Connecting robot clamping jaw structure and operation system thereof

Abstract

The invention discloses a connecting robot clamping jaw structure and an operation system thereof, and belongs to the technical field of fire fighting equipment, the connecting robot clamping jaw structure comprises a lifting assembly, an inner tooth-shaped barrel is installed on the lifting assembly in a sliding and limiting mode, and an outer tooth-shaped barrel is coaxially arranged on the inner side of the inner tooth-shaped barrel in a meshed mode; the inner tooth-shaped barrel body and the outer tooth-shaped barrel body are connected through a first electric push rod, a clamping jaw assembly is arranged on the inner side of the inner tooth-shaped barrel body, and the clamping jaw assembly comprises a second electric push rod. The first electric push rod and the second electric push rod are used for driving the elastic clamping rod to contract and adjust, the distance between the L-shaped clamping plates can flexibly adapt to water hoses and fire hydrant water outlets of different specifications, frequent replacement or manual adjustment is not needed, the rescue preparation time is shortened, and the diversified requirements of complex rescue scenes are met.

Description

Technical Field

[0001] This invention relates to the field of fire extinguishing equipment technology, specifically to a docking robot gripper structure and its operating system. Background Technology

[0002] With the rapid pace of urbanization, fires are increasingly frequent in complex environments such as high-rise buildings and chemical industrial parks, posing challenges to fire and rescue efforts due to hazardous environments, high difficulty levels, and tight time constraints. Firefighting hose-connecting robots, as intelligent equipment, can replace firefighters in high-risk areas to complete tasks such as hose connection, reducing the risk of casualties and improving rescue efficiency. They are one of the core pieces of equipment in modern firefighting systems.

[0003] As the core transport medium for firefighting, the rapid and stable connection of water hoses to fire hydrants and firefighting equipment directly determines the initiation speed and sustained effectiveness of firefighting operations. However, existing firefighting hose connection robots have many technical shortcomings in the hose connection process, making it difficult to meet complex rescue needs:

[0004] First, the grippers lack versatility. The specifications of fire hoses and the size of fire hydrant outlets vary in different scenarios. Traditional grippers are mostly fixed structures that can only be used with a single specification. During rescue operations, they need to be frequently replaced or manually adjusted, which prolongs preparation time, increases operational complexity, and affects the initial fire control effect.

[0005] Secondly, the clamping stability is insufficient. During firefighting, the water hose is impacted by the high-pressure water flow, generating vibration and tension. Traditional clamps have low clamping force adjustment precision, making it difficult to form a uniform and stable clamping, which can easily lead to loosening or detachment of the joints, resulting in water flow interruption and even causing secondary hazards.

[0006] Third, the positioning and collaborative control accuracy is lacking. The docking requires precise alignment of the gripper, hose end, and fire hydrant interface. Existing robot positioning systems rely on a single sensor and lack visual recognition and dynamic adjustment mechanisms. In complex environments, they are unable to quickly identify the target posture and are prone to alignment deviations. The power system lacks precise energy distribution, which can easily lead to motion jamming or power waste, reducing docking reliability.

[0007] Fourth, the structure lacks wear resistance and adaptability. The key contact parts of traditional grippers are made of ordinary metal materials, which are prone to wear and tear after long-term use, resulting in a decrease in accuracy. In addition, there is a lack of adaptability design for hose interfaces of different materials, which can easily damage the interface during clamping and affect the sealing performance.

[0008] In summary, existing equipment has significant shortcomings in terms of versatility, stability, positioning accuracy, and durability, which restricts its application in complex fire rescue. Therefore, a docking robot gripper structure and its operating system are proposed. Summary of the Invention

[0009] The purpose of this invention is to provide a gripper structure for a docking robot and its operating system to solve the problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a gripper structure for a docking robot, comprising a lifting assembly, wherein an inner toothed cylinder is slidably and limitedly mounted on the lifting assembly, and an outer toothed cylinder is coaxially engaged with the inner side of the inner toothed cylinder, the inner toothed cylinder and the outer toothed cylinder are connected by a first electric push rod, and a gripper assembly is provided inside the inner toothed cylinder.

