阅读说明：本技术 一种消防机器人用水带自动对接系统 (Automatic butt joint system of hosepipe for fire-fighting robot ) 是由 弯勇 雷晓娟 刘俊 李然 田军 王均春 周航 黎启轩 贾其苏 刘天时 杨凡 潘 于 2021-03-05 设计创作，主要内容包括：本发明属于消防设备技术领域,具体涉及一种消防机器人用水带自动对接系统,母头可拆卸的设置在消防水带固定架上,消防水带固定架是喇叭状结构,包括套设的大喇叭和内喇叭,母头卡设在大喇叭的中部,内喇叭设置在大喇叭的喇叭口边缘和母头外圆面之间,消防水带固定架通过柔性连接件悬空设置在拱形支架的中部,在支架的下方设置有移动机构,在移动机构的作用下支架能带动消防水带固定架前后左右水平移动,公头和母头对接时,消防水带固定架能够自适应调整母头的位置及角度,且内喇叭的设置使公头母头能够顺利的快速对接,提高工作效率,整体结构简单、可靠性高、成本低、易维护,具有现实的经济利益和社会效益。(The invention belongs to the technical field of fire fighting equipment, and particularly relates to an automatic hose butt joint system for a fire fighting robot Low cost, easy maintenance and practical economic benefit and social benefit.)

1. The utility model provides an automatic butt joint system of hosepipe for fire-fighting robot, includes fire-fighting robot body, fire hose and fire-fighting medium supply apparatus, is provided with public head on the fire-fighting robot body, and fire hose one end is connected with fire-fighting medium supply apparatus, and the other end is equipped with public first assorted female head, characterized by: still include and can dismantle the fire hose mount of being connected with female head on, the fire hose mount is loudspeaker column structure, including the big loudspeaker and the interior loudspeaker that the cover was established, female head card is established at the middle part of big loudspeaker, interior loudspeaker setting is between the outer disc of horn mouth edge and female head of big loudspeaker, the fire hose mount passes through the unsettled setting at the middle part of arch support of flexonics spare, be provided with moving mechanism in the below of support, horizontal migration around the support can drive fire hose mount under moving mechanism's effect.

2. The automatic water hose butt joint system for the fire-fighting robot as claimed in claim 1, which is characterized in that: the moving mechanism comprises a first guide rail, a second guide rail and a driving motor, the first guide rail is horizontally arranged below the support, the base at the bottom of the support is connected with the first guide rail in a sliding mode, the support can drive the fire hose fixing frame to slide left and right along the first guide rail under the action of external force, the second guide rail is arranged below the first guide rail and perpendicular to the first guide rail, the base at the bottom of the first guide rail is connected with the second guide rail in a sliding mode, and the base of the first guide rail can drive the first guide rail to slide back and forth along the second guide rail under the action of the driving motor.

3. The automatic water hose butt joint system for the fire-fighting robot as claimed in claim 2, which is characterized in that: the moving mechanism also comprises a third guide rail and a positive and negative screw rod which are arranged between the two rails of the first guide rail, the third guide rail and the positive and negative screw rod are respectively arranged in parallel with the first guide rail, the heights of the third guide rail and the positive and negative screw rod are both lower than the height of the first guide rail, the large horn comprises a left horn mouth and a right horn mouth which are arranged in bilateral symmetry, the inner horn comprises a left horn body and a right horn body which are arranged in bilateral symmetry, the left horn body is correspondingly connected with the left horn mouth, the right horn body is correspondingly connected with the right horn mouth, the support comprises a left support and a right support which are arranged in bilateral symmetry, the base comprises a left base and a right base which are arranged in bilateral symmetry, the left edge and the right edge of the left base and the right base are respectively provided with a baffle edge extending downwards, the bottom of the left support is fixedly connected with the left base, the bottom of the right support is fixedly connected with the right base, the left, the right horn mouth sets up in the top of right base and through flexonics spare and right support flexonics, be provided with L shape baffle respectively in the below of left base and right base, the horizontal segment and the positive and negative screw connection of baffle, the vertical section setting of baffle is between the flange about left base or right base, during positive and negative screw motion, the baffle removes and drives left base and right base frame and do opposite or back of the body motion along the third guide rail with the left flange or the right flange conflict of left base and right base, drive left horn mouth and right horn mouth opposite movement butt joint or back of the body motion separation through left socle and right socle during left base and right base motion.

