CN114288590B - Quick autonomous butt joint device of fire hydrant water pipe for fire-fighting robot - Google Patents
Quick autonomous butt joint device of fire hydrant water pipe for fire-fighting robot Download PDFInfo
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- CN114288590B CN114288590B CN202111411990.4A CN202111411990A CN114288590B CN 114288590 B CN114288590 B CN 114288590B CN 202111411990 A CN202111411990 A CN 202111411990A CN 114288590 B CN114288590 B CN 114288590B
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- 238000003032 molecular docking Methods 0.000 claims description 46
- 238000000926 separation method Methods 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000002567 autonomic effect Effects 0.000 claims description 2
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- 241000309551 Arthraxon hispidus Species 0.000 description 8
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000004026 adhesive bonding Methods 0.000 description 1
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Abstract
The invention relates to the technical field of fire hydrant butt joint devices, and discloses a quick autonomous butt joint device of a fire hydrant water pipe for a fire-fighting robot, which comprises a fire hydrant clamping main body; the fire hydrant quick-operation joint, fire hydrant quick-operation joint's one end with the tight main part of fire hydrant clamp is connected, the fire hydrant quick-operation joint other end is used for connecting fire hose butt joint. According to the technical scheme, the rapid autonomous butt joint device for the fire hydrant water pipe for the fire-fighting robot provided by the invention has the advantages that the rotation of the auxiliary positioning grippers is synchronously regulated through the rope traction assembly, when the auxiliary positioning grippers rotate to a certain angle, the auxiliary positioning chucks corresponding to the auxiliary positioning grippers can limit and clamp butt joints of the fire hydrant water pipe, the purpose of autonomous butt joint of the fire hydrant water pipe and the fire-fighting robot can be further realized, and meanwhile, the butt joint efficiency of the fire hydrant water pipe and the fire-fighting robot is also improved.
Description
Technical Field
The invention relates to the technical field of fire hydrant butt joint devices, in particular to a quick autonomous butt joint device of a fire hydrant water pipe for a fire-fighting robot.
Background
The fire-fighting robot can carry a fire-fighting water pipe to reach a fire scene, go deep into the fire scene, directly extinguish a fire to a fire source, has the advantages of high fire-extinguishing efficiency and good safety, and is widely applied to the fields of petrochemical industry, industrial construction, electric fire fighting and the like. The randomness of the installation position of the fire hydrant in a fire scene is high, the position and the posture of a fire hydrant interface cannot be accurately positioned, and the quick butt joint device of the fire hydrant water pipe can be quickly butted only by a higher butt joint angle and precision, so that the good butt joint effect and the good tightness are ensured.
Traditional fire-fighting robot needs the fire hose of the manual connection of fire fighter, can't independently put out a fire when the fire fighter does not reach the scene of a fire, has greatly restricted fire-fighting robot's application and work efficiency.
Disclosure of Invention
The invention aims to solve the problem of the butt joint efficiency of a fire-fighting robot and a fire-fighting water pipe in the prior art, and provides a quick autonomous butt joint device of the fire-fighting hydrant water pipe for the fire-fighting robot.
In order to achieve the above object, the present invention provides a quick autonomous docking apparatus for a hydrant water pipe for a fire fighting robot, comprising:
a fire hydrant clamping body;
one end of the fire hydrant quick connector is connected with the fire hydrant clamping body, and the other end of the fire hydrant quick connector is used for being connected with a fire hose butt joint;
one end of each auxiliary positioning hand is hinged with the side wall of the fire hydrant clamping main body, and the other end of each auxiliary positioning hand is provided with an auxiliary positioning chuck for limiting and clamping the fire hydrant butt joint;
one end of each auxiliary positioning hand sleeve is connected with the fire hydrant main body; auxiliary positioning hand traction ropes are arranged inside the auxiliary positioning hand sleeves, and one ends of the auxiliary positioning hand traction ropes are fixedly connected with the corresponding auxiliary positioning hand respectively;
the other end of the auxiliary positioning hand grab sleeve is fixedly connected with the rope traction assembly, the other end of the auxiliary positioning hand grab traction rope is connected with the rope traction assembly, and the rope traction assembly is used for synchronously adjusting the angles of the auxiliary positioning hand grabs relative to the fire hydrant clamping main body to clamp the fire hydrant butt joint in a limiting manner.
