a fixed wire arranging groove, a wire winding box is arranged at the horizontal position of the wire arranging groove, a wire winding wheel is arranged on a middle shaft of the box and internally provided with a coil spring, the wire arranging wheel is wound with the wire arranging groove, an inlet of the wire winding box is provided with two pulleys, a gear on the wire winding wheel shaft is meshed with a timing gear, the cam is coaxially arranged, a signal switch is arranged at the parallel position of the cam, a spiral wire is arranged at a wire outlet of the wire winding wheel, a rack is arranged in a track, a driving gear is meshed with the rack, a synchronous wheel arranged on a stepping motor shaft of the water cannon is linked with a synchronous wheel at the other side and a driving gear through a synchronous belt, the water cannon is equipped with around the water cannon car, and it leads to the pipe intercommunication, is equipped with the butt joint pipe in the middle of the water pipe, the not enough of above-mentioned patent: firstly, the structure of the patent is complex, the butt joint pipe is driven to ascend by adopting worm gear transmission to jack up the water valve to complete butt joint, the worm gear transmission has large heat productivity, the tooth surface is easy to wear, the worm gear transmission is underwater for a long time, the corrosion can aggravate the wear, and the equipment cost is high; secondly, a vehicle-mounted butt joint pipe is adopted to lift up and jack up a jack-up water valve and is pressed on a lower plane with a track to be communicated with a water source, but the water pressure in the track is different from the water pressure in a water cannon vehicle, the water valve is directly jacked to fetch water, the pressure is too large, the operation is difficult, and the use cost is high; thirdly, above-mentioned patent only adopts sealed the pad sealed, simple structure, and sealed unstable, track or water cannon car rock slightly, and sealed will lose efficacy, leads to rivers to spill over, can't in time put out a fire.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides a valve opening device and a fire-fighting water taking robot, wherein the valve opening device has the advantages of simple structure, low use cost, capability of taking water at the same pressure, small valve opening pressure, good sealing effect and high fire extinguishing efficiency.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a valve opening device is characterized in that: the water inlet device comprises a fixed seat, wherein a water inlet channel is arranged in the fixed seat, a water outlet channel is arranged on one side of the fixed seat and is communicated with the water inlet channel, a transmission shaft, a screw rod, a nut and a sliding water pressing plate are arranged in the water inlet channel, a screw rod hole is axially arranged on the transmission shaft, the screw rod is arranged in the transmission shaft, the lower end of the transmission shaft is provided with the nut, the transmission shaft is fixedly connected with the nut, the sliding water pressing plate is arranged below the transmission shaft, the upper part of the transmission shaft penetrates out of the water inlet channel and is driven by a transmission motor, the upper part of the transmission shaft is fixedly connected with a bearing seat in a sealing manner through a bearing, the lower end of the bearing seat is fixedly connected with the fixed seat in a sealing manner, the lower end of the screw rod sequentially penetrates out of the transmission shaft, the nut is fixedly connected with the sliding water pressing plate, the sliding water pressing plate is connected with the inner wall of the water inlet channel, and the lower end of the sliding water pressing plate extends out of the fixed seat to form a valve extrusion end, the screw rod drives the sliding water pressing plate to move up and down axially under the driving of the nut.

According to the invention, the lower end of the screw rod is provided with the ring sleeve, the upper end of the sliding water pressing plate is provided with the connecting groove, the lower end of the screw rod is arranged in the connecting groove, the inner wall of the ring sleeve is fixedly connected with the screw rod, and the outer wall of the ring sleeve is fixedly connected with the sliding water pressing plate, so that the sliding water pressing plate is convenient to replace and maintain.

The guide limiting blocks are fixedly arranged on two sides of the inner wall of the water inlet channel, and the sliding water pressing plate is connected with the guide limiting blocks in a sliding mode, so that the sliding water pressing plate can be limited in a rotation stopping mode through the guide limiting blocks, and can move up and down axially.

The utility model provides a fire control water intaking robot, includes chassis and track, be equipped with control storehouse and water cannon on the chassis, the chassis lower extreme is equipped with running gear, running gear cooperatees with the track, is equipped with control system, its characterized in that in the control storehouse: the fire-fighting water supply device is characterized in that the base plate is provided with the valve opening device, at least one track water valve is arranged on the track, a butt joint water taking mechanism is arranged between the valve opening device and the track water valve, the valve opening device is used for taking water from the butt joint water taking mechanism and the track water valve in a butt joint mode, the fixing base is fixedly connected with the rack of the base plate, a water outlet channel on the fixing base is communicated with a water inlet of the water cannon, the transmission motor is fixed on the rack and is controlled and driven by the control system, and the track water valve is fixedly connected with the track so as to be beneficial to the valve opening device to take water from the track water valve and supply the water cannon to finish fire-fighting operation.

The invention relates to a butt joint water taking mechanism which comprises a sliding seal sleeve, a seal ring, a left rack plate, a right rack plate, a fixing frame, a left gear shaft, a left worm wheel, a right gear shaft, a right worm wheel, a worm shaft and a worm motor, wherein the outer side of a fixed seat is provided with the sliding seal sleeve, the inner wall of the sliding seal sleeve is in sealing sliding connection with the outer wall of the fixed seat, the lower end of the sliding seal sleeve is fixedly provided with the seal ring, the sliding seal sleeve falls and abuts against the upper end face of a track water valve through the seal ring to realize butt joint, the left side and the right side of the sliding seal sleeve are provided with the left rack plate and the right rack plate, the front side and the rear side of the sliding seal sleeve are respectively provided with the fixing frame, the right end of the left rack plate is fixedly connected with the sliding seal sleeve, the left end of the left rack plate is provided with the left gear which is meshed with a rack on the left rack plate, the left gear is fixed on the left gear shaft, the two ends of the left gear shaft are fixedly connected with the fixing frames at the two sides through bearings, one end of the left gear shaft penetrates through the fixing frames and is fixedly provided with a left worm wheel, the left end of the right rack plate is fixedly connected with the sliding seal sleeve, the right end of the right rack plate is provided with a right gear, the right gear is meshed with a rack on the right rack plate, the right gear is fixed on the right gear shaft, the two ends of the right gear shaft are fixedly connected with the fixing frames at the two sides through bearings, one end of the right gear shaft penetrates through the fixing frames and is fixedly provided with a right worm wheel, worm shafts are arranged on the left worm wheel and the right worm wheel and are fixedly provided with left spiral teeth and right spiral teeth at intervals, the spiral direction of the left spiral teeth is opposite to the spiral direction of the right spiral teeth, the left spiral teeth are meshed with the left worm wheel, the right spiral teeth are meshed with the right worm wheels, the two ends of the worm shafts are fixedly connected with the fixing frames through bearings, one end of the worm shafts penetrates through the fixing frames and is driven by a worm motor, the worm motor is fixed on the rack and connected with the control system so as to be beneficial to starting the worm motor, the worm motor drives the worm shaft, the left gear and the right gear are driven to rotate through the transmission of the worm gear and the worm rod, and then the left rack plate and the right rack plate are driven to synchronously move up and down, so that the up and down movement of the sliding seal sleeve is realized, and when the sealing ring at the lower end of the sliding seal sleeve is abutted against the upper end surface of the track water valve, the sliding seal sleeve is butted with the track water valve.

