CN114288590B - Quick autonomous butt joint device of fire hydrant water pipe for fire-fighting robot - Google Patents

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

Rapid autonomous docking device for fire hydrant water pipes for fire-fighting robots

technical field

The invention relates to the technical field of fire hydrant docking devices, in particular to a fast and autonomous docking device for fire hydrant water pipes for a fire-fighting robot.

Background technique

The fire-fighting robot can carry the fire-fighting hose to the fire scene, go deep into the fire scene, and directly extinguish the fire source. It has the advantages of high fire-extinguishing efficiency and good safety. It is widely used in petrochemical, industrial construction, and electric fire protection. The installation position of the fire hydrant at the fire scene is very random, the position and posture of the fire hydrant interface cannot be accurately positioned, and the quick docking device of the fire hydrant water pipe needs a high docking angle and precision to perform fast docking, so as to ensure a good docking effect and tightness.

Traditional fire-fighting robots require firefighters to manually connect the fire-fighting water pipes, and cannot independently extinguish fires before the firefighters arrive at the fire scene, which greatly restricts the application field and work efficiency of fire-fighting robots.

Contents of the invention

The purpose of the present invention is to overcome the problem of docking efficiency between fire-fighting robots and fire-fighting water pipes in the prior art, and provide a fast and autonomous docking device for fire-fighting robots with fire-hydrant water pipes. The function of connecting the fire-fighting robot with the fire-fighting water pipe.

In order to achieve the above object, the present invention provides a fast and autonomous docking device for a fire hydrant water pipe for a fire-fighting robot, comprising:

Fire hydrant clamping body;

A fire hydrant quick connector, one end of the fire hydrant quick connector is connected to the fire hydrant clamping body, and the other end of the fire hydrant quick connector is used to connect to the butt joint of the fire water pipe;

A plurality of auxiliary positioning grippers, one end of the plurality of auxiliary positioning grippers is hinged to the side wall of the clamping body of the fire hydrant, and the other ends of the plurality of auxiliary positioning grippers are provided with auxiliary positioning chucks for Limit clamping of the butt joint of the fire-fighting water pipe;

A plurality of auxiliary positioning gripper tubes, one end of the plurality of auxiliary positioning gripper tubes is connected to the main body of the fire hydrant; and the interior of the plurality of auxiliary positioning gripper tubes is provided with an auxiliary positioning gripper traction rope, One end of the traction rope of the plurality of auxiliary positioning grippers is fixedly connected to the corresponding auxiliary positioning grippers;

Rope traction assembly, the other ends of the plurality of auxiliary positioning gripper sleeves are all fixedly connected to the rope traction assembly, and the other ends of the plurality of auxiliary positioning gripper traction ropes are all connected to the rope traction assembly. The rope traction assembly is used to synchronously adjust the angles of multiple auxiliary positioning grippers relative to the clamping body of the fire hydrant to clamp the butt joint of the fire hose in a limited position.

Optionally, the fast autonomous docking device further includes a fire hydrant clamping and locking mechanism, which is arranged on the fire hydrant clamping body, and the fire hydrant clamping and locking mechanism is connected to the fire hydrant clamping body by bolts and the fire hydrant quick coupler.

Optionally, the fast autonomous docking device further includes a plurality of auxiliary positioning gripper lugs, all of which are arranged on the clamping body of the fire hydrant, and the plurality of auxiliary positioning gripper lugs are respectively connected to the plurality of auxiliary positioning grippers. The positioning gripper is connected through the rotation of the rotating shaft.

Optionally, the rapid autonomous docking device further includes a plurality of docking assemblies, the plurality of docking assemblies are respectively arranged inside the plurality of auxiliary positioning grippers, and the docking assemblies include:

Butt locking collar, arranged near one end of the butt joint of the fire water pipe;

The mobile docking slide rail is arranged inside the auxiliary positioning gripper;

The mobile docking slide is arranged inside the mobile docking slide rail, and the mobile docking slide can slide along the mobile docking slide rail;

Move the docking glove tube, one end is fixedly connected to the auxiliary positioning gripper, and the other end is connected to the rope traction assembly;

The mobile docking traction rope is arranged inside the movable docking handle, one end of the mobile docking traction rope extends to the inside of the auxiliary positioning gripper and is fixedly connected to the mobile docking slide, and the mobile docking The other end of the traction rope is connected to the rope traction assembly, and the rope traction assembly is used to drive the mobile docking slide to move and push the docking locking collar so that the fire hose butt joint enters the fire hydrant Inside of the quick connector;

The docking reset separation spring is sheathed on the outside of the internal part of the auxiliary positioning gripper where the mobile docking traction rope is located. One end of the docking reset separation spring is connected to one side of the mobile docking slide, and the docking reset The other end of the separation spring is connected with the inner wall of the auxiliary positioning handle.