[0011] The gripper assembly includes a second electric push rod, and the second electric push rod is symmetrically fixedly installed on the inner side wall of the inner toothed cylinder;

[0012] An annular plate is fixedly connected to the extended end of the second electric push rod;

[0013] Elastic clamping rods are evenly provided on the side wall of the annular plate, and the elastic clamping rods slide against the end side wall of the inner toothed cylinder and the outer toothed cylinder.

[0014] An "L"-shaped clamping plate is fixedly installed on the side wall of the end of the elastic clamping rod.

[0015] As a further preferred embodiment of this technical solution: it also includes a hose box, the lifting component is fixedly installed on the side wall of the hose box, the hose box is fixedly installed at the tail of the connecting robot, a hose outlet groove is opened in the middle of the side wall of the hose box, a hose end bearing component is slidably installed in the hose outlet groove, dovetail grooves are symmetrically opened on both sides of the hose outlet groove, and a screw-on component is slidably installed in the dovetail groove.

[0016] As a further preferred embodiment of this technical solution: the hose end bearing assembly includes a hose outlet pipe and an arc-shaped retaining strip. The hose outlet pipe is slidably engaged in the hose outlet groove. The end of the hose outlet pipe passes through the inner toothed cylinder and the outer toothed cylinder and extends to the outside of the inner toothed cylinder. Arc-shaped retaining strips are evenly arranged on the side wall of the end of the hose outlet pipe. The arc-shaped retaining strips tend to contract inward in their natural state.

[0017] As a further preferred embodiment of this technical solution: the rotary assembly includes a rotary plate, a servo motor and a drive gear. The rotary plate is slidably installed in the dovetail groove. The rotary plate is penetrated by the tape outlet tube. The servo motor is fixedly installed on the side of the rotary plate. The drive gear is fixedly installed on the output shaft of the servo motor.

[0018] As a further preferred embodiment of this technical solution: the lifting assembly includes a base plate, a lifting cylinder, an arc-shaped support plate, and guide rods. The base plate is fixedly connected to the side wall of the hose box. The lifting cylinder is fixedly installed at the upper end of the base plate. The arc-shaped support plate is fixedly connected to the upper end of the lifting cylinder. Guide rods are slidably provided through both sides of the arc-shaped support plate. The lower ends of the guide rods are fixedly connected to the base plate.

[0019] As a further preferred embodiment of this technical solution: the end of the internal toothed cylindrical body is slidably mounted on the rotary joint, and an external gear ring is fixedly mounted on the outer side wall of the internal toothed cylindrical body at the position corresponding to the driving gear, and the driving gear and the external gear ring mesh with each other;

[0020] The inner toothed cylinder has a first sliding protrusion evenly arranged along its circumference on the inner side of the end away from the rotary plate.

[0021] As a further preferred embodiment of this technical solution: a second sliding protrusion is uniformly provided along its circumference on the inner side of the end of the external toothed cylinder away from the first electric push rod;

[0022] The first and second sliding protrusions are made of one of high manganese steel, alloy or cast iron materials and are slidably fitted to the side wall of the elastic clamping rod.

[0023] As a further preferred embodiment of this technical solution: the horizontal plate of the "L"-shaped card plate has an arc-shaped structure and its concave arc surface faces the direction of the tape outlet tube, and a corrugated rubber plate is fixedly provided on the inner wall of the concave arc surface of the horizontal plate of the "L"-shaped card plate.

[0024] A shuttle robot operating system includes a positioning system and a power system, wherein the positioning system includes:

[0025] Position sensor: installed on the gripper structure to detect the current position of the gripper in real time;

[0026] Control module: Connected to the position sensor, it receives signals from the position sensor and calculates control commands based on the preset target position;

[0027] Execution module: Connected to the control module, it adjusts the position of the gripper according to control commands to achieve precise positioning;

[0028] Visual recognition module: used to identify the position and posture of the target object and feed the recognition results back to the control module to improve positioning accuracy.

