An automatic docking system for fire-fighting robots using water hoses

Abstract

The present invention belongs to the technical field of fire-fighting equipment, and specifically relates to an automatic docking system for a fire-fighting robot with a hose. The female head is detachably arranged on a fire-fighting hose fixing frame. The fire-fighting hose fixing frame is a trumpet-shaped structure, including a sleeved large trumpet and an inner trumpet. The female head is clamped in the middle of the large trumpet, and the inner trumpet is arranged between the trumpet mouth edge of the large trumpet and the outer circular surface of the female head. The fire-fighting hose fixing frame is suspended in the middle of an arched bracket through a flexible connector. A moving mechanism is arranged below the bracket. Under the action of the moving mechanism, the bracket can drive the fire-fighting hose fixing frame to move horizontally front, back, left and right. When the male head and the female head are docked, the fire-fighting hose fixing frame can adaptively adjust the position and angle of the female head, and the arrangement of the inner trumpet enables the male head and the female head to be smoothly and quickly docked, thereby improving work efficiency. The overall structure is simple, reliable, low-cost, and easy to maintain, and has realistic economic and social benefits.

Description

Technical Field

[0001] The invention belongs to the technical field of fire-fighting equipment, and in particular relates to an automatic water hose docking system for a fire-fighting robot. Background Art

[0002] In the unmanned intelligent fire-fighting system, the automatic, reliable and precise connection between the fire-fighting robot body and the fire hose is of great significance for realizing the full automation and intelligence of fire-fighting and improving efficiency, safety and reliability. At present, the connection between the mobile fire-fighting robot body and the fire hydrants and fire hoses at fixed locations generally adopts the method of visual detection assistance and manual connection. However, this connection method has the following problems: 1. Manual connection is inefficient and difficult to adapt to the needs of modern firefighting at the fire scene where "time is life", which is not conducive to the realization of full automation; 2. Visual detection assistance uses advanced machine vision, high-performance computing and control technology, which is costly, has high requirements for the use environment, and has weak anti-interference ability, poor reliability and maintainability. It is generally only used in light industry and microelectronics industry.

[0003] In unmanned fire-fighting systems, the difficulty of automatic docking lies in the fact that there are certain errors in the position and angle of the robot when it stops, and errors in the up and down, left and right, and front and back directions are inevitable. The parking posture will cause a certain angle between the male and female heads. The existence of these errors and angles will cause the male head to be stuck at a certain point during the docking process, resulting in docking failure. If a water hose automatic docking system with simple structure, high reliability, low cost and easy maintenance can be developed, it will have real economic and social benefits. Summary of the invention

[0004] In order to solve the problems in the background technology, the present invention discloses an automatic docking device for a fire-fighting robot using a water hose. The fire hose fixing frame can drive the female head to move horizontally forward, backward, left and right, and can adaptively adjust when the male head and the female head are docked to improve the docking efficiency. The structure is simple, reliable and easy to maintain.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0006] The utility model discloses an automatic docking system for a fire-fighting robot using a water hose, comprising a fire-fighting robot body, a fire-fighting water hose and a fire-fighting medium supply device. A male head is arranged on the fire-fighting robot body, one end of the fire-fighting water hose is connected to the fire-fighting medium supply device, and the other end is provided with a female head matching the male head. The female head is detachably arranged on a fire-fighting water hose fixing frame. The fire-fighting water hose fixing frame is a trumpet-shaped structure, comprising a sleeved large trumpet and an inner trumpet. The female head is clamped in the middle of the large trumpet, and the inner trumpet is arranged between the trumpet mouth edge of the large trumpet and the outer circular surface of the female head. The fire-fighting water hose fixing frame is suspended in the middle of an arch bracket through a flexible connecting piece, and a moving mechanism is arranged below the bracket. Under the action of the moving mechanism, the bracket can drive the fire-fighting water hose fixing frame to move horizontally forward, backward, left and right.