Optionally, the fast autonomous docking device also includes:

The docking magnetic ring is sleeved on the outside of the docking locking collar;

The moving docking magnet is arranged on the side of the moving docking slide facing the docking locking collar, and the moving docking magnet is used to cooperate with the docking magnetic ring to drive the butt joint of the fire water pipe along the The axis of the fire hydrant quick connector moves.

Optionally, the side of the auxiliary positioning clip facing the butt joint of the fire-fighting water pipe is provided with an arc surface, and the arc surface is used to cooperate with the side wall of the butt joint of the fire-fighting water pipe to increase the size of the auxiliary positioning clip. The contact surface of the head and the butt joint of the fire hose.

Optionally, the auxiliary positioning chuck is connected to the auxiliary positioning gripper through bolts.

Optionally, the fast autonomous docking device also includes:

Two fire water pipe fixing bases are arranged symmetrically on the outside of the butt joint of the fire water pipe;

Two fire-fighting water pipe fixing magnets are respectively arranged on the side of the two fire-fighting water pipe fixing bases away from each other, and one of the fire-fighting water pipe fixing magnets is used for adsorption connection with the fire-fighting robot body;

a mechanical arm mounting flange, the mechanical arm mounting flange is connected to the mechanical arm by bolts;

The docking magnet of the mechanical arm is connected to the mounting flange of the mechanical arm through bolts, and the docking magnet of the mechanical arm is used for adsorption connection with another fixed magnet of the fire water pipe.

Optionally, both the fixing bases of the fire-fighting water pipes are connected to the butt joints of the fire-fighting water pipes through metal glue.

Optionally, the rapid autonomous docking device further includes a positioning aiming plate, which is arranged on the side wall of the clamping body of the fire hydrant, and the positioning aiming plate is provided with a positioning light hole and a visual measurement hole, and the positioning light hole And the visual measurement hole is used to cooperate with the camera on the mechanical arm to determine the position of the fire hydrant quick connector.

Through the above-mentioned technical scheme, the rapid and autonomous docking device for fire hydrant water pipes for fire-fighting robots provided by the present invention synchronously adjusts the rotation of multiple auxiliary positioning grippers through the rope traction assembly. The auxiliary positioning chuck corresponding to the gripper can limit and clamp the butt joint of the fire water pipe, thereby realizing the purpose of autonomous docking of the fire water pipe and the fire robot, and also improving the docking efficiency of the fire water pipe and the fire robot.

Description of drawings

Fig. 1 is a structural schematic diagram of a fast autonomous docking device for a fire hydrant water pipe for a fire robot according to an embodiment of the present invention;

Fig. 2 is a side view of a rapid autonomous docking device for a fire hydrant water pipe for a fire-fighting robot according to an embodiment of the present invention.

Explanation of reference signs

01. Fire water pipe butt joint 02. Fire water pipe fixed base

03. Robot arm docking magnet 04. Robot arm mounting flange

05. Docking locking collar 06. Docking magnetic ring

07. Positioning aiming board 08. Arc surface

09. Auxiliary positioning chuck 10. Auxiliary positioning gripper

11. Auxiliary positioning handle hanger 12. Mobile docking handle

13. Mobile docking slide rail 14. Auxiliary positioning grip tube

15. Fire hydrant clamping main body 16. Mobile docking traction rope

17. Fire hydrant clamping and locking mechanism 18. Fire hydrant quick connector

19. Docking reset separation spring 20. Moving docking magnet

21. Mobile docking slide 22. Fixed magnet for fire hose

Detailed ways

The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

Fig. 1 is a schematic structural diagram of a rapid autonomous docking device for a fire hydrant water pipe for a fire fighting robot according to an embodiment of the present invention. In Fig. 1, the fast autonomous docking device for fire hydrant water pipes of the fire robot may include a fire hydrant clamping body 15, a fire hydrant quick connector 18, a plurality of auxiliary positioning grippers 10, a plurality of auxiliary positioning gripper tubes 14 and ropes Traction components. Specifically, the auxiliary positioning gripper 10 may also include an auxiliary positioning gripper 09, and the auxiliary positioning gripper tube may further include a pulling rope for the auxiliary positioning gripper.