Optionally, the rapid autonomous docking device further comprises a fire hydrant clamping and locking mechanism disposed on the fire hydrant clamping body, and the fire hydrant clamping and locking mechanism is connected with the fire hydrant clamping body and the fire hydrant quick coupling through bolts.
Optionally, the rapid autonomous docking device further comprises a plurality of auxiliary positioning gripper hangers, the auxiliary positioning gripper hangers are arranged on the fire hydrant clamping main body, and the auxiliary positioning gripper hangers are respectively connected with the plurality of auxiliary positioning grippers in a rotating mode through rotating shafts.
Optionally, the rapid autonomous docking apparatus further includes a plurality of docking assemblies, the docking assemblies are respectively disposed inside the plurality of auxiliary positioning grippers, and the docking assemblies include:
the butt joint locking lantern ring is arranged near one end of the fire hose butt joint;
the movable butt joint slide rail is arranged inside the auxiliary positioning gripper;
the movable butt joint sliding table is arranged inside the movable butt joint sliding rail and can slide along the movable butt joint sliding rail;
one end of the butt joint handle sleeve is fixedly connected with the auxiliary positioning gripper, and the other end of the butt joint handle sleeve is connected with the rope traction assembly;
the movable butt joint traction rope is arranged inside the movable butt joint handle sleeve, one end of the movable butt joint traction rope extends to the inside of the auxiliary positioning gripper and is fixedly connected with the movable butt joint sliding table, the other end of the movable butt joint traction rope is connected with the rope traction assembly, and the rope traction assembly is used for driving the movable butt joint sliding table to move and pushing the butt joint locking lantern ring so that the fire hose butt joint connector enters the inside of the fire hydrant quick joint;
and the butt joint reset separation spring is sleeved on the outer side of the part, located inside the auxiliary positioning gripper, of the movable butt joint traction rope, one end of the butt joint reset separation spring is connected with one side of the movable butt joint sliding table, and the other end of the butt joint reset separation spring is connected with the inner wall of the auxiliary positioning gripper.
Optionally, the fast autonomous docking apparatus further comprises:
the butt joint magnetic ring is sleeved outside the butt joint locking lantern ring;
the movable butt joint magnet is arranged on one side, facing the butt joint locking lantern ring, of the movable butt joint sliding table, and the movable butt joint magnet is used for cooperating with the butt joint magnetic ring to attract so as to drive the butt joint connector of the fire hydrant to move along the axis of the quick fire hydrant connector.
Optionally, one side of the auxiliary positioning chuck facing the fire hose butt joint is provided with an arc surface for cooperating with a side wall of the fire hose butt joint to increase a contact surface of the auxiliary positioning chuck and the fire hose butt joint.
Optionally, the auxiliary positioning collet is connected with the auxiliary positioning grip by a bolt.
Optionally, the fast autonomous docking apparatus further comprises:
the two fire-fighting water pipe fixing bases are symmetrically arranged on the outer sides of the fire-fighting water pipe butt joints;
the two fire-fighting water pipe fixing magnets are respectively arranged on one sides, far away from each other, of the two fire-fighting water pipe fixing bases, and one of the fire-fighting water pipe fixing magnets is used for being in adsorption connection with the fire-fighting robot body;
the mechanical arm mounting flange is connected with the mechanical arm through a bolt;
the mechanical arm butt joint magnet is connected with the mechanical arm mounting flange through a bolt, and the mechanical arm butt joint magnet is used for being connected with the other fire hose fixing magnet in an adsorption mode.
Optionally, the two fire hose fixing bases are connected with the fire hose butt joint through metal glue.
Optionally, quick autonomic interfacing apparatus still includes the location sighting plate, sets up the lateral wall of the tight main part of fire hydrant clamp, be provided with location unthreaded hole and vision measuring hole on the location sighting plate, location unthreaded hole with the vision measuring hole be used for with camera cooperation on the arm is in order to confirm the position of fire hydrant quick-operation joint.
According to the technical scheme, the rapid autonomous butt joint device for the fire hydrant water pipe for the fire-fighting robot provided by the invention has the advantages that the rotation of the auxiliary positioning grippers is synchronously regulated through the rope traction assembly, when the auxiliary positioning grippers rotate to a certain angle, the auxiliary positioning chucks corresponding to the auxiliary positioning grippers can limit and clamp butt joints of the fire hydrant water pipe, the purpose of autonomous butt joint of the fire hydrant water pipe and the fire-fighting robot can be further realized, and meanwhile, the butt joint efficiency of the fire hydrant water pipe and the fire-fighting robot is also improved.