[0029] As a further preferred embodiment of this technical solution: the power system includes:

[0030] Power module: Provides power to the shuttle robot;

[0031] Energy conversion module: Connected to the power module, it is used to convert the output of the power module into the operating mode required by the various components of the docking robot;

[0032] Energy distribution module: Used to rationally distribute and adjust the output energy of the power module according to the working requirements of each component of the docking robot;

[0033] Monitoring and feedback module: Monitors the operating status of the power system in real time and feeds back the monitoring results to the control module for fault warning or performance optimization.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. This invention effectively improves versatility. Through the coordinated cooperation of the inner toothed cylinder, the outer toothed cylinder and the gripper assembly, and with the help of the first electric push rod and the second electric push rod to drive the elastic clamping rod to retract and adjust, the spacing of the "L" shaped clamping plate can be flexibly adapted to different specifications of water hoses and fire hydrant outlets without the need for frequent replacement or manual adjustment, thus shortening the rescue preparation time and adapting to the diverse needs of complex rescue scenarios.

[0036] 2. This invention effectively enhances clamping stability. The "L"-shaped clamping plate adopts an arc structure and is equipped with a corrugated rubber plate. The elastic clamping rod can provide radial and axial dual forces. Together with the hose extension tube and the inwardly contracting arc-shaped clamping strip, it supports and limits the hose end, effectively resisting the vibration and tension generated by the impact of high-pressure water flow, preventing the interface from loosening and falling off, and ensuring the continuous stability of fire extinguishing operations.

[0037] 3. This invention can greatly improve positioning and coordination accuracy. The positioning system integrates a position sensor and a visual recognition module to accurately identify the target position and attitude. Combined with the execution module, it controls the movement of the lifting and rotating components to achieve precise alignment between the gripper and the fire hydrant. The power system rationally allocates power through the energy distribution and monitoring feedback module to avoid movement jamming or waste, thereby improving the reliability and efficiency of the connection process.

[0038] 4. This invention effectively enhances wear resistance and adaptability. The first and second sliding protrusions are made of wear-resistant materials such as high manganese steel and alloys, which extends the service life of key components. The corrugated rubber plate design of the "L"-shaped clamping plate can securely hold the hose while avoiding damage to the hose interface, ensuring sealing performance and adapting to the connection requirements of hose interfaces of different materials. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the gripper structure of a docking robot according to the present invention;

[0040] Figure 2 This is a schematic diagram of the first structure of the docking robot gripper structure of the present invention after removing the docking robot;

[0041] Figure 3 This is a schematic diagram of the second structure of the docking robot gripper structure of the present invention after removing the docking robot;

[0042] Figure 4 This is a schematic diagram of the third structure of the docking robot gripper structure of the present invention after removing the docking robot;

[0043] Figure 5 This invention relates to a gripper structure for a docking robot. Figure 3 Enlarged structural diagram of section A in the middle;

[0044] Figure 6 This invention relates to a gripper structure for a docking robot. Figure 3 Enlarged structural diagram of section B in the middle;

[0045] Figure 7 This is a schematic diagram of the structure between the hose box, hose end bearing component, rotary plate, external toothed cylinder, first electric push rod and gripper assembly in the gripper structure of the docking robot of the present invention.

[0046] Figure 8 This invention relates to a gripper structure for a docking robot. Figure 7 Enlarged structural diagram of section C;

[0047] Figure 9 This is a schematic diagram of the structure between the hose end bearing component, the external toothed cylinder, the first electric push rod, and the gripper component in the gripper structure of a docking robot according to the present invention.

[0048] Figure 10 This is a schematic diagram of the operating system of a shuttle robot according to the present invention;

[0049] Figure 11 This is a schematic diagram of the architecture of the positioning system in the operation system of a shuttle robot according to the present invention;

[0050] Figure 12 This is a schematic diagram of the power system architecture in the operating system of a shuttle robot according to the present invention.