One end of the fire hydrant quick connector 18 is connected to the fire hydrant clamping body 15, and the other end of the fire hydrant quick connector 18 is used to connect the fire water pipe butt joint 01; The wall is hinged, and the other ends of multiple auxiliary positioning grippers 10 are all provided with auxiliary positioning chucks 09 to limit and clamp the fire water pipe butt joint 01; connected; and the interior of multiple auxiliary positioning gripper tubes 14 is provided with auxiliary positioning gripper traction ropes, and one end of the plurality of auxiliary positioning gripper traction ropes is fixedly connected to the corresponding auxiliary positioning gripper 10 respectively; multiple auxiliary positioning gripping gloves The other ends of the tubes 14 are all fixedly connected to the rope traction assembly, and the other ends of the traction ropes of the plurality of auxiliary positioning grippers are all connected to the rope traction assembly. The angle of the clamping main body 15 clamps the butt joint 01 of the fire-fighting water pipe in a limited position.

When it is necessary to connect the fire-fighting water pipe and the fire-fighting robot, the fire-fighting robot moves one end of the fire-fighting water pipe butt joint 01 to the other end of the fire hydrant quick connector 18, and the rope traction assembly synchronously pulls multiple auxiliary positioning grippers to pull the rope, thereby changing multiple auxiliary The length of the traction rope of the positioning gripper is such that a plurality of auxiliary positioning gripper traction ropes respectively drive one end of the corresponding auxiliary positioning gripper 10 to rotate along the main body 15 of the fire hydrant, and the other ends of the plurality of auxiliary positioning grippers 10 are close to each other until the corresponding The auxiliary positioning chuck 09 is closely attached to the side wall of the fire water pipe butt joint 01, so that the stable connection between the fire water pipe butt joint 01 and the fire hydrant quick connector 18 can be realized.

In the traditional way of connecting fire-fighting robots and fire-fighting water pipes, firefighters need to manually connect the fire-fighting water pipes. However, when the firefighters have not arrived at the fire scene, the fire-fighting robot cannot independently extinguish the fire, which affects the work efficiency of the fire-fighting robot. In this embodiment of the present invention, a rope traction assembly is used to pull a plurality of auxiliary positioning grippers 10 to rotate, so that a plurality of auxiliary positioning chucks 09 can limit and clamp the side wall of the fire hose butt joint 01, and then The purpose of autonomous docking between the fire-fighting water pipe butt joint 01 and the fire-fighting robot is realized, so that the fire-fighting robot can carry out fire-fighting work in time, that is, the work efficiency of the fire-fighting robot is improved.

In this embodiment of the present invention, the connection between the fire hydrant clamping body 15 and the fire hydrant quick connector 18 can be various forms known to those skilled in the art, such as bolt connection, flange connection and the like. However, in a preferred example of the present invention, considering the tightness of the connection between the fire hydrant clamping body 15 and the fire hydrant quick connector 18, the specific connection method of the fire hydrant clamping body 15 and the fire hydrant quick connector 18 can be as follows Figure 1 shows. Specifically, in FIG. 1 , the connecting assembly of the fire hydrant clamping body 15 and the fire hydrant quick connector 18 may include a fire hydrant clamping locking mechanism 17 .

The fire hydrant clamping and locking mechanism 17 is arranged on the fire hydrant clamping main body 15 , and the fire hydrant clamping and locking mechanism 17 connects the fire hydrant clamping main body 15 and the fire hydrant quick connector 18 through bolts.