[0007] Furthermore, the moving mechanism includes a first guide rail, a second guide rail and a drive motor. The first guide rail is horizontally arranged below the bracket. The base at the bottom of the bracket is slidably connected to the first guide rail. Under the action of external force, the bracket can drive the fire hose fixing frame to slide left and right along the first guide rail. The second guide rail is arranged below the first guide rail and vertically arranged with the first guide rail. The base at the bottom of the first guide rail is slidably connected to the second guide rail. Under the action of the drive motor, the first guide rail base can drive the first guide rail to slide forward and backward along the second guide rail.

[0008] Furthermore, the moving mechanism also includes a third guide rail and a forward and reverse screw arranged between the two tracks of the first guide rail, the third guide rail and the forward and reverse screw are respectively arranged in parallel with the first guide rail, and the heights of the third guide rail and the forward and reverse screw are lower than the heights of the first guide rail. The large speaker includes a left speaker mouth and a right speaker mouth that are symmetrically arranged on the left and right sides, the inner speaker includes a left speaker body and a right speaker body that are symmetrically arranged on the left and right sides, the left speaker body is correspondingly connected to the left speaker mouth, and the right speaker body is correspondingly connected to the right speaker mouth, the bracket includes a left bracket and a right bracket that are symmetrically arranged on the left and right sides, the base includes a left base and a right base that are symmetrically arranged on the left and right sides, downwardly extending ribs are respectively provided on the left and right edges of the left base and the right base, and the bottom of the left bracket is fixedly connected to the left base The bottom of the right bracket is fixedly connected to the right base, the left bell mouth is arranged above the left base and flexibly connected to the left bracket through a flexible connecting piece, the right bell mouth is arranged above the right base and flexibly connected to the right bracket through a flexible connecting piece, and L-shaped baffles are respectively arranged below the left base and the right base, the horizontal section of the baffle is connected to the forward and reverse screws, and the vertical section of the baffle is arranged between the left and right ribs of the left base or the right base. When the forward and reverse screws move, the baffle moves and contacts with the left ribs or the right ribs of the left base and the right base, driving the left base and the right base to move toward or away from each other along the third guide rail. When the left base and the right base move, the left bell mouth and the right bell mouth are driven by the left bracket and the right bracket to move toward and dock or move away from each other and separate.

[0009] Furthermore, the flexible connection element is a hard spring.

[0010] Furthermore, a lock seat and an electromagnetic latch are arranged on the right edge of the top of the left base, and a lock plate matching the lock seat and the electromagnetic latch is arranged on the left edge of the right base. When the left base and the right base are butted together, the electromagnetic latch extends out and is inserted into the lock seat and the lock plate to connect and fix the left base and the right base.

[0011] Furthermore, grooves are provided at the joints between the front and rear ends of the left bracket and the right bracket respectively to prevent the left bracket and the right bracket from moving forward and backward.

[0012] Furthermore, a plurality of inductive proximity switches are arranged at intervals in the circumferential direction on the upper edge of the male head. When the male head and the female head are successfully docked, the distance between the inductive proximity switches and the large bell mouth is the same.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The fire-fighting robot water hose automatic docking system of the present invention comprises a male head, a female head and a fire hose fixing frame, the fire hose fixing frame comprises a sleeved large speaker and an inner speaker, the female head is clamped in the middle of the large speaker, the inner speaker is arranged between the edge of the speaker mouth of the large speaker and the outer circumferential surface of the female head, the fire hose fixing frame is suspended in the middle of the arch bracket through a flexible connecting piece, a moving mechanism is arranged below the bracket, and the bracket can drive the fire hose fixing frame to move horizontally front, back, left and right under the action of the moving mechanism, when the male head and the female head are docked, the fire hose fixing frame can adaptively adjust the position and angle of the female head, and the arrangement of the inner speaker enables the male head and the female head to be smoothly and quickly docked, thereby improving work efficiency;

[0015] The fire-fighting robot automatic docking system for water hoses of the present invention has a large speaker, an inner speaker, a bracket and a base, respectively, which are left-right symmetrical structures. After successful docking, the left base and the right base can move away from each other along the third guide rail under the action of the forward and reverse screws, and the left-right symmetrical structures of the large speaker and the inner speaker are also separated, which is convenient for rapid pulling out of the fire hose. The overall structure is simple, the reliability is high, the cost is low, and it is easy to maintain, and it has practical economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the docking state of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the present invention in a separated state;