4. The automatic water hose butt joint system for the fire-fighting robot as claimed in claim 3, wherein: the flexible connection is a rigid spring.

5. The automatic water hose butt joint system for the fire-fighting robot as claimed in claim 3, wherein: the right edge at left base top is provided with lock seat and electromagnetism bolt, is provided with the locking plate that matches the setting with lock seat and electromagnetism bolt at the left edge of right base, and when left base and right base butt joint were foldd, the electromagnetism bolt stretched out and inserts lock seat and locking plate and connect fixedly with left base and right base.

6. The automatic water hose butt joint system for the fire-fighting robot as claimed in claim 3, wherein: grooves for preventing the left support and the right support from moving back and forth are respectively arranged at the positions of the front end seam and the rear end seam of the left support and the right support.

7. The automatic water hose butt joint system for the fire-fighting robot according to any one of claims 1 to 6, which is characterized in that: a plurality of inductive proximity switches are arranged on the male head at intervals along the circumferential direction, and when the male head is successfully butted with the female head, the distances between the inductive proximity switches and the large bell mouth are the same.

Technical Field

The invention belongs to the technical field of fire fighting equipment, and particularly relates to an automatic water hose butt joint system for a fire fighting robot.

Background

In unmanned intelligent fire extinguishing system, the automation, reliably, the accurate butt joint of fire-fighting robot body and fire hose is to realizing fire control full automation, intelligent and raise the efficiency, security and reliability have the significance, at present, to the fire-fighting robot body of removal work and the fire hydrant of fixed place, the connection of fire hose, generally adopt the mode of visual detection supplementary, manual connection, but this kind of connected mode has following problem: 1. the manual connection efficiency is low, the modern fire fighting requirements are difficult to adapt to in the fire fighting site of which the time is life, and the whole-process automation is not easy to realize; 2. the vision detection is assisted, advanced machine vision, high-performance computing and control technology is adopted, the cost is high, the requirement on the use environment is high, the anti-interference capability is weak, the reliability and the maintainability are poor, and the vision detection is generally only applied to the light industry and the microelectronic industry.

In an unmanned fire fighting system, the difficulty of automatic butt joint is that when a robot stops, a certain error exists in position and angle, the errors in the vertical, left and right and front and back directions cannot be avoided, the parking posture can enable a certain angle to exist between a male head and a female head, the existence of the errors and the angles can enable the male head to be clamped at a certain position in the butt joint process to cause butt joint failure, and if the automatic water hose butt joint system which is simple in structure, high in reliability, low in cost and easy to maintain can be developed, the practical economic benefit and social benefit can be achieved.

Disclosure of Invention

In order to solve the problems in the background art, the invention discloses an automatic hose butting device for a fire-fighting robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an automatic butt joint system of hosepipe for fire-fighting robot, including the fire-fighting robot body, fire hose and fire-fighting medium supply apparatus, be provided with public head on the fire-fighting robot body, fire hose one end is connected with fire-fighting medium supply apparatus, the other end is equipped with female head with public head assorted, female head detachable sets up on fire hose mount, fire hose mount is loudspeaker column structure, loud speaker and interior loudspeaker established including the cover, female head card is established at loud speaker's middle part, interior loudspeaker setting is between the outer disc of horn mouth edge and female head of loud speaker, fire hose mount passes through the unsettled middle part that sets up at the outrigger of flexonics spare, be provided with moving mechanism in the below of support, the support can drive fire hose mount horizontal migration all around under moving mechanism's effect.

Further, moving mechanism includes first guide rail, second guide rail and driving motor, first guide rail level sets up the below at the support, the base and the first guide rail sliding connection of support bottom, the support can drive fire hose mount along first guide rail horizontal slip under the exogenic action, the second guide rail sets up in the below of first guide rail and sets up perpendicularly with first guide rail, the base and the second guide rail sliding connection of first guide rail bottom, first guide rail base can drive first guide rail and slide around the second guide rail under driving motor's effect.