[0051] In the diagram: 1. Connecting robot; 2. Hose box; 3. Hose end bearing assembly; 31. Outlet pipe; 32. Arc-shaped clamping strip; 4. Screw-on assembly; 41. Screw-on disc; 42. Servo motor; 43. Drive gear; 5. Lifting assembly; 51. Base plate; 52. Lifting cylinder; 53. Arc-shaped support plate; 54. Guide rod; 6. Internal toothed cylinder; 61. External toothed ring; 62. First sliding protrusion; 7. External toothed cylinder; 71. Second sliding protrusion; 8. First electric push rod; 9. Gripper assembly; 91. Second electric push rod; 92. Annular plate; 93. Elastic clamping rod; 94. "L"-shaped clamping plate; 100. Hose outlet trough; 200. Dovetail groove. Detailed Implementation

[0052] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0053] Example 1

[0054] Please see Figures 1-3 The present invention provides a technical solution: a gripper structure for a docking robot, including a lifting component 5, which is fixedly installed on the side wall of a hose box 2. The hose box 2 is fixedly installed at the tail of a docking robot 1. A hose outlet groove is provided in the middle of the side wall of the hose box 2. A hose end bearing component 3 is slidably installed in the hose outlet groove. Dovetail grooves are symmetrically provided on both sides of the hose outlet groove. A screw-on component 4 is slidably installed in the dovetail grooves.

[0055] In this embodiment, specifically: the hose end bearing assembly 3 includes a hose outlet pipe 31 and an arc-shaped retaining strip 32. The hose outlet pipe 31 is slidably engaged in the hose outlet groove. The end of the hose outlet pipe 31 passes through the inner toothed cylinder 6 and the outer toothed cylinder 7 and extends to the outside of the inner toothed cylinder 6. Arc-shaped retaining strips 32 are evenly arranged on the side wall of the end of the hose outlet pipe 31. The arc-shaped retaining strips 32 tend to contract inward in their natural state.

[0056] In this embodiment, specifically: the rotary assembly 4 includes a rotary plate 41, a servo motor 42 and a drive gear 43. The rotary plate 41 is slidably installed in the dovetail groove. The rotary plate 41 is penetrated by the tape outlet tube 31. The servo motor 42 is fixedly installed on the side of the rotary plate 41. The drive gear 43 is fixedly installed on the output shaft of the servo motor 42.

[0057] In this embodiment, specifically: the lifting assembly 5 includes a base plate 51, a lifting cylinder 52, an arc-shaped support plate 53, and a guide rod 54. The base plate 51 is fixedly connected to the side wall of the water hose box 2. The lifting cylinder 52 is fixedly installed on the upper end of the base plate 51. The arc-shaped support plate 53 is fixedly connected to the upper end of the lifting cylinder 52. The guide rod 54 is slidably provided through both sides of the arc-shaped support plate 53. The lower end of the guide rod 54 is fixedly connected to the base plate 51.

[0058] In this embodiment, specifically: during operation, the hose box 2 is equipped with a hose, and the hose connection end passes through the hose outlet pipe 31 and is held in place by the arc-shaped clamp 32. Before extinguishing the fire, the power system can drive the tail of the connection robot 1 to move to face the fire hydrant. The positioning system can control the movement of the lifting cylinder 52. The lifting cylinder 52 drives the arc-shaped support plate 53 to move up or down along the guide rod 54, so that the hose outlet pipe 31 and the fire hydrant outlet are aligned at the same height.

[0059] Example 2

[0060] The technical solution is basically the same as that in Embodiment 1, see below. Figures 1 to 9The difference is that: the upper end of the lifting component 5 is equipped with an inner toothed cylinder 6 for sliding limit installation, and an outer toothed cylinder 7 is coaxially meshed on the inner side of the inner toothed cylinder 6. The inner toothed cylinder 6 and the outer toothed cylinder 7 are connected by a first electric push rod 8, and a gripper assembly 9 is provided on the inner side of the inner toothed cylinder 6.

[0061] In this embodiment, specifically: the end of the internal toothed cylindrical body 6 is slidably mounted on the rotary plate 41, and an external gear ring 61 is fixedly mounted on the outer side wall of the internal toothed cylindrical body 6 at the position corresponding to the position of the drive gear 43, and the drive gear 43 and the external gear ring 61 mesh with each other.

[0062] In this embodiment, specifically: the inner side of the end of the toothed cylinder 6 away from the rotary plate 41 is uniformly provided with a first sliding protrusion 62 along its circumference.