Drawings
Fig. 1 is a schematic structural view of a quick autonomous docking apparatus of a hydrant water pipe for a fire fighting robot according to an embodiment of the present invention;
fig. 2 is a side view of a quick autonomous docking apparatus of a hydrant water pipe for a fire fighting robot according to an embodiment of the present invention.
Description of the reference numerals
01. Fire hose butt joint 02, fire hose unable adjustment base
03. Mechanical arm butt joint magnet 04 and mechanical arm mounting flange
05. Butt joint locking lantern ring 06, butt joint magnetic ring
07. Positioning sighting plate 08, cambered surface
09. Auxiliary positioning chuck 10 and auxiliary positioning gripper
11. Auxiliary positioning gripper hanging lug 12 and movable butt joint handle sleeve
13. Remove butt joint slide rail 14, assistance-localization real-time tongs sleeve pipe
15. Fire hydrant clamping body 16, mobile butt joint traction rope
17. Fire hydrant clamping and locking mechanism 18 and fire hydrant quick connector
19. Butt joint reset separation spring 20, movable butt joint magnet
21. Remove butt joint slip table 22, fire hose fixed magnet
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic structural view of a quick autonomous docking apparatus for a hydrant water pipe for a fire fighting robot according to an embodiment of the present invention. In fig. 1, the quick autonomous docking apparatus of a hydrant pipe for a fire fighting robot may include a hydrant clamping body 15, a hydrant quick coupling 18, a plurality of auxiliary positioning grips 10, a plurality of auxiliary positioning grip sleeves 14, and a rope pulling assembly. In particular, the auxiliary positioning grip 10 may further comprise an auxiliary positioning collet 09, and the auxiliary positioning grip sleeve may further comprise an auxiliary positioning grip pull cord.
One end of the fire hydrant quick connector 18 is connected with the fire hydrant clamping body 15, and the other end of the fire hydrant quick connector 18 is used for connecting a fire hose butt joint connector 01; one end of each of the auxiliary positioning grippers 10 is hinged to the side wall of the fire hydrant clamping main body 15, and the other end of each of the auxiliary positioning grippers 10 is provided with an auxiliary positioning chuck 09 to limit and clamp the fire hydrant butt joint 01; one end of each of the auxiliary positioning grip sleeves 14 is connected with the fire hydrant main body 15; auxiliary positioning gripper traction ropes are arranged inside the auxiliary positioning gripper sleeves 14, and one ends of the auxiliary positioning gripper traction ropes are fixedly connected with the corresponding auxiliary positioning grippers 10 respectively; the other end of a plurality of auxiliary positioning tongs sleeve pipes 14 all with rope traction assembly rigid coupling, and a plurality of auxiliary positioning tongs traction rope's the other end all with rope traction assembly connection, rope traction assembly is used for the angle of a plurality of auxiliary positioning tongs 10 for the tight main part 15 of fire hydrant clamp with spacing tight fire hose butt joint 01 of clamp.
When needing butt joint fire-fighting water pipe and fire-fighting robot, fire-fighting robot removes the one end of fire-fighting water pipe butt joint 01 to the other end of fire hydrant quick-operation joint 18, the rope pulls the subassembly and pulls a plurality of assistance-localization real-time tongs and pulls the rope in step, and then change the length that a plurality of assistance-localization real-time tongs pull the rope, make a plurality of assistance-localization real-time tongs pull the rope and drive the one end of corresponding assistance-localization real-time tongs 10 respectively and rotate along fire hydrant main part 15, the other end of a plurality of assistance-localization real-time tongs 10 is close to each other and closely laminates with the lateral wall of fire-fighting water pipe butt joint 01 until the assistance-localization real-time chuck 09 that corresponds, can realize being connected with the stability of fire hydrant quick-operation joint 18 to this fire-fighting water pipe butt joint 01.
In traditional fire-fighting robot and fire-fighting water pipe's connected mode, need the manual fire-fighting water pipe of plugging into of fire fighter, but when the fire fighter did not arrive the conflagration scene, fire-fighting robot can't independently put out a fire, and then has influenced fire-fighting robot's work efficiency. In the embodiment of the invention, the rope traction assembly is adopted to pull the auxiliary positioning grippers 10 to rotate, so that the auxiliary positioning chucks 09 can limit and clamp the side wall of the fire-fighting water pipe butt joint 01, the purpose of autonomous butt joint of the fire-fighting water pipe butt joint 01 and the fire-fighting robot is further realized, the fire-fighting robot can conveniently carry out fire-fighting work in time, and the working efficiency of the fire-fighting robot is improved.