[0018] Figure 3 yes Figure 1 A schematic diagram of a top view structure;

[0019] Figure 4 yes Figure 3 Schematic diagram of the AA section structure;

[0020] Figure 5It is a structural schematic diagram of the large speaker in the present invention;

[0021] Figure 6 It is a schematic diagram of the installation position of the electromagnetic latch in the present invention;

[0022] In the above figure: 1- bracket; 1a- left bracket; 1b- right bracket; 2- spring; 3- large speaker; 3a- left speaker mouth; 3b- right speaker mouth; 4- inner speaker; 4a- left speaker body; 4b- right speaker body; 5- male head; 6- base; 6a- left base; 6b- right base; 7- first guide rail; 8- forward and reverse screw; 9- third guide rail; 10- base; 11- second guide rail; 12- lifting clamp; 13- female head; 14- electromagnetic latch; 15- lock seat; 16- lock plate; 17- baffle. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the present invention also includes a control system. Since the setting and control method of the control system adopt the technology known to those skilled in the art, the part of the present invention involving the control system will not be explained in detail.

[0024] Combined with Figure 1-6 , the present invention describes in detail an automatic docking system for a fire-fighting robot using a hose, the automatic docking system comprising a fire-fighting robot body, a fire-fighting hose, a fire-fighting medium supply device and a fire-fighting hose fixing frame, a male head 5 is arranged on the fire-fighting robot body, one end of the fire-fighting hose is connected to the fire-fighting medium supply device, and the other end is provided with a female head 13 matching the male head 5, the fire-fighting hose fixing frame is a horn-shaped structure, including a sleeved large horn 3 and an inner horn 4, the female head 13 is clamped in the middle of the large horn 3, and an annular step surface is provided at the contact surface between the large horn 3 and the female head 13, in order to avoid the male head 5 getting stuck during the movement, resulting in unsuccessful docking, the horn of the large horn 3 is clamped in the middle of the large horn 3, and the horn of the large horn 3 is clamped in the middle of the large horn 3. An inner horn 4 is arranged between the edge of the mouth and the outer circular surface of the end of the female head 13. The inner horn 4 has a guiding function to ensure that the male head 5 and the female head 13 can be smoothly connected. The fire hose fixing frame is suspended in the middle of the arch bracket 1 through a flexible connecting piece, and the large horn 3 is suspended in the middle of the arch bracket 1 through a hard spring 2. It should be noted here that the bracket 1 can also adopt a non-arch structure, and the flexible connecting piece can also use other elastic connecting pieces instead of the spring 2 to ensure the flexible connection between the large horn 3 and the bracket 1. A moving mechanism is arranged below the bracket 1, and under the action of the moving mechanism, the bracket 1 can drive the fire hose fixing frame to move horizontally forward, backward, left and right.