The invention is characterized in that a limiting and fixing mechanism is arranged on the track water valve, the limiting and fixing mechanism comprises a hook plate frame, a guiding sliding mechanism, a hook plate, a limiting plate and an eccentric wheel, the front part and the rear part of a sliding seal sleeve are respectively provided with the hook plate frame, at least one guiding sliding mechanism is arranged between the hook plate frame and a fixing frame, the hook plate frame is connected with the fixing frame in a sliding way through the guiding sliding mechanism, the lower end of the hook plate frame extends towards the center of the sliding seal sleeve to form the hook plate, the front side and the rear side of the upper end of the track water valve respectively extend outwards to form the limiting plate, the hook plate frame is provided with limiting wheel holes at intervals, the front end and the rear end of a left gear shaft are respectively and fixedly provided with the eccentric wheel, the front end and the rear end of a right gear shaft are respectively and fixedly provided with the eccentric wheel, the eccentric wheel is arranged in the limiting wheel holes, when the top end of the eccentric wheel is turned to the far end from the near center end, the hook plate frame moves upwards along with the eccentric wheel, the upper end face of the hook plate is abutted against the lower end face of the limiting plate to realize the limiting fixed connection of the fixing frame and the track water valve so as to be beneficial to starting a worm motor, the worm motor drives a worm shaft to drive a left gear shaft and a right gear shaft to rotate through worm and gear transmission, and further drives an eccentric wheel to rotate, the hook plate ascends under the action of the eccentric wheel when the sliding seal sleeve moves downwards, when a sealing ring at the lower end of the sliding seal sleeve abuts against an upper valve cover of the track water valve, the upper end face of the hook plate is abutted against and fixed with the lower end face of the limiting plate, and the hook plate and the track water valve are sealed and fixed.

According to the invention, the front side and the rear side of the lower end of the limiting wheel hole are respectively provided with the limiting baffle, the limiting baffle is fixedly connected with the hook plate frame, a lubricating oil groove is formed between the two limiting baffles and the limiting wheel hole, lubricating oil is arranged in the lubricating oil groove, and when the eccentric wheel rotates, the eccentric wheel is in contact with the lubricating oil in the lubricating oil groove, so that the smoothness of the rotation of the eccentric wheel is improved through the lubricating oil.

The upper end of the hook plate frame is at least provided with a pressing mechanism, the pressing mechanism comprises an upper connecting seat, a lower connecting seat and a spring, the hook plate frame is at least provided with the lower connecting seat, the lower connecting seat is fixedly connected with the hook plate frame, the lower connecting seat is at least provided with the spring, the fixing frame is provided with the upper connecting seat, the upper connecting seat is fixedly connected with the fixing frame, the upper connecting seat is opposite to the lower connecting seat, the spring is in a compressed state, one end of the spring is fixedly connected with the upper connecting seat, and the other end of the spring is fixedly connected with the lower connecting seat, so that when the eccentric wheel drives the hook plate to move downwards, the spring is opened after being extruded to push the hook plate frame to move downwards, and the hook plate is separated from the limiting plate.

The upper connecting seat is at least provided with an upper spring groove with a downward opening, the lower connecting seat is at least provided with a lower spring groove with an upward opening, one end of the spring is arranged in the upper spring groove and fixedly connected with the upper spring groove, and the other end of the spring is arranged in the lower spring groove and fixedly connected with the lower spring groove, so that the spring is guided by the upper spring groove and the lower spring groove, and the spring is prevented from being inclined.

The guide sliding mechanism comprises a first sliding strip and a sliding limiting block, the sliding limiting block is arranged in the middle of the fixing frame, a guide groove is formed in the middle of the hook plate frame, the first sliding strip is fixedly arranged on the left side and the right side of the inner wall of the guide groove respectively, the sliding limiting block is arranged in the guide groove and is in sliding connection with the guide groove through the first sliding strip, and the sliding limiting block is fixedly connected with the fixing frame so as to limit the position of the hook plate frame through the sliding limiting block and prevent the hook plate frame from moving left and right through the guide groove, the sliding limiting block and the first sliding strip.

The guide sliding mechanism further comprises a front and rear limiting sliding mechanism, the front and rear limiting sliding mechanism comprises a second sliding strip and a sliding limiting seat, the two ends of the fixing frame are respectively provided with the sliding limiting seat, the sliding limiting seat is fixedly connected with the fixing frame, an opening limiting groove facing the hook plate frame is arranged between the sliding limiting seat and the fixing frame, the front side and the rear side of the opening limiting groove are respectively and fixedly provided with the second sliding strip, the left end and the right end of the hook plate frame are respectively arranged in the opening limiting groove and are in sliding connection with the opening limiting groove through the second sliding strip, so that the hook plate frame is limited in the front and the rear direction through the sliding limiting seat, and the hook plate frame cannot move back and forth.

The invention relates to a track water valve, which comprises a valve body, wherein a synchronous pressure valve opening mechanism is arranged in the valve body, the synchronous pressure valve opening mechanism comprises a main valve core, a pilot valve mechanism, a main valve fixing sleeve and a main spring, the pilot valve mechanism comprises a pilot valve, a pilot base and the pilot spring, the valve body is fixedly connected with a track, a water taking channel is arranged in the middle of an upper valve cover of the valve body, the valve body is provided with a water flow channel along the extension direction of the track, the main valve core is arranged below the upper valve cover of the valve body, the pilot valve is arranged in the main valve core, the main valve core comprises a main valve connecting seat and a main valve guide seat, the main valve connecting seat is axially provided with the pilot channel, the upper end of the main valve connecting seat is in sealing and abutting contact with the lower end of the upper valve cover, the lower end of the main valve connecting seat is fixedly connected with the upper end of the main valve guide seat, the outer wall of the upper end of the main valve guide seat is provided with a water inlet hole at intervals, and the lower end of the main valve guide seat is provided with the pilot base, the main valve guide seat is axially provided with a guide channel, the guide channel, a pilot channel and a water taking channel are communicated, the guide channel is communicated with a water flow channel through a water inlet hole, the diameter of the guide channel is larger than that of the pilot channel, the pilot valve is positioned below a sliding water pressing plate, the upper end of the pilot valve extends out of a main valve connecting seat and is arranged in the water taking channel, the middle part of the pilot valve is in sealed sliding connection with the pilot channel, the lower end of the pilot valve extends into the guide channel and is in sliding connection with the guide channel, the outer diameter of the upper end of the pilot valve is smaller than that 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 abutted against the lower end face of the pilot valve, the lower end of the pilot spring is abutted against a pilot base, after the pilot valve is pressed by the sliding water pressing plate, the pilot valve extrudes the pilot spring and moves downwards, and water in the water flow channel enters the guide channel and the pilot channel through the water inlet hole, when the water flows into the water inlet channel through the water inlet channel, the pilot base is fixedly connected with the main valve guide seat, the outer wall of the main valve guide seat is provided with a main valve fixing sleeve, the main valve guide seat is in sliding connection with the main valve fixing sleeve, the outer walls of the main valve guide seat and the main valve fixing sleeve are sleeved with a main spring, the lower end of the main valve fixing sleeve is fixedly connected with the lower valve cover of the valve body, the upper end of the main spring is abutted against the lower end face of the main valve connecting seat, the lower end of the main spring is abutted against the upper end face of the lower valve cover, after the main valve connecting seat is pressed, the main valve connecting seat extrudes the main spring and moves downwards, the main valve connecting seat is separated from the upper valve cover, the water flow channel is communicated with the water inlet channel, so that when the water in the water inlet channel enters the guide channel through the water inlet channel, the pilot channel flows into the water inlet channel through the water outlet channel and then enters the water cannon, when the water pressure in the valve opening device is consistent with the water pressure in the track water valve, the sliding water pressing plate moves downwards continuously, the sliding water pressing valve presses the main valve connecting seat, the main valve connecting seat moves downwards, water in the water flow channel directly enters the water taking channel, and a continuous water source is provided for the water cannon in the water inlet channel.