In this embodiment of the present invention, the connection of the hydrant clamping body 15 to the hydrant quick coupling 18 may be in various forms known to those skilled in the art, such as a bolt connection, a flange connection, etc. However, in a preferred example of the present invention, the connection between the hydrant clamping body 15 and the hydrant quick coupling 18 may be specifically connected as shown in fig. 1, considering the tightness of the connection between the hydrant clamping body 15 and the hydrant quick coupling 18. Specifically, in fig. 1, the connection assembly of the hydrant clamp body 15 and the hydrant quick-coupling 18 may include a hydrant clamp locking mechanism 17.
The hydrant clamp locking mechanism 17 is provided on the hydrant clamp body 15, and the hydrant clamp locking mechanism 17 connects the hydrant clamp body 15 and the hydrant quick coupling 18 by a bolt.
In this embodiment of the present invention, the specific structure for the hydrant clamp locking mechanism 17 may be in various forms known to those skilled in the art, such as two cylinders, two half-cylinders, etc. However, in a preferred embodiment of the present invention, the hydrant clamp lock 17 may include two half-cylinders in view of the ease with which the hydrant clamp 17 can be secured to the hydrant clamp body 15 and the hydrant quick coupler 18. Specifically, two semi-cylindrical concave surfaces are relatively attached to form a cylinder, a plurality of connecting plates are arranged at the joint of the two semi-cylindrical concave surfaces in a protruding mode, and bolt mounting holes are formed in the connecting plates.
After the fire hydrant clamping body 15 and the fire hydrant quick connector 18 are respectively sleeved at two ends of the two half cylinders after being attached, the bolts can be used for fixing the two half cylinders through a plurality of bolt mounting holes so as to realize the connection of the fire hydrant clamping body 15 and the fire hydrant quick connector 18.
In this embodiment of the present invention, the specific structure of the auxiliary positioning grip 10 hinged to the hydrant clamping body 15 may be in various forms known to those skilled in the art, such as a pivot connection, a hinge connection, etc. However, in a preferred embodiment of the present invention, the specific structure of the auxiliary positioning grip 10 hinged to the hydrant clamp body 15 may be as shown in fig. 1, in view of the ease of rotation of the auxiliary positioning grip 10. Specifically, in fig. 1, the specific structure of the auxiliary positioning hand 10 hinged to the hydrant clamping body 15 may include an auxiliary positioning hand hanger 11 and a rotating shaft.
The auxiliary positioning hand grip hangers 11 are arranged on the fire hydrant clamping main body 15, and the auxiliary positioning hand grip hangers 11 are respectively connected with the plurality of auxiliary positioning hand grips 10 in a rotating mode through rotating shafts.
In this embodiment of the present invention, the rapid autonomous docking apparatus may further include a return torsion spring. Specifically, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected with the auxiliary positioning gripper hanging lug 11, and the other end of the torsion spring is connected with the auxiliary positioning gripper 10.
Before the fire hydrant quick connector 18 and the fire hose butt connector 01 need to be butted, the other ends of the auxiliary positioning grippers 10 are driven to be unfolded through the rope traction assembly, so that the fire fighting robot can move the fire hose butt connector 01 to the middle of the auxiliary positioning grippers 10. When a plurality of assistance-localization real-time tongs 10 expand, the torsional spring is followed and is rotated and extruded, when this fire water pipe butt joint 01 needs to be fixed, the torsional spring drives a plurality of assistance-localization real-time tongs 10 and rotates and reset and carry out spacing fixed to this fire water pipe butt joint 01, has further improved the butt joint efficiency of fire-fighting robot and fire water pipe butt joint 01.
In this embodiment of the present invention, as shown in fig. 1 and 2, the rapid autonomous docking apparatus may further include a plurality of docking assemblies respectively disposed inside the plurality of auxiliary positioning grippers 10. Specifically, the docking assembly may include a docking lock collar 05, a mobile docking sled 13, a mobile docking sled 21, a mobile docking handle sleeve 12, a mobile docking pull cord 16, and a docking return disconnect spring 19.