In this embodiment of the present invention, the specific structure of the fire hydrant clamping and locking mechanism 17 can be in various forms known to those skilled in the art, such as two cylinders, two half cylinders and the like. However, in a preferred example of the present invention, considering the convenience of fixing the fire hydrant clamping and locking mechanism 17 to the fire hydrant clamping body 15 and the fire hydrant quick connector 18, the fire hydrant clamping and locking mechanism 17 may include Two half cylinders. Specifically, the concave surfaces of the two semi-cylinders are bonded together to form a cylinder, and a plurality of connecting plates protrude from the joint of the two semi-cylinders, and bolt mounting holes are opened on the plurality of connecting plates.

After fitting the two ends of the two half-cylinders into the fire hydrant clamping body 15 and the fire hydrant quick connector 18 respectively, the bolts can be fixed to the two half-cylinders through a plurality of bolt mounting holes to realize the anti-bolt clamping. Tighten the connection of the main body 15 and the fire hydrant quick connector 18.

In this embodiment of the present invention, the specific structure of the hinged connection between the auxiliary positioning handle 10 and the clamping body 15 of the fire hydrant may be in various forms known to those skilled in the art, such as hinge connection, hinge connection and the like. However, in a preferred example of the present invention, considering the smoothness of rotation of the auxiliary positioning handle 10 , the specific structure of the hinged connection between the auxiliary positioning handle 10 and the fire hydrant clamping body 15 can be shown in FIG. 1 . Specifically, in FIG. 1 , the specific structure in which the auxiliary positioning handle 10 is hinged to the fire hydrant clamping body 15 may include the auxiliary positioning handle lug 11 and a rotating shaft.

The auxiliary positioning grip lugs 11 are arranged on the fire hydrant clamping body 15 , and the auxiliary positioning grip lugs 11 are respectively connected to a plurality of auxiliary positioning grips 10 through rotating shafts.

In this embodiment of the present invention, the rapid autonomous docking device 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 to the ear 11 of the auxiliary positioning handle, and the other end of the torsion spring is connected to the auxiliary positioning grip 10 .

Before the fire hydrant quick connector 18 and the fire water pipe butt joint 01 need to be docked, the other ends of the multiple auxiliary positioning grippers 10 are driven by the rope traction assembly, so that the fire fighting robot can move the fire water pipe butt joint 01 to multiple auxiliary positioning grippers Middle of 10. When a plurality of auxiliary positioning grippers 10 are unfolded, the torsion spring follows and rotates and is squeezed. When it is necessary to fix the butt joint 01 of the fire-fighting water pipe, the torsion spring drives the plurality of auxiliary positioning grippers 10 to rotate and reset and to fix the butt joint of the fire-fighting water pipe. 01 is limited and fixed, which further improves the docking efficiency between the fire robot and the fire water pipe butt joint 01.

In this embodiment of the present invention, as shown in FIG. 1 and FIG. 2 , the rapid autonomous docking device may further include a plurality of docking components, and the multiple docking components are respectively arranged inside a plurality of auxiliary positioning grippers 10 . Specifically, the docking assembly may include a docking locking collar 05 , a moving docking slide rail 13 , a moving docking slide 21 , a moving docking handle 12 , a moving docking traction rope 16 and a docking reset separation spring 19 .

The docking locking collar 05 is arranged near one end of the fire water pipe butt joint 01; the mobile docking slide rail 13 is arranged inside the auxiliary positioning gripper 10; the mobile docking slide 21 is arranged inside the mobile docking slide rail 13, and the mobile docking The sliding table 21 can slide along the mobile docking slide rail 13; one end of the mobile docking handle 12 is fixedly connected to the auxiliary positioning gripper 10, and the other end of the mobile docking handle 12 is connected to the rope traction assembly; the mobile docking traction rope 16 Set inside the mobile docking pull glove tube 12, one end of the mobile docking traction rope 16 extends to the inside of the auxiliary positioning gripper 10 and is fixedly connected to the mobile docking slide 21, and the other end of the mobile docking traction rope 16 is connected to the rope traction assembly , the rope traction assembly is used to drive the mobile docking slide 21 to move and push the docking lock collar 05 so that the fire water pipe butt joint 01 enters the interior of the fire hydrant quick joint 18; the docking reset separation spring 19 is sleeved on the mobile docking traction rope 16 Located on the outside of the inner part of the auxiliary positioning gripper 10, one end of the docking reset separation spring 19 is connected to one side of the mobile docking slide 21, and the other end of the docking reset separation spring 19 is connected to the inner wall of the auxiliary positioning gripper 10.