According to the invention, the pressure sensor is arranged on one side of the upper end of the water inlet channel and is fixedly connected with the fixed seat, so that the pressure sensor is favorable for monitoring the water pressure in the valve opening device.

The stand is internally provided with a pilot valve opening detection mechanism, so that the position of the sliding water pressing plate pressed downwards can be detected through the pilot valve opening detection mechanism.

The pilot-operated valve opening detection mechanism can be a water pressing plate proximity sensor and a wire outlet joint, the water pressing plate proximity sensor is arranged on one side of the lower end of a sliding water pressing plate, a wire guide hole is formed in the sliding water pressing plate, a wire through hole is formed in a screw rod, a sealing cover is arranged at the upper end of a transmission shaft, a wire through hole is formed in the middle of the sealing cover, the water pressing plate proximity sensor is located above a main valve core, a wire of the water pressing plate proximity sensor penetrates through the sliding water pressing plate, the screw rod and the sealing cover to be fixedly connected with the wire outlet joint, the wire outlet joint is fixedly connected with the sealing cover, the sealing cover is hermetically connected with the transmission shaft, the sealing cover is fixedly connected with a bearing seat, and the wire of the wire outlet joint is connected with a control system so that when the sliding water pressing plate moves downwards, the pilot valve is pressed by the sliding water pressing plate, when the water pressing plate proximity sensor senses the main valve core, and stopping descending, and when the water pressure in the valve opening device is consistent with the water pressure in the track water valve, continuously moving the sliding water pressing plate downwards.

The pilot valve opening detection mechanism can also be a magnetostrictive displacement sensor, the upper end of the bearing seat is provided with the magnetostrictive displacement sensor, the screw is axially provided with a pipe hole, the magnetostrictive displacement sensor is fixedly connected with the bearing seat, a waveguide tube of the magnetostrictive displacement sensor penetrates through the screw hole and the pipe hole and is arranged in the screw, a movable magnetic ring of the magnetostrictive displacement sensor is fixedly connected with the screw, and the magnetostrictive displacement sensor is connected with a control system so as to be beneficial to detecting the descending position of the screw through the magnetostrictive displacement sensor and further know the pressing position of the sliding water pressing plate.

The positioning mechanism is arranged on the track water valve and comprises a positioning block and a positioning proximity sensor, the left end and the right end of the upper valve cover are respectively provided with the positioning block, the positioning block is fixedly connected with the upper valve cover, the rack above the positioning block is provided with the positioning proximity sensor, the positioning proximity sensor is matched with the positioning block, the positioning proximity sensor is fixedly connected with the rack, and the positioning proximity sensor is connected with the control system, so that when the rack approaches the track water valve from one side of the track water valve, the positioning block on the left side or the right side of the track water valve is sensed by the positioning proximity sensor on the rack, the rack starts to decelerate, and when the rack advances, the positioning block on the right side or the left side of the track water valve is sensed by the positioning proximity sensor on the rack, the rack stops.

The rack is provided with the control valve mechanism, so that the opening and closing of the track water valve can be controlled by the control valve mechanism.

The control valve mechanism can be a stop valve and a connecting end, one end of the stop valve is communicated with the water outlet channel through the connecting end, the other end of the stop valve is connected with the water inlet of the water cannon through the connecting end, and the stop valve is connected with the control system so as to be beneficial to controlling the opening and closing of the track water valve through the stop valve.

The control valve mechanism can also be a ball valve, the ball valve is fixedly arranged in the water cannon or the water outlet channel, and the ball valve is controlled by a control system, so that the opening and closing of the water outlet channel can be controlled through the ball valve.

The track-mounted type shock absorber is characterized in that a cushioning mechanism is arranged on the travelling mechanism and comprises a cushioning frame and cushioning assemblies, the cushioning frame is arranged on a wheel hub of each wheel in the travelling mechanism and fixedly connected with the wheel hub through a bearing, the cushioning assemblies are arranged on two sides of the cushioning frame respectively and comprise a cushioning rod, a linear bearing and a cushioning spring, the cushioning rod is sleeved with the cushioning spring, the upper end of the cushioning rod is fixedly connected with the rack, the lower end of the cushioning rod is in sliding connection with the cushioning frame through the linear bearing, the upper end of the cushioning spring abuts against the rack, and the lower end of the cushioning spring abuts against the cushioning frame, so that the wheels can walk on the track more safely and more stably through the cushioning mechanism.

The lower end of the cushioning rod penetrates through the linear bearing to be provided with the limiting nut, the limiting nut is arranged below the linear bearing and is in threaded connection with the cushioning rod, the linear bearing is fixedly connected with the cushioning frame, and the outer diameter of the limiting nut is larger than the inner diameter of the linear bearing so as to limit the ascending distance of the cushioning rod through the limiting nut.

The invention is characterized in that the lower end of a rack is provided with a wheel downward pressing and attaching mechanism, the wheel downward pressing and attaching mechanism comprises an attaching frame and attaching components, each side of two sides of the lower end of the rack is provided with at least one attaching frame, the attaching frames are fixedly connected with the rack, two attaching components are arranged on the attaching frames at intervals, each attaching component comprises a guide rod, a guide sleeve, an attaching spring, a cushion block, a nut, a pressing wheel frame and a pressing wheel, two through holes are arranged on the attaching frames at intervals, two guide sleeves are arranged on the attaching frames at intervals, the guide sleeves are fixedly connected with the attaching frames, the guide rods are arranged in the middles of the guide sleeves, the upper ends of the guide rods penetrate through the cushion blocks and are fixedly connected with the nut in a locking way, the lower ends of the guide sleeves penetrate through the guide sleeves and are fixedly connected with the pressing wheel frame at the lower end of the attaching frames, the guide rods are connected with the guide sleeves in a sliding way, the attaching springs are sleeved on the guide rods, and the upper ends of the attaching springs abut against the cushion blocks, paste tight spring lower extreme and paste tight frame and lean on, it is equipped with the pinch roller towards orbital one side to compress tightly the wheel carrier, the pinch roller through bearing and compress tightly wheel carrier fixed connection, the track lower extreme is equipped with and compresses tightly the walking track, the pinch roller is arranged the track lower extreme in and is compressed tightly walking track cooperation roll connection to do benefit to and support at the track lower extreme through the pinch roller, make the wheel paste with the track all the time, the wheel is meetting the barrier when lifting up in the walking simultaneously, because the effect of pinch roller can in time fall, has improved the security and the stability that the wheel marchd.