The butt locking lantern ring 05 is arranged near one end of the fire hose butt joint connector 01; the movable butt joint slide rail 13 is arranged inside the auxiliary positioning gripper 10; the movable docking sliding table 21 is arranged inside the movable docking sliding rail 13, and the movable docking sliding table 21 can slide along the movable docking sliding rail 13; one end of a movable butt joint handle sleeve 12 is fixedly connected with the auxiliary positioning gripper 10, and the other end of the movable butt joint handle sleeve 12 is connected with a rope traction assembly; the movable butt joint traction rope 16 is arranged inside the movable butt joint handle sleeve 12, one end of the movable butt joint traction rope 16 extends into the auxiliary positioning gripper 10 and is fixedly connected with the movable butt joint sliding table 21, the other end of the movable butt joint traction rope 16 is connected with a rope traction assembly, and the rope traction assembly is used for driving the movable butt joint sliding table 21 to move and pushing the butt joint locking lantern ring 05 to enable the fire hose butt joint connector 01 to enter the fire hydrant quick connector 18; the butt joint reset separation spring 19 is sleeved on the outer side of the part, located inside the auxiliary positioning gripper 10, of the movable butt joint traction rope 16, one end of the butt joint reset separation spring 19 is connected with one side of the movable butt joint sliding table 21, and the other end of the butt joint reset separation spring 19 is connected with the inner wall of the auxiliary positioning gripper 10.
After the auxiliary positioning grippers 10 clamp the butt joint joints of the water-proof pipes 01 in a limiting mode, the rope traction assembly pulls the butt joint traction rope 16 to move, so that the movable butt joint traction rope 16 can drive the movable butt joint sliding table 21 to move along the movable butt joint sliding rail 13 and gradually approach the butt joint locking lantern ring 05. After removing butt joint slip table 21 and butt joint locking lantern ring 05 and contacting, remove butt joint slip table 21 and drive fire hose butt joint head 01 through locking lantern ring 05 and remove along fire hydrant quick-operation joint 18's inside, move to the locking position of fire hydrant quick-operation joint head 18 until fire hose butt joint head 01, and then realized fire hose butt joint head 01 and fire hydrant quick-operation joint 18's zonulae occludens. In the process that the movable butt joint sliding table 21 is driven to move by the movable butt joint traction rope 16, the movable butt joint sliding table 21 is synchronously driven to compress the butt joint reset separation spring 19, and after the fire water pipe butt joint connector 01 is tightly connected with the fire hydrant quick joint connector 18, the butt joint reset separation spring 19 can drive the movable butt joint sliding table 21 to reset.
In this embodiment of the present invention, as shown in fig. 1, the fast autonomous docking means may further include a docking magnetic ring 06 and a moving docking magnetic ring 20.
The butt joint magnetic ring 06 is sleeved outside the butt joint locking lantern ring 05; the movable butt magnet 20 is arranged on one side, facing the butt locking lantern ring 05, of the movable butt sliding table 21, and the movable butt magnet 20 is used for being matched and attracted with the butt magnetic ring 06 to drive the fire hydrant butt joint connector 01 to move along the axis of the fire hydrant quick joint connector 18.
In the process that the movable butt joint sliding table 21 is driven to move by the movable butt joint traction rope 16, the butt joint magnet 20 and the butt joint magnetic ring 06 attract each other, the movement of the movable butt joint sliding table 21 on the movable butt joint sliding rail 13 is accelerated, and the tight connection efficiency of the fire hydrant butt joint connector 01 and the fire hydrant quick joint connector 18 is further improved.
In this embodiment of the present invention, as shown in fig. 1 and 2, the fast autonomous docking device may further include an arc 08.
One side of the auxiliary positioning chuck 09 facing the fire hose butt joint 01 is provided with an arc surface 08, and the arc surface 08 is used for being matched with the side wall of the fire hose butt joint 01 to increase the contact surface between the auxiliary positioning chuck 09 and the fire hose butt joint 01.
When the auxiliary positioning chuck 09 carries out limiting clamping on the fire-fighting pipe butt joint head 01, the cambered surface 08 of the auxiliary positioning chuck 09 is attached to the side wall of the fire-fighting pipe butt joint head 01, and the stability of the auxiliary positioning chuck 09 in limiting clamping on the fire-fighting pipe butt joint head 01 can be improved by improving the contact surface between the auxiliary positioning chuck 09 and the fire-fighting pipe butt joint head 01.