[0063] In this embodiment, specifically: a second sliding protrusion 71 is uniformly provided along its circumference on the inner side of the end of the external toothed cylinder 7 away from the first electric push rod 8.

[0064] In this embodiment, specifically: the gripper assembly 9 includes a second electric push rod 91, the inner toothed cylinder 6 is symmetrically fixedly installed with the second electric push rod 91, the extended end of the second electric push rod 91 is fixedly connected with an annular plate 92, the side wall of the annular plate 92 is evenly provided with elastic clamping rods 93, the elastic clamping rods 93 slide against the end side walls of the inner toothed cylinder 6 and the outer toothed cylinder 7, and the end side wall of the elastic clamping rod 93 is fixedly installed with an "L" shaped clamping plate 94.

[0065] In this embodiment, specifically: the first sliding protrusion 62 and the second sliding protrusion 71 are made of one of high manganese steel, alloy or cast iron materials and are both slidably attached to the side wall of the elastic clamping rod 93.

[0066] In this embodiment, specifically: the horizontal plate of the "L"-shaped card plate 94 has an arc-shaped structure and its concave arc surface faces the direction of the tape tube 31. A corrugated rubber plate is fixedly installed on the inner wall of the concave arc surface of the horizontal plate of the "L"-shaped card plate 94.

[0067] In this embodiment, specifically: during operation, the first electric push rod 8 is activated, which drives the outer toothed cylinder 7 and the gripper assembly 9 to move into the inner toothed cylinder 6. Under the action of the first sliding protrusion 62, the elastic clamping rod 93 will retract inward, and at the same time, the "L"-shaped clamping plate 94 will quickly move closer to the hose connection end. The second electric push rod 91 is activated, which drives the annular plate 92 and the elastic clamping rod 93 to move into the outer toothed cylinder 7. Under the squeezing action of the second sliding protrusion 71, the elastic clamping rod 93 will retract inward again, and at the same time, it will drive the "L"-shaped clamping plate 94 to engage with the hose connection end. The corrugated rubber plate provided on the concave arc inner wall of the horizontal plate of the "L"-shaped clamping plate 94 can firmly clamp the hose connection end. At this time, the side wall of the elastic clamping rod 93 will disengage from the first sliding protrusion 62.

[0068] The first electric push rod 8 is activated again, which drives the outer toothed cylinder 7, the gripper assembly 9, and the clamped hose connector to move toward the fire hydrant interface. When the hose connector comes into contact with the fire hydrant interface, the servo motor 42 is activated, which drives the drive gear 43 to rotate. Under the action of the outer gear ring 61, the inner toothed cylinder 6 will rotate. The inner toothed cylinder 6 drives the outer toothed cylinder 7, the gripper assembly 9, and the clamped hose connector to rotate synchronously, so that the hose connector is finally locked onto the fire hydrant outlet.

[0069] When the fire hydrant switch is turned on, water will flow through the hose into the hose box 2. The connecting robot 1 will then extract the water from the hose box 2 and spray it to the fire site, thus completing the fire extinguishing process.

[0070] It should be noted that, for reference Figure 1 The robot 1 of this invention is equipped with a telescopic robotic arm, the front end of which is connected to a fire extinguishing cannon. During actual fire extinguishing, the robotic arm can be extended to increase the fire extinguishing range.

[0071] See Figure 10 and Figure 11 A shuttle robot operating system includes a positioning system and a power system. The positioning system includes:

[0072] Position sensor: installed on the gripper structure to detect the current position of the gripper in real time;

[0073] Control module: Connected to the position sensor, it receives signals from the position sensor and calculates control commands based on the preset target position;

[0074] Execution module: Connected to the control module, it adjusts the position of the gripper according to control commands to achieve precise positioning;

[0075] Visual recognition module: used to identify the position and posture of the target object and feed the recognition results back to the control module to improve positioning accuracy.