After a plurality of auxiliary positioning grippers 10 limit and clamp the butt joint 01 of the fire water pipe, the rope traction assembly pulls and moves the docking traction rope 16 to move, so that the mobile docking traction rope 16 can drive the mobile docking slide 21 along the mobile docking slide rail 13 moves and gradually approaches the docking locking collar 05. After the mobile docking slide 21 is in contact with the docking lock collar 05, the mobile docking slide 21 drives the fire water pipe butt joint 01 to move along the interior of the fire hydrant quick joint 18 through the lock collar 05 until the fire water pipe butt joint 01 Move to the locking position of the fire hydrant quick connector 18, and then realize the tight connection between the fire water pipe butt joint 01 and the fire hydrant quick connector 18. During the process of moving the docking traction rope 16 to drive the docking slide 21, the docking slide 21 is synchronously driven to compress the docking reset separation spring 19. The reset separation spring 19 can drive the movable docking slide 21 to reset.

In this embodiment of the present invention, as shown in FIG. 1 , the rapid autonomous docking device may further include a docking magnetic ring 06 and a moving docking magnetic ring 20 .

The docking magnetic ring 06 is sleeved on the outside of the docking locking collar 05; the moving docking magnet 20 is set on the side of the moving docking slide 21 facing the docking locking collar 05, and the moving docking magnet 20 is used to cooperate with the docking magnetic ring 06 The suction is used to drive the butt joint 01 of the fire water pipe to move along the axis of the fire hydrant quick connector 18 .

During the movement of the mobile docking slide 21 driven by the mobile docking traction rope 16, the docking magnet 20 and the docking magnetic ring 06 are attracted to each other, and the mobile docking slide 21 is accelerated to move on the mobile docking slide rail 13, thereby improving the docking of fire hoses. The efficiency of tight connection between joint 01 and fire hydrant quick joint 18.

In this embodiment of the present invention, as shown in FIGS. 1 and 2 , the rapid autonomous docking device may further include an arc surface 08 .

The side of the auxiliary positioning chuck 09 facing the fire-fighting water pipe butt joint 01 is provided with an arc surface 08, and the arc surface 08 is used to cooperate with the side wall of the fire-fighting water pipe butt joint 01 to increase the distance between the auxiliary positioning chuck 09 and the fire-fighting water pipe butt joint 01. Contact surfaces.

When the auxiliary positioning chuck 09 limits the clamping of the fire water pipe butt joint 01, the arc surface 08 of the auxiliary positioning chuck 09 fits with the side wall of the fire water pipe butt joint 01, and by raising the auxiliary positioning chuck 09 and the fire water pipe The contact surface of the butt joint 01 can increase the stability of the auxiliary positioning chuck 09 for limiting clamping of the fire hose butt joint head 01 .

In this embodiment of the present invention, the connection of the auxiliary positioning chuck 09 and the auxiliary positioning gripper 10 may be in various forms known to those skilled in the art, such as welding and bonding. However, in a preferred example of the present invention, considering the reliability of the connection between the auxiliary positioning chuck 09 and the auxiliary positioning gripper 10, the auxiliary positioning chuck 09 and the auxiliary positioning gripper 10 are connected by bolts.

In this embodiment of the present invention, as shown in Figure 1 and Figure 2, the rapid autonomous docking device may also include two fire water pipe fixing bases 02, two fire water pipe fixing magnets 22, a mechanical arm mounting flange 04 and a mechanical Arm docking magnet 03.

The two fire water pipe fixing bases 02 are symmetrically arranged on the outside of the fire water pipe butt joint 01; the two fire water pipe fixing magnets 22 are respectively arranged on the side where the two fire water pipe fixing bases 02 are far away from each other, and one of the fire water pipe fixing magnets 22 is used for Adsorption connection with the fire robot body; the mounting flange 04 of the mechanical arm is connected with the mechanical arm through bolts; the docking magnet 03 of the mechanical arm is connected with the mounting flange 04 of the mechanical arm through bolts, and the docking magnet 03 of the mechanical arm is used to fix with another fire water pipe The magnet 22 is suction-connected.