In this embodiment of the invention, the attachment of the secondary positioning collet 09 to the secondary positioning grip 10 may take a variety of forms known to those skilled in the art, such as welding, adhesive bonding, and the like. However, in a preferred example of the present invention, the auxiliary positioning collet 09 is coupled with the auxiliary positioning grip 10 by bolts in consideration of the reliability of the coupling of the auxiliary positioning collet 09 with the auxiliary positioning grip 10.
In this embodiment of the present invention, as shown in fig. 1 and 2, the fast autonomous docking apparatus may further include two fire hose fixing bases 02, two fire hose fixing magnets 22, a robot mounting flange 04, and a robot docking magnet 03.
The two fire-fighting water pipe fixing bases 02 are symmetrically arranged on the outer side of the fire-fighting water pipe butt joint connector 01; the two fire-fighting water pipe fixing magnets 22 are respectively arranged on one sides, far away from each other, of the two fire-fighting water pipe fixing bases 02, and one fire-fighting water pipe fixing magnet 22 is used for being in adsorption connection with the fire-fighting robot body; the mechanical arm mounting flange 04 is connected with the mechanical arm through a bolt; the mechanical arm butt joint magnet 03 is connected with the mechanical arm mounting flange 04 through a bolt, and the mechanical arm butt joint magnet 03 is used for being connected with the other fire hose fixing magnet 22 in an adsorption mode.
Before the fire hydrant quick joint 18 and the fire hose butt joint 01 need to be butted, the position of the mechanical arm is moved, so that the mechanical arm butt joint magnet 03 is adsorbed to the other fire hose fixing magnet 22. After this fire hose butt joint 01 adsorbs at the robotic arm, remove this fire hose butt joint 01 to fixed position through the arm, this fixed position is that one of them fire hose fixed magnet 22 can carry out the position of adsorbing with the fire-fighting robot body, and then has realized the injecing to the butt joint position of fire hose butt joint 01, the follow-up fire hose butt joint 01 of being convenient for and the going on of 18 butt joint operations of fire hydrant.
In this embodiment of the present invention, the connection between the two fire hose fixing bases 02 and the fire hose butt joint 01 may be in various forms known to those skilled in the art, such as magnetic attraction, adhesion, etc. However, in a preferred example of the present invention, the two fire hose fixing bases 02 and the fire hose butt joint 01 may be connected by metal glue in consideration of the effectiveness of the connection of the two fire hose fixing bases 02 and the fire hose butt joint 01.
In this embodiment of the present invention, as shown in fig. 1 and 2, the fast autonomous docking apparatus may further include a positioning aiming plate 07.
After arm butt joint magnet 03 adsorbs with another fire hose fixed magnet 22, camera on the arm can measure the position and the gesture of fire hose butt joint 01 through location unthreaded hole and vision measurement hole on the location collimation board 07, and give the arm with measured signal transmission, drive the arm and remove this fire hose butt joint 01 to preset the position, it is coaxial with fire hydrant quick-operation joint 18 with this fire hose butt joint 01 to ensure, the accuracy of fire hose butt joint 01 with the butt joint of fire hydrant quick-operation joint 18 has further been improved.
In this embodiment of the invention, the number of auxiliary positioning fingers 10 may be of various forms known to those skilled in the art, such as 2, 3, etc. However, in a preferred example of the present invention, the number of the auxiliary positioning grips 10 may be as shown in fig. 1 and 2 in consideration of stability in the limit grip of the watertight pipe docking head 01. In particular, in fig. 1 and 2, the number of auxiliary positioning fingers 10 is 4.
In this embodiment of the invention, the specific structure for the rope pulling assembly may be of various forms known to those skilled in the art, such as a motor and roller cooperating mechanism, a hydraulic cylinder, etc. In a preferred embodiment of the present invention, however, the cable pulling assembly may be a motor and roller cooperating mechanism, in view of simplicity and rapidity in pulling the cable. Specifically, the other end of the auxiliary positioning gripper traction rope and/or the other end of the movable butt joint traction rope 16 are/is sleeved on the roller and connected with the roller, and the output end of the motor is connected with the side wall of the roller to drive the roller to rotate. Specifically, when the auxiliary positioning gripper traction rope needs to be pulled and/or the butt joint traction rope 16 is moved, the motor drives the roller to rotate.