The upper end face of the track water valve is provided with the sealing groove, and the lower end of the sealing ring is embedded into the sealing groove to hermetically connect the sliding sealing sleeve and the track water valve, so that the sealing ring is limited and fixed through the sealing groove, and the butt joint stability is improved.

The torque limiter is arranged on the transmission motor, so that the transmission motor is prevented from being overloaded.

The invention has the advantages of simple structure, low use cost, capability of taking water at the same pressure, small valve opening pressure, good sealing effect, high fire extinguishing efficiency and the like.

Drawings

Fig. 1 is a schematic structural view of a valve opening device and a pilot valve opening detection mechanism provided in the valve opening device according to the present invention.

Fig. 2 is a schematic view of a valve opening device and another pilot valve opening detection mechanism provided in the valve opening device.

Fig. 3 is a schematic structural diagram of the fire fighting water taking robot in the invention.

Fig. 4 is a cross-sectional view of the control valve mechanism of fig. 3 of the present invention.

Fig. 5 is a front view of fig. 3 of the present invention.

Fig. 6 is a cross-sectional view B-B of fig. 5 of the present invention.

Fig. 7 is an enlarged view of the invention at C in fig. 6.

Fig. 8 is another schematic structural diagram of the fire fighting water taking robot in the invention.

Fig. 9 is a schematic view of the valve opening device, the docking water intake mechanism and the track water valve of fig. 8 with the chassis and the track removed.

Fig. 10 is a cross-sectional view of the invention of fig. 8.

Fig. 11 is an enlarged view of fig. 10 at D according to the present invention.

Fig. 12 is a schematic structural view of the docking water intake mechanism of the present invention.

Fig. 13 is a schematic view of the hook plate and the limit plate separated in the limit fixing mechanism of the invention.

Fig. 14 is a schematic structural view of the relative positions of the fixed frame and the hook plate frame in fig. 13 according to the present invention.

Fig. 15 is a schematic view of the limiting plate hooked by the hook plate in the limiting and fixing mechanism according to the present invention.

Fig. 16 is a schematic structural view of the relative positions of the fixed frame and the hook plate frame in fig. 15 according to the present invention.

Fig. 17 is a schematic structural view of the hook plate frame of the present invention.

Fig. 18 is a schematic structural diagram of the orbiting water valve of the present invention.

Fig. 19 is a cross-sectional view of fig. 18 of the present invention.

Fig. 20 is an enlarged view of the invention at E in fig. 19.

FIG. 21 is a schematic diagram of a state in which a pilot valve is depressed in the orbiting water valve of the present invention.

Fig. 22 is a schematic view of the fully opened state of the orbiting water valve of the present invention.

FIG. 23 is an enlarged schematic view of the cushioning mechanism of the present invention.

Fig. 24 is an enlarged schematic view of the wheel down pressing mechanism of the present invention.

Reference numerals: the water supply device comprises a fixed seat 1, a bearing seat 2, a water inlet channel 3, a water outlet channel 4, a transmission shaft 5, a screw rod 6, a nut 7, a ring sleeve 8, a sliding water pressing plate 9, a guide limiting block 10, a screw rod hole 11, a transmission motor 12, a connecting groove 13, a chassis 14, a track 15, a control cabin 16, a water cannon 17, a traveling mechanism 18, a track water valve 19, a butt joint water taking mechanism 20, a frame 21, a sliding sealing sleeve 22, a sealing ring 23, a left rack plate 24, a right rack plate 25, a fixing frame 26, a left gear 27, a left gear shaft 28, a left worm gear 29, a right gear 30, a right worm gear 31, a worm shaft 32, a worm motor 33, a left spiral tooth 34, a right spiral tooth 35, a limit fixing mechanism 36, a hook plate frame 37, a guide sliding mechanism 38, a hook plate 39, a limiting plate 40, an eccentric wheel 41, a limiting wheel hole 42, a pressing mechanism 43, an upper connecting seat 44, a lower connecting seat 45, a spring 46, a valve body 47 and a simultaneous pressing valve opening mechanism 48, a main valve core 49, a pilot valve mechanism 50, a main valve fixing sleeve 51, a main spring 52, a pilot valve 53, a pilot base 54, a pilot spring 55, an upper valve cover 56, a water intake passage 57, a water flow passage 58, a main valve connecting seat 59, a main valve guide seat 60, a pilot passage 61, a water inlet hole 62, a guide passage 63, a lower valve cover 64, a pressure sensor 65, a pilot valve opening detection mechanism 66, a water pressing plate approach sensor 67, a wire outlet joint 68, a sealing cover 69, a magnetostrictive displacement sensor 70, a waveguide tube 71, a movable magnetic ring 72, a positioning mechanism 73, a positioning block 74, a control valve mechanism 75, a stop valve 76, a connecting end 77, a ball valve 78, a cushioning mechanism 79, a cushioning frame 80, a cushioning assembly 81, a cushioning rod 82, a linear bearing 83, a cushioning spring 84, a wheel pressing and abutting mechanism 85, a abutting frame 86, an abutting assembly 87, a guide rod 88, a guide sleeve 89, and an abutting spring 90, the device comprises a cushion block 91, a compaction wheel frame 92, a torsion limiter 93, a guide groove 94, a front and back limiting sliding mechanism 96, a first sliding strip 97, a sliding limiting block 98, a second sliding strip 99, a valve opening device 100, a sliding limiting seat 101, a limiting nut 102, wheels 103, compaction wheels 104 and a limiting baffle 105.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

A valve opening device is characterized in that: comprises a fixed seat 1, the upper end of the fixed seat 1 is provided with a bearing seat 2, the fixed seat 1 is internally provided with a water inlet channel 3, one side of the fixed seat 1 is provided with a water outlet channel 4, the water outlet channel 4 is communicated with the water inlet channel 3, the water inlet channel 3 is internally provided with a transmission shaft 5, a screw 6, a nut 7 and a sliding water pressing plate 9, the transmission shaft 5 is axially provided with a screw hole 11, the transmission shaft 5 is internally provided with the screw 6, the lower end of the transmission shaft 5 is provided with the nut 7, the transmission shaft 5 is fixedly connected with the nut 7, the lower part of the transmission shaft 5 is provided with the sliding water pressing plate 9, the upper part of the transmission shaft 5 penetrates out of the water inlet channel 3 and is driven by a transmission motor 12, the upper part of the transmission shaft 5 is fixedly connected with the bearing seat 2 through a bearing, the lower end of the bearing seat 2 is fixedly connected with the fixed seat 1, the lower end of the screw 6 sequentially penetrates out of the transmission shaft 5, the nut 7 is fixedly connected with the sliding water pressing plate 9, screw rod 6 and 7 threaded connection of nut, slide pressurized-water board 9 and 3 inner wall sliding connection of inhalant canal, the 9 lower extremes of slide pressurized-water board stretch out fixing base 1 and form and open the valve extrusion end to it is rotatory to do benefit to the driving motor drive transmission shaft, and the transmission shaft drives the nut rotation, and nut and screw rod threaded connection, screw rod and slide pressurized-water board fixed connection, slide pressurized-water board and inhalant canal inner wall sliding connection for the screw rod drives the axial of slide pressurized-water board and reciprocates under the nut drives.