Furthermore, the moving mechanism also comprises a third guide rail and a positive and negative screw rod which are arranged between the two rails of the first guide rail, the third guide rail and the positive and negative screw rod are respectively arranged in parallel with the first guide rail, the heights of the third guide rail and the positive and negative screw rod are both lower than the height of the first guide rail, the large horn comprises a left horn mouth and a right horn mouth which are arranged in bilateral symmetry, the inner horn comprises a left horn body and a right horn body which are arranged in bilateral symmetry, the left horn body is correspondingly connected with the left horn mouth, the right horn body is correspondingly connected with the right horn mouth, the support comprises a left support and a right support which are arranged in bilateral symmetry, the base comprises a left base and a right base which are arranged in bilateral symmetry, the left edge and the right edge of the left base and the right base are respectively provided with a baffle edge extending downwards, the bottom of the left support is fixedly connected with the left base, the bottom of the right support is fixedly connected with the right base, the left horn mouth, the right horn mouth sets up in the top of right base and through flexonics spare and right support flexonics, be provided with L shape baffle respectively in the below of left base and right base, the horizontal segment and the positive and negative screw connection of baffle, the vertical section setting of baffle is between the flange about left base or right base, during positive and negative screw motion, the baffle removes and drives left base and right base frame and do opposite or back of the body motion along the third guide rail with the left flange or the right flange conflict of left base and right base, drive left horn mouth and right horn mouth opposite movement butt joint or back of the body motion separation through left socle and right socle during left base and right base motion.

Further, the flexible connection is a stiff spring.

Furthermore, a lock seat and an electromagnetic bolt are arranged on the right edge of the top of the left base, a locking plate matched with the lock seat and the electromagnetic bolt is arranged on the left edge of the right base, and when the left base and the right base are butted and closed, the electromagnetic bolt stretches out and is inserted into the lock seat and the locking plate to connect and fix the left base and the right base.

Furthermore, grooves for preventing the left support and the right support from moving back and forth are respectively arranged at the positions of the front and back end seams of the left support and the right support.

Furthermore, a plurality of inductive proximity switches are arranged on the male head at intervals along the circumferential direction, and when the male head is in butt joint with the female head successfully, the distances between the inductive proximity switches and the large bell mouth are the same.

Compared with the prior art, the invention has the beneficial effects that:

the automatic hose butt-joint system for the fire-fighting robot comprises a male head, a female head and a fire-fighting hose fixing frame, wherein the fire-fighting hose fixing frame comprises a large horn and an inner horn which are sleeved, the female head is clamped in the middle of the large horn, the inner horn is arranged between the edge of a horn mouth of the large horn and the outer circular surface of the female head, the fire-fighting hose fixing frame is arranged in the middle of an arched support in a hanging mode through a flexible connecting piece, a moving mechanism is arranged below the support, the support can drive the fire-fighting hose fixing frame to horizontally move front and back and left and right under the action of the moving mechanism, the position and the angle of the female head can be adjusted in a self-adaptive mode when the male head is in butt joint with the female head, and the male head and the female;

according to the automatic water hose butt joint system for the fire-fighting robot, the large loudspeaker, the inner loudspeaker, the support and the base are respectively of the bilateral symmetry structure, after butt joint is successful, the left base and the right base can move and separate back and forth along the third guide rail under the action of the positive lead screw and the negative lead screw, the bilateral symmetry structure of the large loudspeaker and the inner loudspeaker is also separated, rapid pulling-out of the fire-fighting water hose is facilitated, the overall structure is simple, the reliability is high, the cost is low, the maintenance is easy, and the practical economic benefit and social benefit are achieved.