Through the technical scheme, the quick autonomous butt joint device for the fire hydrant water pipe for the fire-fighting robot provided by the invention synchronously adjusts the rotation of the auxiliary positioning grippers 10 through the rope traction assembly, when the auxiliary positioning grippers 10 rotate to a certain angle, the auxiliary positioning chucks 09 corresponding to the auxiliary positioning grippers 10 can limit and clamp the butt joint 01 of the fire hydrant water pipe, so that the purpose of autonomous butt joint of the fire hydrant water pipe and the fire-fighting robot can be realized, and meanwhile, the butt joint efficiency of the fire hydrant water pipe and the fire-fighting robot is also improved.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications all fall within the protection scope of the present invention. It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. The utility model provides a fire hydrant water pipe's quick autonomic interfacing apparatus for fire-fighting robot, its characterized in that includes:
a hydrant clamping body (15);
the fire hydrant quick joint (18), one end of the fire hydrant quick joint (18) is connected with the fire hydrant clamping body (15), and the other end of the fire hydrant quick joint (18) is used for connecting a fire hydrant butt joint (01);
one end of each auxiliary positioning hand grip (10) is hinged to the side wall of the fire hydrant clamping main body (15), and the other end of each auxiliary positioning hand grip (10) is provided with an auxiliary positioning chuck (09) for limiting and clamping the fire water pipe butt joint (01);
a plurality of auxiliary positioning grip sleeves (14), wherein one ends of the auxiliary positioning grip sleeves (14) are connected with the fire hydrant main body (15); auxiliary positioning hand traction ropes are arranged inside the auxiliary positioning hand sleeves (14), and one ends of the auxiliary positioning hand traction ropes are fixedly connected with the corresponding auxiliary positioning hand (10) respectively;
the other ends of the auxiliary positioning hand grip sleeves (14) are fixedly connected with the rope traction assembly, the other ends of the auxiliary positioning hand grip traction ropes are connected with the rope traction assembly, and the rope traction assembly is used for synchronously adjusting the angles of the auxiliary positioning hand grips (10) relative to the fire hydrant clamping main body (15) so as to limit and clamp the fire water pipe butt joint connector (01);
a plurality of docking assemblies respectively disposed inside the plurality of auxiliary positioning grippers (10), the docking assemblies comprising:
a butt locking collar (05) disposed near one end of the fire hose butt joint (01);
the movable butt joint slide rail (13) is arranged inside the auxiliary positioning hand grip (10);
the movable butt joint sliding table (21) is arranged inside the movable butt joint sliding rail (13), and the movable butt joint sliding table (21) can slide along the movable butt joint sliding rail (13);
one end of a movable butt joint handle sleeve (12) is fixedly connected with the auxiliary positioning gripper (10), and the other end of the movable butt joint handle sleeve is connected with the rope traction assembly;
the movable butt joint traction rope (16) is arranged inside the movable butt joint handle sleeve (12), one end of the movable butt joint traction rope (16) extends into the auxiliary positioning gripper (10) and is fixedly connected with the movable butt joint sliding table (21), the other end of the movable butt joint traction rope (16) is connected with the rope traction assembly, and the rope traction assembly is used for driving the movable butt joint sliding table (21) to move and pushing the butt joint locking lantern ring (05) to enable the fire hydrant pipe butt joint connector (01) to enter the fire hydrant quick joint (18);
the butt joint reset separation spring (19) is sleeved on the outer side of the part, located inside the auxiliary positioning hand grip (10), of the movable butt joint traction rope (16), one end of the butt joint reset separation spring (19) is connected with one side of the movable butt joint sliding table (21), and the other end of the butt joint reset separation spring (19) is connected with the inner wall of the auxiliary positioning hand grip (10).
2. The rapid autonomous docking device according to claim 1, further comprising a fire hydrant clamping locking mechanism (17) provided on the fire hydrant clamping body (15), the fire hydrant clamping locking mechanism (17) connecting the fire hydrant clamping body (15) and the fire hydrant quick coupling (18) by a bolt.
3. The rapid autonomous docking device according to claim 1, further comprising a plurality of auxiliary positioning grip lugs (11) which are all arranged on the fire hydrant clamping body (15), wherein the plurality of auxiliary positioning grip lugs (11) are respectively connected with the plurality of auxiliary positioning grips (10) in a rotating manner through rotating shafts.