According to the invention, the lower end of the screw 6 is provided with the ring sleeve 8, the upper end of the sliding water pressing plate 9 is provided with the connecting groove 13, the lower end of the screw 6 is arranged in the connecting groove 13, the inner wall of the ring sleeve 8 is fixedly connected with the screw 6, and the outer wall of the ring sleeve 8 is fixedly connected with the sliding water pressing plate 9, so that the sliding water pressing plate can be conveniently replaced and maintained.

The two sides of the inner wall of the water inlet channel 3 are fixedly provided with the guide limiting blocks 10, and the sliding water pressing plate 9 is connected with the guide limiting blocks 10 in a sliding mode, so that the sliding water pressing plate can be limited in a rotation stopping mode through the guide limiting blocks, and can move up and down axially.

The utility model provides a fire control water intaking robot, includes chassis 14 and track 15, be equipped with control cabin 16 and water cannon 17 on the chassis 14, 14 lower extremes on chassis are equipped with running gear 18, running gear 18 cooperatees with track 15, is equipped with control system, its characterized in that in the control cabin 16: the water supply device is characterized in that the base plate 14 is provided with the valve opening device 100, the track 15 is at least provided with a track water valve 19, a butt joint water taking mechanism 20 is arranged between the valve opening device 100 and the track water valve 19, the valve opening device 100 is in butt joint with the track water valve 19 through the butt joint water taking mechanism 20 to take water, the fixed seat 1 is fixedly connected with a rack 21 of the base plate 14, a water outlet channel 4 on the fixed seat 1 is communicated with a water inlet of a water cannon 17, the transmission motor 12 is fixed on the rack 21 and is controlled and driven by a control system, and the track water valve 19 is fixedly connected with the track 15, so that the valve opening device can take water from the track water valve to supply the water cannon, and fire extinguishing operation is completed.

The invention relates to a butt joint water taking mechanism 20, which comprises a sliding seal sleeve 22, a seal ring 23, a left rack plate 24, a right rack plate 25, a fixed mount 26, a left gear 27, a left gear shaft 28, a left worm wheel 29, a right gear 30, a right gear shaft, a right worm wheel 31, a worm shaft 32 and a worm motor 33, wherein the outer side of a fixed seat 1 is provided with the sliding seal sleeve 22, the inner wall of the sliding seal sleeve 22 is in sealed sliding connection with the outer wall of the fixed seat 1, the lower end of the sliding seal sleeve 22 is fixedly provided with the seal ring 23, the sliding seal sleeve 22 falls to abut against the upper end surface of a track water valve 19 through the seal ring 23 to realize butt joint, the left and right sides of the sliding seal sleeve 22 are provided with the left rack plate 24 and the right rack plate 25, the front and back sides of the sliding seal sleeve 22 are respectively provided with the fixed mount 26, the fixed mount 26 is fixedly connected with a rack 21, the right end of the left rack plate 24 is fixedly connected with the sliding seal sleeve 22, the left end of the left rack plate 24 is provided with the left gear 27, the left gear 27 is meshed with a rack on the left rack plate 24, the left gear 27 is fixed on a left gear shaft 28, two ends of the left gear shaft 28 are fixedly connected with two side fixing frames 26 through bearings, one end of the left gear shaft 28 penetrates through the fixing 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 seal sleeve 22, the right end of the right rack plate 25 is provided with a right gear 30, the right gear 30 is meshed with a rack on the right rack plate 25, the right gear 30 is fixed on a right gear shaft, two ends of the right gear shaft are fixedly connected with the two side fixing frames 26 through bearings, one end of the right gear shaft penetrates through the fixing frame 26 and is fixedly provided with a right worm gear 31, worm shafts 32 are arranged on the left worm gear 29 and the right worm gear 31, left spiral teeth 34 and right spiral teeth 35 are fixed on the worm shafts 32 at intervals, the spiral direction of the left spiral teeth 34 is opposite to the spiral direction of the right spiral teeth 35, the left spiral teeth 34 are meshed with the left worm wheel 29, the right spiral teeth 35 are meshed with the right worm wheel 31, two ends of the worm shaft 32 are fixedly connected with the fixing frame 26 through bearings, one end of the worm shaft 32 penetrates out of the fixing frame 26 and is driven by the worm motor 33, the worm motor 33 is fixed on the rack 21 and is connected with the control system, so that the worm motor is started, the worm motor drives the worm shaft, the left gear and the right gear are driven to rotate through worm and gear transmission, the left rack plate and the right rack plate are driven to synchronously move up and down, the up and down movement of the sliding seal sleeve is achieved, and when a seal ring at the lower end of the sliding seal sleeve abuts against the upper end of the track water valve, the sliding seal sleeve is in butt joint with the track water valve.

According to the invention, the track water valve 19 is provided with a limiting and fixing mechanism 36, the limiting and fixing mechanism 36 comprises a hook plate frame 37, a guiding sliding mechanism 38, a hook plate 39, a limiting plate 40 and an eccentric wheel 41, the front side and the rear side of the sliding sealing sleeve 22 are respectively provided with the hook plate frame 37, the guiding sliding mechanism 38 is arranged between the hook plate frame 37 and the fixing frame 26, the hook plate frame 37 is connected with the fixing frame 26 in a sliding manner through the guiding sliding mechanism 38, the lower end of the hook plate frame 37 extends towards the center of the sliding sealing sleeve 22 to form the hook plate 39, the front side and the rear side of the upper end of the track water valve 19 respectively extend outwards to form the limiting plate 40, the hook plate frame 37 is provided with limiting wheel holes 42 at intervals, the front end and the rear end of the left gear shaft 28 are respectively and fixedly provided with the eccentric wheel 41, the front end and the rear end of the right gear shaft are respectively and fixedly provided with the eccentric wheel 41, the eccentric wheel 41 is arranged in the limiting wheel holes 42, when the top end of the eccentric wheel 41 is turned from the proximal end to the distal end, the hook plate frame 37 moves upwards along with the eccentric wheel 41, the upper end face of the hook plate 39 abuts against the lower end face of the limiting plate 40 to realize the limiting and fixed connection of the fixing frame 26 and the track water valve 19, so that the worm motor can be started conveniently, the worm motor drives the worm shaft, the left gear and the right gear are driven to rotate through the transmission of the worm gear and the worm rod, the eccentric wheel is driven to rotate, the hook plate ascends under the action of the eccentric wheel while the sliding seal sleeve moves downwards, when the sealing ring at the lower end of the sliding seal sleeve abuts against the upper valve cover of the track water valve, the upper end face of the hook plate abuts against and is fixed with the lower end face of the limiting plate, and the hook plate and the track water valve are sealed and fixed.