Drawings

FIG. 1 is a schematic structural view of a butt joint state of the present invention;

FIG. 2 is a schematic structural view of the separated state of the present invention;

FIG. 3 is a schematic top view of the structure of FIG. 1;

FIG. 4 is a schematic view of the cross-sectional structure A-A of FIG. 3;

FIG. 5 is a schematic view of the structure of the large horn of the present invention;

FIG. 6 is a schematic view of the mounting position of the electromagnetic latch of the present invention;

in the above figures: 1-a scaffold; 1 a-left support; 1 b-a right bracket; 2-a spring; 3-a big horn; 3 a-left bell mouth; 3 b-a right bell mouth; 4-inner horn; 4 a-left horn; 4 b-right horn; 5-male head; 6-a base; 6 a-left base; 6 b-a right base; 7-a first guide rail; 8-positive and negative lead screws; 9-a third guide rail; 10-a base; 11-a second guide rail; 12-a hanging tong; 13-female head; 14-an electromagnetic bolt; 15-a lock seat; 16-locking plate; 17-baffle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention, it should be noted that the present invention also includes a control system, and since the setting and control manner of the control system are the technologies known by those skilled in the art, the parts related to the control system in the present invention are not explained in detail.

With reference to the attached drawings 1-6, the automatic butt joint system for the fire fighting robot hose is elaborated in detail, and comprises a fire fighting robot body, a fire fighting hose, a fire fighting medium supply device and a fire fighting hose fixing frame, wherein the fire fighting robot body is provided with a male head 5, one end of the fire fighting hose is connected with the fire fighting medium supply device, the other end of the fire fighting hose is provided with a female head 13 matched with the male head 5, the fire fighting hose fixing frame is of a horn-shaped structure and comprises a loud horn 3 and an inner horn 4 which are sleeved, the female head 13 is clamped in the middle of the loud horn 3, an annular step surface is arranged at the position of the contact surface of the loud horn 3 and the female head 13, in order to avoid the situation that the male head 5 is clamped in the moving process and leads to unsuccessful butt joint, the inner horn 4 is arranged between the horn mouth edge of the loud horn 3 and the outer circular surface of the end part of the female head 13, the fire hose mount passes through the unsettled setting of flexible connectors at the middle part of arched support 1, big loudspeaker 3 passes through the unsettled setting at the middle part of arched support 1 of spring 2 of stereoplasm, it needs to explain here, support 1 also can adopt non-arch structure, flexible connectors also can replace the flexonics between spring 2 assurance big loudspeaker 3 and the support 1 with other elastic connectors that possess, be provided with moving mechanism in the below of support 1, support 1 can drive fire hose mount horizontal migration all around under moving mechanism's effect.

The moving mechanism comprises a first guide rail 7, a second guide rail 11, a third guide rail 9, a positive and negative screw rod 8 and a driving motor, the first guide rail 7 is horizontally arranged below the bracket 1, a base 6 at the bottom of the bracket 1 is in sliding connection with the first guide rail 7, the bracket 1 can drive the fire hose fixing frame to slide left and right along the first guide rail 7 under the action of external force, the second guide rail 11 is arranged below the first guide rail 7 and is perpendicular to the first guide rail 7, a base 10 at the bottom of the first guide rail 7 is in sliding connection with the second guide rail 11, the base 10 of the first guide rail can drive the first guide rail 7 to slide back and forth along the second guide rail 11 under the action of the front and back moving driving motor, the third guide rail 9 and the positive and negative screw rod 8 are respectively arranged in parallel with the track of the first guide rail 7, the heights of the third guide rail 9 and the positive and negative screw rod 8 are lower than the height of the track of the first guide rail 7, the large horn 3 comprises a left horn mouth 3, the inner horn 4 comprises a left horn body 4a and a right horn body 4b which are arranged in bilateral symmetry, the left horn body 4a is correspondingly connected with a left horn mouth 3a, the right horn body 4b is correspondingly connected with a right horn mouth 3b, the bracket 1 comprises a left bracket 1a and a right bracket 1b which are arranged in bilateral symmetry, the base 6 comprises a left base 6a and a right base 6b which are arranged in bilateral symmetry, the left edge and the right edge of the left base 6a and the right base 6b are respectively provided with a baffle edge extending downwards, the bottom of the left bracket 1a is fixedly connected with the left base 6a, the bottom of the right bracket 1b is fixedly connected with the right base 6b, the left horn mouth 3a is arranged above the left base 6a and is flexibly connected with the left bracket 1a through a flexible connecting piece, the right horn mouth 3b is arranged above the right base 6b and is flexibly connected with the right bracket 1b through a flexible connecting piece, L-shaped baffles 17 are respectively arranged below the left base 6a and the right base 6b, the horizontal section of the baffle 17 is connected with the positive and negative screw rod 8, the vertical section of the baffle 17 is arranged between the left and right flanges of the left base 6a or the right base 6b, when the positive and negative screw rod 8 moves, the baffle 17 moves to be abutted against the left flange or the right flange of the left base 6a or the right base 6b to drive the left base 6a or the right base 6b to move in the opposite direction or in the back-and-forth direction along the third guide rail 9, and when the left base 6a or the right base 6b moves, the left bracket 1a and the right bracket 1b drive the left bell mouth 3a and the right bell mouth 3b to move in the opposite direction to be abutted against or in the back-and; after the left base 6a and the right base 6b are butted to form the base 6, the positive and negative screw rods 8 stop moving, the two baffle plates 17 are fixed at fixed positions to limit the stroke range of the base 6 when freely sliding left and right along the first guide rail 7, and the phenomenon that the distance is too short when the left base 6a and the right base 6b move oppositely or the distance is too far when the left base 6a and the right base 6b move backwards is avoided.