[0025] The moving mechanism includes a first guide rail 7, a second guide rail 11, a third guide rail 9, a forward and reverse lead screw 8 and a driving motor. The first guide rail 7 is horizontally arranged below the bracket 1. The base 6 at the bottom of the bracket 1 is slidably connected to the first guide rail 7. Under the action of external force, the bracket 1 can drive the fire hose fixing frame to slide left and right along the first guide rail 7. The second guide rail 11 is arranged below the first guide rail 7 and is vertically arranged with the first guide rail 7. The base 10 at the bottom of the first guide rail 7 is slidably connected to the second guide rail 11. The base 10 of the first guide rail can drive the first guide rail 7 to slide forward and backward along the second guide rail 11 under the action of the forward and backward moving driving motor. The third guide rail 9 and the forward and reverse lead screws 8 and the driving motor are connected to the first guide rail 7. The reverse lead screw 8 is respectively arranged parallel to the first guide rail 7, and the heights of the third guide rail 9 and the forward and reverse lead screws 8 are lower than the heights of the first guide rail 7. The large speaker 3 includes a left trumpet mouth 3a and a right trumpet mouth 3b which are arranged symmetrically on the left and right sides. The inner speaker 4 includes a left trumpet body 4a and a right trumpet body 4b which are arranged symmetrically on the left and right sides. The left trumpet body 4a is connected to the left trumpet mouth 3a correspondingly, and the right trumpet body 4b is connected to the right trumpet mouth 3b correspondingly. The bracket 1 includes a left bracket 1a and a right bracket 1b which are arranged symmetrically on the left and right sides. The base 6 includes a left base 6a and a right base 6b which are arranged symmetrically on the left and right sides. A downwardly extending retaining edge is provided, the bottom of the left bracket 1a is fixedly connected to the left base 6a, the bottom of the right bracket 1b is fixedly connected to the right base 6b, the left bell mouth 3a is arranged above the left base 6a and is flexibly connected to the left bracket 1a through a flexible connector, the right bell mouth 3b is arranged above the right base 6b and is flexibly connected to the right bracket 1b through a flexible connector, and L-shaped retaining plates 17 are respectively arranged below the left base 6a and the right base 6b, the horizontal section of the retaining plate 17 is connected to the forward and reverse screws 8, and the vertical section of the retaining plate 17 is arranged between the left and right retaining edges of the left base 6a or the right base 6b. When the forward and reverse screws 8 move, the retaining plate 17 The left or right retaining edge of the left base 6a or the right base 6b moves and contacts with the left retaining edge or the right retaining edge, driving the left base 6a or the right base 6b to move toward or away from each other along the third guide rail 9. When the left base 6a or the right base 6b moves, the left bell mouth 3a and the right bell mouth 3b are driven to move toward and dock or move away from each other and separate through the left bracket 1a and the right bracket 1b; after the left base 6a and the right base 6b are docked to form the base 6, the forward and reverse screws 8 stop moving, and the two baffles 17 are fixed in a fixed position to limit the travel range of the base 6 when it slides freely left and right along the first guide rail 7, so as to avoid the left base 6a and the right base 6b from being too close when they move toward each other or too far apart when they move away from each other.

[0026] A tongs 11 is provided at the middle of the outer circumferential surface of the large horn 3. The tongs 11 has a structure similar to that of a lifting tongs and includes symmetrically arranged left and right halves. The left and right halves of the tongs 11 are respectively arranged at the middle of the outer surfaces of the left bell mouth 3a and the right bell mouth 3b. The upper part of the left half of the tongs 11 is connected to the first steel wire rope through a connecting spring, and the other end of the first steel wire rope passes around the left end of the base 10 and is connected to the fixing ring at the right end of the base 10. The upper part of the right half of the tongs 11 is connected to the second steel wire rope through a connecting spring, and the other end of the second steel wire rope passes around the right end of the base 10 and is connected to the fixing ring at the left end of the base 10. Under the action of the left and right moving drive motors, the forward and reverse lead screws 8 move and drive the left bell mouth 3a and the right bell mouth 3b to move toward each other or move away from each other along the third guide rail 9 through the left base 6a and the right base 6b to separate. When the left bell mouth 3a and the right bell mouth 3b move toward each other along the third guide rail 9, the corresponding steel wire ropes of the left and right halves of the tongs 11 cross the third guide rail 9. The tightening clamp 11 is tightened to make the two halves of the left bell mouth 3a and the right bell mouth 3b fit tightly together. When the left bell mouth 3a and the right bell mouth 3b move away from each other along the third guide rail 9, the wire rope is relaxed, the spring on the upper part of the clamp 12 is tightened, the clamp 12 is relaxed, and 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 the specified position, the forward and backward moving drive motor is started to push the base 10 of the first guide rail to slide forward and backward along the second guide rail 11 close to the quick-connect joint male head 5 installed on the robot body. The male head 5 first contacts the inner bell mouth 4 in the large bell mouth 3, and the inner bell mouth 4 is stressed. The large bell mouth 3 moves left and right along the first guide rail 7 under the action of the bracket 1, and the moving process is adaptively adjusted to offset the parking position error in the horizontal direction. In addition, since the large bell mouth 3 is suspended in the middle of the arch bracket 1 through the hard spring 2, the existence of the elastic mechanism offsets the parking angle error.