According to the invention, the front side and the rear side of the lower end of the limiting wheel hole 42 are respectively provided with the limiting baffle plates 105, the limiting baffle plates 105 are fixedly connected with the hook plate frame 37, a lubricating oil groove is formed between the two limiting baffle plates 105 and the limiting wheel hole 42, lubricating oil is arranged in the lubricating oil groove, and when the eccentric wheel 41 rotates, the eccentric wheel 41 is in contact with the lubricating oil in the lubricating oil groove, so that the smoothness of the rotation of the eccentric wheel is improved through the lubricating oil.

The upper end of the hook plate frame 37 is at least provided with a lower pressing mechanism 43, the lower pressing mechanism 43 comprises an upper connecting seat 44, a lower connecting seat 45 and a spring 46, the hook plate frame 37 is at least provided with a lower connecting seat 45, the lower connecting seat 45 is fixedly connected with the hook plate frame 37, the lower connecting seat 45 is at least provided with a spring 46, the fixed frame 26 is provided with an upper connecting seat 44, the upper connecting seat 44 is fixedly connected with the fixed frame 26, the upper connecting seat 44 is opposite to the lower connecting seat 45, the spring 46 is in a compressed state, one end of the spring 46 is fixedly connected with the upper connecting seat 44, and the other end of the spring is fixedly connected with the lower connecting seat 45, so that when the eccentric wheel drives the hook plate to move downwards, the spring is opened after extrusion to push the hook plate frame to move downwards, and the hook plate is separated from the limiting plate.

The upper connecting seat 44 is provided with at least one upper spring groove with a downward opening, 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 arranged in the upper spring groove and fixedly connected with the upper spring groove, and the other end is arranged in the lower spring groove and fixedly connected with the lower spring groove, so that the spring is guided by the upper spring groove and the lower spring groove, and the spring is prevented from being inclined.

The guide sliding mechanism 38 comprises a first sliding strip 97 and a sliding limiting block 98, the sliding limiting block 98 is arranged in the middle of the fixing frame 26, the guide groove 94 is arranged in the middle of the hook plate frame 37, the first sliding strip 97 is fixedly arranged on the left side and the right side of the inner wall of the guide groove 94, the sliding limiting block 98 is arranged in the guide groove 94 and is in sliding connection with the guide groove (94) through the first sliding strip 97, and the sliding limiting block 98 is fixedly connected with the fixing frame 26, so that the position of the hook plate frame is limited through the sliding limiting block, and the hook plate frame cannot move left and right through the guide groove, the sliding limiting block and the first sliding strip.

The guide sliding mechanism 38 further comprises a front and rear limiting sliding mechanism 96, the front and rear limiting sliding mechanism 96 comprises a second sliding bar 99 and a sliding limiting seat 101, the two ends of the fixing frame 26 are respectively provided with the sliding limiting seat 101, the sliding limiting seat 101 is fixedly connected with the fixing frame 26, an opening limiting groove facing the hook plate frame 37 is arranged between the sliding limiting seat 101 and the fixing frame 26, the front side and the rear side of the opening limiting groove are respectively and fixedly provided with the second sliding bar 99, the left end and the right end of the hook plate frame 37 are respectively arranged in the opening limiting groove and are in sliding connection with the opening limiting groove through the second sliding bar 99, so that the hook plate frame can be limited in the front and rear direction through the sliding limiting seat, and the hook plate frame can not move in the front and rear direction.

The track water valve 19 of the invention comprises a valve body 47, a constant pressure valve opening mechanism 48 is arranged in the valve body 47, the constant pressure valve opening mechanism 48 comprises a main valve core 49, a first valve opening mechanism 50, a main valve fixing sleeve 51 and a main spring 52, the first valve opening mechanism 50 comprises a pilot valve 53, a pilot base 54 and a pilot spring 55, the valve body 47 is fixedly connected with a track 15, a water taking channel 57 is arranged in the middle of an upper valve cover 56 of the valve body 47, the valve body 47 is provided with a water flow channel 58 along the extending direction of the track 15, the main valve core 49 is arranged below the upper valve cover 56 of the valve body 47, a pilot valve 53 is arranged in the main valve core 49, the main valve core 49 comprises a main valve connecting seat 59 and a main valve guide seat 60, the main valve connecting seat 59 is axially provided with a pilot channel 61, the upper end of the main valve connecting seat 59 is in sealed contact with the lower end of the upper valve cover 56, the lower end of the main valve connecting seat 59 is fixedly connected with the upper end of the main valve guide seat 60, the outer wall of the upper end of the main valve guide seat 60 is provided with water inlet holes 62 at intervals, the lower end of the main valve guide seat 60 is provided with a guide base 54, the main valve guide seat 60 is axially provided with a guide channel 63, the guide channel 61 and the water taking channel 57 are communicated, the guide channel 63 is communicated with the water flow channel 58 through the water inlet holes 62, the diameter of the guide channel 63 is larger than that of the guide channel 61, the pilot valve 53 is positioned below the sliding water pressing plate 9, the upper end of the pilot valve 53 extends out of the main valve connecting seat 59 and is arranged in the water taking channel 57, the middle part of the pilot valve 53 is in sealed sliding connection with the guide channel 61, the lower end of the pilot valve 53 extends into the guide channel 63 and is in sliding connection with the guide channel 63, the outer diameter of the upper end of the pilot valve 53 is smaller than that of the middle part of the pilot valve 53, the lower end of the pilot valve 53 is provided with a pilot spring 55, and the pilot spring 55 is in a compressed state, the upper end of the pilot spring 55 is abutted against the lower end face of the pilot valve 53, the lower end is abutted against the pilot base 54, after the pilot valve 53 is pressed by the sliding water pressing plate 9, the pilot spring 55 is extruded by the pilot valve 53 and moves downwards, water in the water flow channel 58 enters the guide channel 63 and the pilot channel 61 through the water inlet hole 62 and flows into the water inlet channel 3 through the water taking channel 57, the pilot base 54 is fixedly connected with the main valve guide seat 60, the outer wall of the main valve guide seat 60 is provided with the main valve fixing sleeve 51, the main valve guide seat 60 is slidably connected with the main valve fixing sleeve 51, the outer walls of the main valve guide seat 60 and the main valve fixing sleeve 51 are sleeved with the main spring 52, the lower end of the main valve fixing sleeve 51 is fixedly connected with the lower valve cover 64 of the valve body 47, the main spring 52 is in a compressed state, the upper end of the main spring 52 is abutted against the lower end face of the main valve connecting seat 59, and the lower end is abutted against the upper end face of the lower valve cover 64, the main valve connecting seat 59 is pressed, the main valve connecting seat 59 extrudes the main spring 52 and moves downwards, the main valve connecting seat 59 is separated from the upper valve cover 56, the water flow channel 58 is communicated with the water taking channel 57, so that when the valve is used, the sliding water pressing plate extrudes the pilot valve downwards firstly, water in the water flow channel enters the guide channel through the water inlet hole, the pilot channel flows into the water inlet channel through the water taking channel and then enters the water cannon through the water outlet channel, when the water pressure in the valve opening device is consistent with the water pressure in the track water valve, the sliding water pressing plate continuously moves downwards, the sliding water pressing valve presses the main valve connecting seat, the main valve connecting seat moves downwards, the water in the water flow channel directly enters the water taking channel, and a continuous water source is provided for the water cannon when the water pressure in the water inlet channel enters the water inlet channel.