[0076] participate Figure 10 and Figure 12 A shuttle robot operating system, the power system of which includes:

[0077] Power module: Provides power to the shuttle robot;

[0078] Energy conversion module: Connected to the power module, it is used to convert the output of the power module into the operating mode required by the various components of the docking robot;

[0079] Energy distribution module: Used to rationally distribute and adjust the output energy of the power module according to the working requirements of each component of the docking robot;

[0080] Monitoring and feedback module: Monitors the operating status of the power system in real time and feeds back the monitoring results to the control module for fault warning or performance optimization.

[0081] The working principle of this invention during use:

[0082] 1. The hose box 2 is equipped with a hose. The hose connection end passes through the hose outlet pipe 31 and is locked by the arc-shaped clamp 32. Before extinguishing the fire, the power system can drive the tail of the hose connection robot 1 to move to face the fire hydrant. The positioning system can control the movement of the lifting cylinder 52. The lifting cylinder 52 drives the arc-shaped support plate 53 to move up or down along the guide rod 54, so that the hose outlet pipe 31 and the fire hydrant outlet are aligned at the same height.

[0083] Second: Activate the first electric push rod 8, which drives the outer toothed cylinder 7 and the gripper assembly 9 to move into the inner toothed cylinder 6. Under the action of the first sliding protrusion 62, the elastic clamping rod 93 will retract inward, and at the same time, the "L"-shaped clamping plate 94 will quickly move closer to the hose connection end. Activate the second electric push rod 91, which drives the annular plate 92 and the elastic clamping rod 93 to move into the outer toothed cylinder 7. Under the squeezing action of the second sliding protrusion 71, the elastic clamping rod 93 will retract inward again, and at the same time, it will drive the "L"-shaped clamping plate 94 to engage with the hose connection end. The corrugated rubber plate set on the concave arc inner wall of the horizontal plate of the "L"-shaped clamping plate 94 can firmly clamp the hose connection end. At this time, the side wall of the elastic clamping rod 93 will disengage from the first sliding protrusion 62.

[0084] Third: Restart the first electric push rod 8. The first electric push rod 8 drives the outer toothed cylinder 7, the gripper assembly 9, and the clamped and fixed water hose connector to move towards the fire hydrant interface. When the water hose connector comes into contact with the fire hydrant interface, start the servo motor 42. The servo motor 42 drives the drive gear 43 to rotate. Under the action of the outer gear ring 61, the inner toothed cylinder 6 will rotate. The inner toothed cylinder 6 drives the outer toothed cylinder 7, the gripper assembly 9, and the clamped and fixed water hose connector to rotate synchronously, so that the water hose connector is finally locked onto the fire hydrant outlet.

[0085] 4. Open the fire hydrant switch. At this time, the water will flow through the water hose into the water hose box 2. The connecting robot 1 will draw out the water from the water hose box 2 and spray it to the fire extinguishing location, thus completing the fire extinguishing process.

[0086] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gripper structure for a docking robot, comprising a lifting assembly (5), characterized in that: The lifting assembly (5) is equipped with an inner toothed cylinder (6) which is slidably limited. An outer toothed cylinder (7) is coaxially meshed with the inner side of the inner toothed cylinder (6). The inner toothed cylinder (6) and the outer toothed cylinder (7) are connected by a first electric push rod (8). A gripper assembly (9) is provided on the inner side of the inner toothed cylinder (6). The gripper assembly (9) includes a second electric push rod (91), and the second electric push rod (91) is symmetrically fixedly installed on the inner sidewall of the toothed cylinder (6). The annular plate (92) is fixedly connected to the extended end of the second electric push rod (91); Elastic clamping rod (93), the side wall of the annular plate (92) is uniformly provided with elastic clamping rod (93), the elastic clamping rod (93) slides and fits against the end side wall of the inner toothed cylinder (6) and the outer toothed cylinder (7); An "L"-shaped clamping plate (94) is fixedly installed on the side wall of the end of the elastic clamping rod (93).

2. The gripper structure for a docking robot according to claim 1, characterized in that: It also includes a hose box (2), the lifting component (5) is fixedly installed on the side wall of the hose box (2), the hose box (2) is fixedly installed at the tail of the connecting robot (1), a hose outlet groove (100) is opened in the middle of the side wall of the hose box (2), a hose end bearing component (3) is slidably installed in the hose outlet groove (100), dovetail grooves (200) are symmetrically opened on both sides of the hose outlet groove (100), and a screw-on component (4) is slidably installed in the dovetail groove (200).