The middle part of the outer circle surface of the big horn 3 is provided with a hanging tong 11, the hanging tong 11 is similar to a lifting hanging tong and comprises a left half part and a right half part which are symmetrically arranged, the left half part and the right half part of the hanging tong 11 are respectively and correspondingly arranged in the middle parts of the outer surfaces of a left horn mouth 3a and a right horn mouth 3b, the upper part of the left half part of the hanging tong 11 is connected with a first steel wire rope through a connecting spring, the other end of the first steel wire rope bypasses the left end part of a base 10 and is connected with a fixing ring at the right end part of the base 10, the upper part of the right half part of the hanging tong 11 is connected with a second steel wire rope through a connecting spring, the other end of the second steel wire rope bypasses the right end part of the base 10 and is connected with the fixing ring at the left end part of the base 10, under the action of a left-right moving driving motor, a positive lead screw 8, when the left bell mouth 3a and the right bell mouth 3b move oppositely along the third guide rail 9 to be in butt joint, the steel wire rope corresponding to the left half side and the right half side of the hanging tongs 11 is tightened more and more tightly, so that the two half bell mouths of the left bell mouth 3a and the right bell mouth 3b are tightly attached together, when the left bell mouth 3a and the right bell mouth 3b move oppositely along the third guide rail 9 to be separated, the steel wire rope is loosened, part of the spring on the hanging tongs 12 is tightened, the hanging tongs 12 is loosened, the half bell mouths of the left bell mouth 3a and the right bell mouth 3b are in a free separation state, after the fire-fighting robot stops at a specified position, the front-back movement driving motor is started to push the base 10 of the first guide rail to slide back and forth along the second guide rail 11 to be close to the male 5 of the quick-connection joint arranged on the robot body, the male 5 contacts the inner bell mouth 4 in the large bell mouth 3 firstly, the inner bell mouth 4 is stressed, the large bell, the moving process is self-adaptive to adjust so as to offset the parking position error in the horizontal direction, and in addition, because the large horn mouth 3 is arranged in the middle of the arched support 1 in a suspension manner through the hard spring 2, the parking angle error is offset due to the existence of the elastic mechanism.

As an optional design, preferably, a lock seat 15 and an electromagnetic bolt 14 are arranged at the right edge of the top of the left base 6a, a lock plate 16 arranged in a matching manner with the lock seat 15 and the electromagnetic bolt 14 is arranged at the left edge of the right base 6b, the lock seat 15, the lock plate 16 and the electromagnetic bolt 14 adopt a door lock type design, the electromagnetic bolt 14 extends out and extends into the lock seat 15 and the lock plate 16 to connect and fix the left base 6a and the right base 6b, before and during the butt joint of the male head 5 and the female head 13, the left base 6a and the right base 6b must be firmly combined together, otherwise the success rate of the butt joint of the male head 5 and the female head 13 is affected, the successful butt joint of the male head 5 and the female head sends a signal to a control system, the control system receives the signal to control the electromagnetic bolt 14 to retract, the lock seat 15 and the lock plate 16 are separated, the fixed connection between the left base 6a and the right base 6b is opened, and simultaneously the robot body receives a successful, under the effect of positive and negative lead screw 8, left base 6a and right base 6b drive left horn mouth 3a and right horn mouth 3b and slide one section distance apart along third guide rail 9 left and right, make things convenient for the tail work of sweeping after the fire hose drags out and follow-up putting out a fire.