[0027] As an optional design, a lock seat 15 and an electromagnetic latch 14 are preferably provided on the right edge of the top of the left base 6a, and a lock plate 16 matching the lock seat 15 and the electromagnetic latch 14 is provided on the left edge of the right base 6b. The lock seat 15, the lock plate 16 and the electromagnetic latch 14 adopt a door lock design. The electromagnetic latch 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 docking 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 it will affect the male head 5 and the female head. 13 docking success rate, the male head 5 and the female head will send a signal to the control system when they are successfully docked. After receiving the signal, the control system controls the electromagnetic latch 14 to retract, the lock seat 15 and the lock plate 16 to separate, and the fixed connection between the left base 6a and the right base 6b is opened. At the same time, the robot body receives the docking success signal and starts to drag the fire hose to the fire point. Under the action of the forward and reverse screws 8, the left base 6a and the right base 6b drive the left bell mouth 3a and the right bell mouth 3b to slide left and right along the third guide rail 9 to separate a distance, so as to facilitate the dragging of the fire hose and the subsequent cleanup work after the fire is extinguished.

[0028] As an optional design, four inductive proximity switches are preferably arranged at circumferential intervals on the male head 5. When the male head 5 and the female head 13 are successfully docked, the distance between the male head 5 and the bell mouth of the large speaker 3 is fixed, that is, when the male head 5 and the female head 13 are successfully docked, the distance between the inductive proximity switch and the bell mouth of the large speaker 3 is the same. When the male head 5 is close to the female head 13, the distance between the four inductive proximity switches and the bell mouth is consistent, and the docking is regarded as successful.

[0029] The working process of the automatic docking system of the fire-fighting robot with water hose of the present invention is as follows:

[0030] The fire-fighting robot of the automatic docking system of the present invention is equipped with laser radar, navigation, and guidance positioning and corresponding controllers and sensors to ensure that the parking position and angle are within the allowable error range. Obvious and specific coordinate points are set near the automatic docking system for the fire-fighting robot to accurately control the position and posture of the vehicle body. When the robot body reaches the specified parking position, the distance between the sensor on the robot and the corresponding coordinate point can be adjusted to adjust the position and angle of the vehicle body.

[0031] After the fire-fighting robot stops at the specified position, the forward and backward moving drive motor is started, pushing the base 10 of the first guide rail to slide forward and backward along the second guide rail 11 close to the quick-connect male connector 5 installed on the robot body. When the male connector 5 on the fire-fighting robot body is docked with the female connector 13, the inner speaker 4 has a guiding function and the inner speaker 4 is subjected to force. The inner speaker 4 transmits the external force received to the base 6 through the large speaker 3, the spring 2 and the bracket 1 in turn. The base 6 slides freely left and right along the first guide rail under the action of the external force, and the movement process is adaptively adjusted to offset the parking position error in the horizontal direction. When the male connector 5 is close to the female connector 13, when the four inductive proximity switches arranged at circumferential intervals on the male connector 5 are at the same distance from the horn mouth of the large speaker 3, it is considered that the docking is successful and a signal is sent to the control system. After receiving the signal of successful docking, the control system controls the electromagnetic latch 14 to retract, the lock seat 15 and the lock plate 16 to separate, and the fixed connection between the left base 6a and the right base 6b Open, under the action of the forward and reverse screws 8, the left base 6a drives the left bell mouth 3a to slide to the left along the third guide rail 9, and the right base 6b drives the right bell mouth 3b to slide to the right along the third guide rail 9, and the left bell mouth 3a and the right bell mouth 3b and the left trumpet body 4a and the right trumpet body 4b are separated, which is convenient for dragging out the fire hose and the subsequent cleanup work after fire extinguishing. At the same time, the robot body receives the successful docking signal and starts to drag the fire hose to the fire point. The automatic docking system of the present invention is equipped with an intelligent fire hydrant. After the fire robot arrives at the destination, the control system calculates and specifies the unfolding length of the water hose according to the location of the destination, the length of the fire hose and the water flow spraying distance of the fire robot to ensure that the fire point is within the spraying range of the water gun. After receiving the successful docking signal sent by the fire robot, the intelligent fire hydrant opens the valve to supply water, and monitors the water pressure during the fire extinguishing process to ensure that the fire water flow is normal and stable. After the fire extinguishing is over, the fire robot sends a stop command and the intelligent fire hydrant closes the water valve.