3. The gripper structure for a docking robot according to claim 2, characterized in that: The hose end bearing assembly (3) includes a hose outlet pipe (31) and an arc-shaped retaining strip (32). The hose outlet pipe (31) is slidably engaged in the hose outlet groove (100). The end of the hose outlet pipe (31) passes through the inner toothed cylinder (6) and the outer toothed cylinder (7) and extends to the outside of the inner toothed cylinder (6). Arc-shaped retaining strips (32) are evenly arranged on the side wall of the end of the hose outlet pipe (31). The arc-shaped retaining strips (32) tend to shrink inward in their natural state.

4. The gripper structure for a docking robot according to claim 3, characterized in that: The swivel assembly (4) includes a swivel plate (41), a servo motor (42) and a drive gear (43). The swivel plate (41) is slidably installed in the dovetail groove (200). The swivel plate (41) is penetrated by the tape outlet tube (31). The servo motor (42) is fixedly installed on the side of the swivel plate (41). The drive gear (43) is fixedly installed on the output shaft of the servo motor (42).

5. The gripper structure for a docking robot according to claim 2, characterized in that: The lifting assembly (5) includes a base plate (51), a lifting cylinder (52), an arc-shaped support plate (53), and a guide rod (54). The base plate (51) is fixedly connected to the side wall of the water hose box (2). The lifting cylinder (52) is fixedly installed on the upper end of the base plate (51). The arc-shaped support plate (53) is fixedly connected to the upper end of the lifting cylinder (52). The guide rod (54) is slidably provided on both sides of the arc-shaped support plate (53). The lower end of the guide rod (54) is fixedly connected to the base plate (51).

6. The docking robot gripper structure according to claim 4, characterized in that: The end of the internal toothed cylindrical body (6) is slidably mounted on the rotary plate (41), and an external gear ring (61) is fixedly mounted on the outer side wall of the internal toothed cylindrical body (6) at the position corresponding to the drive gear (43). The drive gear (43) and the external gear ring (61) mesh with each other. The inner toothed cylinder (6) has a first sliding protrusion (62) uniformly arranged along its circumference on the inner side of the end away from the rotary plate (41).

7. The gripper structure for a docking robot according to claim 6, characterized in that: The inner side of the end of the external toothed cylinder (7) away from the first electric push rod (8) is uniformly provided with a second sliding protrusion (71) along its circumference. The first sliding protrusion (62) and the second sliding protrusion (71) are made of one of high manganese steel, alloy or cast iron materials and are both slidably attached to the side wall of the elastic clamp (93).

8. The gripper structure for a docking robot according to claim 7, characterized in that: The horizontal plate of the "L"-shaped card plate (94) has an arc structure and its concave arc surface faces the direction of the outlet tube (31). A corrugated rubber plate is fixedly installed on the inner wall of the concave arc surface of the horizontal plate of the "L"-shaped card plate (94).

9. A shuttle robot operating system, comprising a positioning system and a power system, characterized in that: The positioning system includes: Position sensor: installed on the gripper structure to detect the current position of the gripper in real time; Control module: Connected to the position sensor, it receives signals from the position sensor and calculates control commands based on the preset target position; Execution module: Connected to the control module, it adjusts the position of the gripper according to control commands to achieve precise positioning; Visual recognition module: used to identify the position and posture of the target object and feed the recognition results back to the control module to improve positioning accuracy.

10. The operating system of a shuttle robot according to claim 9, characterized in that: The power system includes: Power module: Provides power to the shuttle robot; Energy conversion module: Connected to the power module, it is used to convert the output of the power module into the operating mode required by the various components of the docking robot; Energy distribution module: Used to rationally distribute and adjust the output energy of the power module according to the working requirements of each component of the docking robot; Monitoring and feedback module: Monitors the operating status of the power system in real time and feeds back the monitoring results to the control module for fault warning or performance optimization.

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