According to the invention, the pressure sensor 65 is arranged on one side of the upper end of the water inlet channel 3, and the pressure sensor 65 is fixedly connected with the fixed seat 1, so that the pressure sensor is favorable for monitoring the water pressure in the valve opening device.

The frame 21 of the invention is internally provided with a pilot valve opening detection mechanism 66, so that the position of the sliding water pressing plate pressed downwards can be detected by the pilot valve opening detection mechanism.

The pilot valve opening detection mechanism 66 can be a water pressing plate proximity sensor 67 and a wire outlet joint 68, the water pressing plate proximity sensor 67 is arranged on one side of the lower end of the sliding water pressing plate 9, a wire hole is formed in the sliding water pressing plate 9, a wire through hole is formed in the screw rod 6, a sealing cover 69 is arranged at the upper end of the transmission shaft 5, a wire through hole is formed in the middle of the sealing cover 69, the water pressing plate proximity sensor 67 is located above the main valve core 49, a wire of the water pressing plate proximity sensor 67 penetrates through the sliding water pressing plate 9, the screw rod 6 and the sealing cover 69 to be fixedly connected with the wire outlet joint 68, the wire outlet joint 68 is fixedly connected with the sealing cover 69, the sealing cover 69 is hermetically connected with the transmission shaft 5, the sealing cover 69 is fixedly connected with the bearing seat 2, a wire of the wire outlet joint 68 is connected with a control system, so that when the sliding water pressing plate moves downwards, and the sliding water pressing plate presses the pilot valve, stops descending when the water pressing plate approaches the sensor to sense the main valve core, and continues to move downwards when the water pressure in the valve opening device is consistent with the water pressure in the track water valve.

The pilot valve opening detection mechanism 66 may also be a magnetostrictive displacement sensor 70, the magnetostrictive displacement sensor 70 is arranged at the upper end of the bearing seat 2, the screw rod 6 is axially provided with a pipe hole, the magnetostrictive displacement sensor 70 is fixedly connected with the bearing seat 2, a waveguide 71 of the magnetostrictive displacement sensor 70 penetrates through the screw rod hole 11 and the pipe hole and is arranged in the screw rod 6, a movable magnetic ring 72 of the magnetostrictive displacement sensor 70 is fixedly connected with the screw rod 6, and the magnetostrictive displacement sensor 70 is connected with a control system, so that the descending position of the screw rod can be detected through the magnetostrictive displacement sensor, and the pressing position of the sliding water pressing plate can be known.

According to the invention, the track water valve 19 is provided with the positioning mechanism 73, the positioning mechanism 73 comprises a positioning block 74 and a positioning proximity sensor, the left end and the right end of the upper valve cover 56 are respectively provided with the positioning block 74, the positioning block 74 is fixedly connected with the upper valve cover 56, the rack 21 above the positioning block 74 is provided with the positioning proximity sensor, the positioning proximity sensor is matched with the positioning block 74, the positioning proximity sensor is fixedly connected with the rack 21, and the positioning proximity sensor is connected with the control system, so that when the rack approaches the track water valve from one side of the track water valve, the positioning block on the left side or the positioning block on the right side of the track water valve is sensed by the positioning proximity sensor on the rack, the rack starts to decelerate, and when the positioning block on the right side or the left side of the track water valve is sensed by the positioning proximity sensor on the rack along with the advance of the rack, the rack stops.

The frame 21 of the present invention is provided with a control valve mechanism 75, which is beneficial to controlling the opening and closing of the track water valve through the control valve mechanism.

The control valve mechanism 75 can be a stop valve 76 and a connecting end 77, one end of the stop valve 76 is communicated with the water outlet channel 4 through the connecting end 77, the other end of the stop valve is connected with the water inlet of the water cannon 17 through the connecting end 77, and the stop valve 76 is connected with a control system so as to be beneficial to controlling the opening and closing of the track water valve through the stop valve.

The control valve mechanism 75 of the present invention may also be a ball valve 78, the ball valve 78 is fixedly disposed in the water cannon 17 or the water outlet channel 4, and the ball valve 78 is controlled by a control system, so as to facilitate the control of the opening and closing of the water outlet channel through the ball valve.

The traveling mechanism 18 is provided with a cushioning mechanism 79, the cushioning mechanism 79 comprises a cushioning frame 80 and cushioning components 81, the cushioning frame 80 is arranged on a hub of each wheel 103 in the traveling mechanism 18, the cushioning frame 80 is fixedly connected with the hub through a bearing, the cushioning components 81 are respectively arranged on two sides of the cushioning frame 80, each cushioning component 81 comprises a cushioning rod 82, a linear bearing 83 and a cushioning spring 84, the cushioning rod 82 is sleeved with the cushioning spring 84, the upper end of the cushioning rod 82 is fixedly connected with the frame 21, the lower end of the cushioning rod 82 is slidably connected with the cushioning frame 80 through the linear bearing 83, the upper end of the cushioning spring 84 abuts against the frame 21, and the lower end of the cushioning spring abuts against the cushioning frame 80, so that the wheels can travel on the track more safely and more stably through the cushioning mechanism.

According to the invention, the lower end of the cushioning rod 82 penetrates through the linear bearing 83 to be provided with the limiting nut 102, the limiting nut 102 is arranged below the linear bearing 83 and is in threaded connection with the cushioning rod 82, the linear bearing 83 is fixedly connected with the cushioning frame 80, and the outer diameter of the limiting nut 102 is larger than the inner diameter of the linear bearing 83, so that the lifting distance of the cushioning rod is limited by the limiting nut.

The invention is characterized in that a wheel downward pressing and attaching mechanism 85 is arranged at the lower end of a frame 21, the wheel downward pressing and attaching mechanism 85 comprises an attaching frame 86 and attaching components 87, at least one attaching frame 86 is arranged on each side of two sides of the lower end of the frame 21, the attaching frame 86 is fixedly connected with the frame 21, two attaching components 87 are arranged on the attaching frame 86 at intervals, each attaching component 87 comprises a guide rod 88, a guide sleeve 89, an attaching spring 90, a cushion block 91, a nut, a pressing wheel frame 92 and a pressing wheel 104, two through holes are arranged on the attaching frame 86 at intervals, two guide sleeves 89 are arranged on the attaching frame 86 at intervals, the guide sleeves 89 are fixedly connected with the attaching frame 86, a guide rod 88 is arranged in the middle of each guide sleeve 89, the upper end of each guide rod 88 passes through the cushion block 91 and is fixedly connected with the nut in a locking manner, the lower end of each guide sleeve 89 is fixedly connected with the pressing wheel frame 92 at the lower end of the attaching frame 86, and the guide rods 88 are connected with the guide sleeves 89 in a sliding manner, the tight spring 90 is sleeved on the guide rod 88, the tight spring 90 is in a compression state, the upper end of the tight spring 90 is abutted against the cushion block 91, the lower end of the tight spring 90 is abutted against the tight frame 86, the pressing wheel frame 92 is provided with a pressing wheel 104 towards one side of the track 15, the pressing wheel 104 is fixedly connected with the pressing wheel frame 92 through a bearing, the lower end of the track 15 is provided with a pressing walking track, the pressing wheel 104 is arranged at the lower end of the track 15 and is in matched rolling connection with the pressing walking track so as to be beneficial to abutting against the lower end of the track through the pressing wheel, the wheel is always attached to the track, and meanwhile, when the wheel is lifted when walking and encountering obstacles, the wheel can fall in time due to the effect of the pressing wheel, and the traveling safety and stability of the wheel are improved.