[0032] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium, and the specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic docking system for a fire-fighting robot using a water hose, comprising a fire-fighting robot body, a fire-fighting water hose and a fire-fighting medium supply device, wherein a male connector is provided on the fire-fighting robot body, one end of the fire-fighting water hose is connected to the fire-fighting medium supply device, and the other end is provided with a female connector matching the male connector, wherein: The fire hose fixing frame is also included in the fire hose fixing frame which is detachably connected to the female head. The fire hose fixing frame is a trumpet-shaped structure, including a sleeved large trumpet and an inner trumpet. The female head is clamped in the middle of the large trumpet, and the inner trumpet is arranged between the trumpet mouth edge of the large trumpet and the outer circular surface of the female head. The fire hose fixing frame is suspended in the middle of the arch bracket through a flexible connector. A moving mechanism is arranged below the bracket. Under the action of the moving mechanism, the bracket can drive the fire hose fixing frame to move horizontally front, back, left and right. The moving mechanism includes a first guide rail, a second guide rail and a driving motor. The first guide rail is horizontally arranged below the bracket. The base at the bottom is slidably connected to the first guide rail, and under the action of external force, the bracket can drive the fire hose fixing frame to slide left and right along the first guide rail, the second guide rail is arranged below the first guide rail and is arranged perpendicular to the first guide rail, the base at the bottom of the first guide rail is slidably connected to the second guide rail, and the base of the first guide rail can drive the first guide rail to slide forward and backward along the second guide rail under the action of the driving motor, and the moving mechanism also includes a third guide rail and a forward and reverse screw arranged between the two tracks of the first guide rail, the third guide rail and the forward and reverse screw are respectively arranged parallel to the tracks of the first guide rail, and the heights of the third guide rail and the forward and reverse screws are lower than those of the first guide rail The height of the rail track, the large speaker includes a left trumpet mouth and a right trumpet mouth that are symmetrically arranged on the left and right sides, the inner speaker includes a left trumpet body and a right trumpet body that are symmetrically arranged on the left and right sides, the left trumpet body is correspondingly connected to the left trumpet mouth, and the right trumpet body is correspondingly connected to the right trumpet mouth, the bracket includes a left bracket and a right bracket that are symmetrically arranged on the left and right sides, and the left base and the right base are respectively provided with ribs extending downward, the bottom of the left bracket is fixedly connected to the left base, the bottom of the right bracket is fixedly connected to the right base, the left trumpet mouth is arranged above the left base and is connected to the left base through a flexible connector. The bracket is flexibly connected, the right bell mouth is arranged above the right base and is flexibly connected to the right bracket through a flexible connecting piece, and L-shaped baffles are respectively arranged below the left base and the right base, the horizontal section of the baffle is connected to the forward and reverse screws, and the vertical section of the baffle is arranged between the left and right ribs of the left base or the right base, when the forward and reverse screws move, the baffle moves and contacts with the left ribs or the right ribs of the left base and the right base, driving the left base and the right base frame to move toward or away from each other along the third guide rail, and when the left base and the right base move, the left bell mouth and the right bell mouth are driven to move toward and dock or away from each other through the left bracket and the right bracket.

2. According to claim 1, the automatic docking system for fire-fighting robots using water hoses is characterized by: The flexible connection is a hard spring.

3. According to claim 1, the automatic docking system for fire-fighting robots using water hoses is characterized by: A lock seat and an electromagnetic latch are arranged on the right edge of the top of the left base, and a lock sheet matching the lock seat and the electromagnetic latch is arranged on the left edge of the right base. When the left base and the right base are butted together, the electromagnetic latch extends out and is inserted into the lock seat and the lock sheet to connect and fix the left base and the right base.

4. According to claim 1, the automatic docking system for fire-fighting robots using water hoses is characterized by: Bevels are respectively arranged at the joints of the front and rear ends of the left bracket and the right bracket to prevent the left bracket and the right bracket from moving forward and backward.

5. The automatic hose docking system for fire-fighting robots according to any one of claims 1 to 4, characterized in that: A plurality of inductive proximity switches are arranged at intervals along the circumference of the upper edge of the male connector. When the male connector and the female connector are successfully docked, the distance between the inductive proximity switches and the large bell mouth is the same.

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