4. The rapid autonomous docking device of claim 1, further comprising:
the butt joint magnetic ring (06) is sleeved outside the butt joint locking lantern ring (05);
remove butt joint magnet (20), set up and be in remove butt joint slip table (21) orientation one side of butt joint locking lantern ring (05), remove butt joint magnet (20) be used for with butt joint magnetic ring (06) cooperation actuation is in order to drive fire hose butt joint (01) are along the axle center of fire hydrant quick-operation joint (18) removes.
5. The rapid autonomous docking device according to claim 1, characterized in that the side of the auxiliary positioning collet (09) facing the fire hose butt joint (01) is provided with an arc surface (08), the arc surface (08) being adapted to cooperate with a side wall of the fire hose butt joint (01) to increase the contact surface of the auxiliary positioning collet (09) and the fire hose butt joint (01).
6. The fast autonomous docking device according to claim 1, characterized in that the secondary positioning collet (09) is connected with the secondary positioning gripper (10) by means of a bolt.
7. The rapid autonomous docking device of claim 1, further comprising:
the two fire-fighting water pipe fixing bases (02) are symmetrically arranged on the outer sides of the fire-fighting water pipe butt joints (01);
the two fire-fighting water pipe fixing magnets (22) are respectively arranged on one sides, far away from each other, of the two fire-fighting water pipe fixing bases (02), and one of the fire-fighting water pipe fixing magnets (22) is used for being in adsorption connection with the fire-fighting robot body;
the mechanical arm mounting flange (04) is connected with the mechanical arm through a bolt;
arm butt joint magnet (03), arm butt joint magnet (03) are connected with arm mounting flange (04) through the bolt, arm butt joint magnet (03) be used for with another fire hose fixed magnet (22) adsorb and be connected.
8. The rapid autonomous docking device according to claim 7, characterized in that both of the fire hose fixing bases (02) are connected with the fire hose docking head (01) by means of metal glue.
9. The rapid autonomous docking device according to claim 7, characterized by further comprising a positioning aiming plate (07) arranged on the side wall of the hydrant clamp body (15), the positioning aiming plate (07) being provided with positioning light holes and vision measuring holes for cooperating with a camera on the mechanical arm to determine the position of the hydrant quick-coupling (18).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111411990.4A CN114288590B (en) | 2021-11-25 | 2021-11-25 | Quick autonomous butt joint device of fire hydrant water pipe for fire-fighting robot |
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| CN202111411990.4A CN114288590B (en) | 2021-11-25 | 2021-11-25 | Quick autonomous butt joint device of fire hydrant water pipe for fire-fighting robot |
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| CN114288590B true CN114288590B (en) | 2023-02-24 |
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| CN114984501A (en) * | 2022-06-15 | 2022-09-02 | 安徽相品智能科技有限公司 | Automatic butt joint mechanical arm for fire hydrant and use method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM469634U (en) * | 2013-09-27 | 2014-01-01 | Formerica Optoelectronics Inc | Connector |
| CN207768991U (en) * | 2017-12-21 | 2018-08-28 | 祥安消防科技有限公司 | A kind of water band buckle with efficiently assembling function |
| CN211158338U (en) * | 2019-11-07 | 2020-08-04 | 广东华业消防智能工程有限公司 | Indoor fire hydrant |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10065059B2 (en) * | 2015-10-23 | 2018-09-04 | Garry Dale Thomsen | Autonomous firefighting tower |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM469634U (en) * | 2013-09-27 | 2014-01-01 | Formerica Optoelectronics Inc | Connector |
| CN207768991U (en) * | 2017-12-21 | 2018-08-28 | 祥安消防科技有限公司 | A kind of water band buckle with efficiently assembling function |
| CN211158338U (en) * | 2019-11-07 | 2020-08-04 | 广东华业消防智能工程有限公司 | Indoor fire hydrant |
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Address after: No. 397, Tongcheng South Road, Baohe District, Hefei City, Anhui Province 230061 Patentee after: Super high voltage branch of State Grid Anhui Electric Power Co.,Ltd. Patentee after: INSTITUTE OF ADVANCED TECHNOLOGY University OF SCIENCE AND TECHNOLOGY OF CHINA Address before: No.8, jincui Road, Shuangfeng Industrial Park, Fuyang North Road, Changfeng County, Hefei City, Anhui Province Patentee before: STATE GRID ANHUI POWER SUPPLY COMPANY OVERHAUL BRANCH Patentee before: INSTITUTE OF ADVANCED TECHNOLOGY University OF SCIENCE AND TECHNOLOGY OF CHINA |
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