As an optional design, preferably, four inductive proximity switches are circumferentially arranged on the male head 5 at intervals, and when the male head 5 and the female head 13 are successfully butted, the distance between the bell mouths of the male head 5 and the large horn 3 is fixed, that is, when the male head 5 and the female head 13 are successfully butted, the distances between the inductive proximity switches and the bell mouths of the large horn 3 are the same, and when the male head 5 is close to the female head 13, the distances between the four inductive proximity switches and the bell mouths are consistent, the butting is considered to be successful.

The working process of the automatic water hose butt joint system for the fire-fighting robot is as follows:

the fire-fighting robot of the automatic docking system is provided with a laser radar, a navigation device, a penetration device and other positioning devices and corresponding controllers and sensors to ensure that the parking position and angle are within an allowable error range, obvious specific coordinate points are arranged near the automatic docking system to accurately control the position and the posture of a vehicle body of the fire-fighting robot, and the position and the angle of the vehicle body can be adjusted by adjusting the distance between a sensor on the fire-fighting robot and the corresponding coordinate points when the fire-fighting robot reaches a specified parking position;

after the fire-fighting robot stops at a specified position, a front-back movement driving motor is started to push a base 10 of a first guide rail to slide back and forth along a second guide rail 11 to be close to a male head 5 of a quick-connection joint arranged on a robot body, when the male head 5 on the fire-fighting robot body is in butt joint with a female head 13, an inner horn 4 has a guiding function, the inner horn 4 is stressed, the inner horn 4 transmits an acting force to a base 6 sequentially through the large horn 3, a spring 2 and a bracket 1, the base 6 freely slides left and right along the first guide rail under the action of the external force, the moving process is self-adaptive to adjust to offset a parking position error in the horizontal direction, when the male head 5 is close to the female head 13, when four inductive proximity switches circumferentially arranged on the male head 5 at intervals are consistent with the horn mouth distance of the large horn 3, the distance is considered as successful butt joint and sends a signal to a control system, the control, the lock seat 15 and the locking plate 16 are separated, the fixed connection between the left base 6a and the right base 6b is opened, under the action of the positive and negative screws 8, the left base 6a drives the left bell mouth 3a to slide leftwards along the third guide rail 9, the right base 6b drives the right bell mouth 3b to slide rightwards along the third guide rail 9, the left bell mouth 3a and the right bell mouth 3b and the left horn body 4a and the right horn body 4b are separated, the tail sweeping work after the fire hose is dragged out and subsequently extinguished is convenient, meanwhile, the robot body receives a butt-joint success signal to start dragging the fire hose to an ignition point, the automatic butt-joint system is provided with an intelligent fire hydrant, after the fire-fighting robot reaches the destination, the control system calculates and stipulates the hose expansion length according to the position of the destination, the length of the fire hose and the water flow jet distance of the fire-fighting robot, the fire point is ensured to be in the jet range, the intelligent fire hydrant opens the valve and feeds water after, and monitor water pressure at the in-process of putting out a fire, ensure that fire-fighting rivers are normal, stable, after putting out a fire, fire-fighting robot sends and stops the instruction, and the water valve is closed to intelligent fire hydrant.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for the convenience of description of the present invention and for simplicity of description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the present invention should not be construed as being limited thereto, and it should be noted that the terms "mounted" and "connected" should be interpreted broadly, for example, as being able to be fixedly connected, detachably connected, or integrally formed, mechanically connected, or indirectly connected through an intermediate medium, and the specific meaning of the terms in the present application can be understood through specific situations.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.