Before the fire hydrant quick connector 18 and the fire water pipe butt joint 01 need to be docked, the position of the mechanical arm is moved so that the mechanical arm docking magnet 03 is attracted to another fire water pipe fixed magnet 22 . After the mechanical arm absorbs the fire-fighting water pipe butt joint 01, the fire-fighting water pipe butt joint 01 is moved to a fixed position by the mechanical arm. The fixed position is a position where one of the fire-fighting water pipe fixed magnets 22 can be adsorbed to the fire-fighting robot body. The limitation of the docking position of the fire water pipe butt joint 01 is realized, which facilitates the subsequent docking operation of the fire water pipe butt joint 01 and the fire hydrant quick connector 18 .

In this embodiment of the present invention, the ways of connecting the two fire-fighting water pipe fixing bases 02 and the fire-fighting water pipe butt joint 01 can be various forms known to those skilled in the art, such as magnetic attraction, sticking and the like. However, in a preferred example of the present invention, considering the effectiveness of the connection between the two fire hose fixing bases 02 and the fire hose butt joint 01, the two fire hose fixing bases 02 and the fire hose butt joint 01 can be connected by metal glue.

In this embodiment of the present invention, as shown in FIGS. 1 and 2 , the rapid autonomous docking device may further include a positioning aiming plate 07 .

The positioning aiming plate 07 is arranged on the side wall of the fire hydrant clamping main body 15. The positioning aiming plate 07 is provided with a positioning light hole and a visual measurement hole. The positioning light hole and the visual measurement hole are used to cooperate with the camera on the mechanical arm to determine the Bolt quick connector 18 position. Specifically, the positioning aiming plate 07 is connected with the clamping body 15 of the fire hydrant through bolts.

After the docking magnet 03 of the mechanical arm is attracted to another fixed magnet 22 of the fire hose, the camera on the robotic arm can measure the position and attitude of the dock joint 01 of the fire hose through the positioning light hole and the visual measurement hole on the positioning aiming plate 07, And send the measured signal to the mechanical arm, and drive the mechanical arm to move the fire water pipe butt joint 01 to the preset position to ensure that the fire water pipe butt joint 01 is coaxial with the fire hydrant quick joint 18, further improving the fire water pipe butt joint. 01 The accuracy of docking with fire hydrant quick connector 18.

In this embodiment of the present invention, the number of auxiliary positioning grippers 10 can be in various forms known to those skilled in the art, such as 2, 3 and so on. However, in a preferred example of the present invention, considering the stability of the limited clamping of the fire hose butt joint 01 , the number of the auxiliary positioning grippers 10 can be as shown in FIG. 1 and FIG. 2 . Specifically, in FIGS. 1 and 2 , the number of the auxiliary positioning grippers 10 is four.

In this embodiment of the present invention, the specific structure of the rope traction assembly can be in various forms known to those skilled in the art, such as a matching mechanism between a motor and a roller, a hydraulic cylinder, and the like. However, in a preferred example of the present invention, considering the simplicity and quickness of rope traction, the rope traction assembly can be a matching mechanism of a motor and a roller. Specifically, the other end of the auxiliary positioning gripper traction rope and/or the other end of the mobile docking traction rope 16 is sleeved on the roller and connected to the roller, and the output end of the motor is connected to the side wall of the roller to drive the roller to rotate. Specifically, when it is necessary to pull the pulling rope of the auxiliary positioning gripper and/or move the moving docking pulling rope 16, it can be realized by driving the rollers to rotate by the motor.

Through the above technical solution, the rapid autonomous docking device for fire hydrant water pipes for fire-fighting robots provided by the present invention synchronously adjusts the rotation of multiple auxiliary positioning grippers 10 through the rope traction assembly. When the plurality of auxiliary positioning grippers 10 rotate to a certain angle, the The auxiliary positioning chuck 09 corresponding to the auxiliary positioning gripper 10 can limit and clamp the butt joint 01 of the fire-fighting water pipe, thereby realizing the purpose of autonomous docking between the fire-fighting water pipe and the fire-fighting robot, and also improving the connection between the fire-fighting water pipe and the fire-fighting robot. docking efficiency.

The preferred embodiment of the present invention has been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details of the above embodiment, within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, These simple modifications all belong to the protection scope of the present invention. In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be described separately.

In addition, various combinations of different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content 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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