The upper end surface of the track water valve 19 is provided with a sealing groove, the lower end of the sealing ring 23 is embedded into the sealing groove to hermetically connect the sliding sealing sleeve 22 with the track water valve 19, so that the sealing ring is limited and fixed through the sealing groove, and the butt joint stability is improved.

The torque limiter 93 is arranged on the transmission motor 12, so that the transmission motor can be prevented from being overloaded.

Referring to fig. 1-24, for convenience of explanation, the terms "left", "right", "front" and "back" used in the present invention are described with reference to fig. 12, and other drawings are oriented accordingly, it is to be understood that "left", "right", "front" and "back" are used for convenience of explanation and are not intended to limit the components.

As shown in attached figures 1 and 2, the valve opening device of the invention can be connected between a transmission shaft and a transmission motor by a transmission mechanism, such as belt transmission, a belt tensioning mechanism is correspondingly arranged, a torsion limiter can be further arranged on the transmission motor to protect the transmission motor, when in use, the valve opening device is installed on a fire fighting water taking robot, as shown in attached figures 3 or 8, different structures are arranged according to different control valve mechanisms, ball valves are adopted as control valves in the structures shown in attached figures 3 to 7, the ball valves are electric ball valves in the prior art and are controlled by a control system, the control system can adopt a PLC control system, stop valves are adopted as the structures shown in attached figures 8 to 11, the stop valves are controlled by the control system, two pilot valve detection mechanisms are arranged according to requirements, one is shown in attached figure 1, the main valve core is sensed by a pressurized water plate proximity sensor, when the pressurized water plate proximity sensor senses the main valve core, a control system controls a transmission motor to stop rotating, so that a sliding pressurized water plate stops descending, and a valve opening device with the pilot valve opening detection mechanism can be installed in a fire-fighting water taking robot controlled by a stop valve and can also be installed in a fire-fighting water taking robot controlled by a ball valve; another pilot valve opening detection mechanism is shown in figure 2, a magnetostrictive displacement sensor is adopted to sense the descending distance of the screw rod, and further the descending distance of the sliding water pressing plate is known, so that the distance from the sliding water pressing plate to the main valve core is known in advance, and the corresponding distance of the descending screw rod can be obtained, a valve opening device with the pilot valve opening detection mechanism can be installed in a fire-fighting water taking robot controlled by a stop valve, as shown in figure 10, when the valve opening device with the pilot valve opening detection mechanism is installed in the fire-fighting water taking robot controlled by a ball valve, the waterproof work of the magnetostrictive sensor and a transmission shaft is completed; the water cannon of the invention adopts the fire water cannon in the prior art, can swing horizontally and vertically, has large rescue range,

when the fire fighting water taking robot is used, a traveling mechanism of the fire fighting water taking robot travels and patrols on the rail, when a fire disaster is found, the control system senses a rail water valve through the positioning mechanism, specifically, two positioning blocks are arranged at the left end and the right end of the upper valve cover, a left positioning proximity sensor and a right positioning proximity sensor are correspondingly arranged on the rack, when the rack approaches from one side of the rail water valve, for example, the left side of the rail water valve is close to the left side of the rail water valve, the positioning block at the left end of the upper valve cover is sensed by the positioning proximity sensor at the right side of the rack, the rack starts to decelerate, the positioning block at the right end of the upper valve cover is sensed by the positioning proximity sensor at the right side of the rack along with the movement of the rack from left to right, meanwhile, the positioning block at the left end of the upper valve cover is sensed by the positioning proximity sensor at the left side of the rack, and the rack stops being butted with the rail water valve; starting a butt joint water taking mechanism, starting a worm gear motor by a control system, driving a worm shaft by the worm motor, driving a left gear to rotate clockwise and a right gear to rotate anticlockwise as shown in figures 11 and 12 so as to drive a left rack plate and a right rack plate to move downwards synchronously, when a sealing ring at the lower end of a sliding sealing sleeve abuts against the upper end surface of a track water valve, realizing butt joint of the sliding sealing sleeve and the track water valve, simultaneously rotating a left gear shaft clockwise and a right gear shaft anticlockwise to drive the top end of an eccentric wheel to rotate from a near-center end to a far-center end as shown in figure 16, driving a hook plate frame to ascend along with the driving of the eccentric wheel, driving the hook plate frame to drive the hook plate to ascend as shown in figure 15, hooking the hook plate to hook a limiting plate, so that a fixing frame and the track water valve are fixed; starting a transmission motor, driving a screw rod to rotate by a transmission shaft, further driving a sliding water pressing plate to descend, pressing the sliding water pressing plate on a pilot valve and driving the pilot valve to move downwards, losing seal between the pilot valve and a main valve core, enabling water in a water flow channel in a track to enter a guide channel, a pilot channel and a water taking channel through a water inlet hole and then flow into a water inlet channel, realizing opening of a pilot valve of a track water valve, when a pilot valve detection mechanism detects that the sliding water pressing plate approaches the main valve core, closing the transmission motor, when a pressure sensor detects that the water pressure in the water inlet channel is consistent with the water pressure in the track water valve, starting the transmission motor, continuously descending the sliding water pressing plate, pressing the sliding water pressing plate on the pilot valve and the main valve core, driving the pilot valve and the pilot valve core to descend together, at the moment, separating the main valve core from an upper end cover of, the full opening of the track water valve is realized; the control system starts the control valve mechanism, opens the ball valve or the stop valve, and the water cannon starts water spraying fire extinguishing operation; when the fire is serious, more fire fighting water taking robots without tracks can be dispatched, the fire fighting water taking robots are directly placed on the tracks of the existing fire fighting water taking robots and are butted with other track water valves on the tracks according to the method, the invention is provided with the first valve opening mechanism, the cross section of the pilot valve is small, the pressure required by downward extrusion of the pilot valve is small, so that the pilot valve can be easily opened under the condition that water exists in the tracks to realize butt joint water taking, the first valve opening pressure is small by arranging the second valve opening mechanism, the pressure required by one-time valve opening is usually large in the prior art, so that the water valve cannot be opened after water flows in the tracks, therefore, when the fire is serious suddenly, new fire fighting equipment is dispatched to put out fire, a new track is required to be correspondingly arranged, a new water valve and a water pipe are installed, the water valve is opened after butt joint, and then, the fire can be extinguished after water is supplied to the track, compared with the fire extinguishing method, the fire extinguishing efficiency is greatly improved, and the fire extinguishing cost is reduced.

The invention has the advantages of simple structure, low use cost, capability of taking water at the same pressure, small valve opening pressure, good sealing effect, high fire extinguishing efficiency and the like.