Quick autonomous docking device for fire hydrant water pipe of fire-fighting robot

Abstract

The application relates to the technical field of fire-fighting supplies, in particular to a quick and autonomous butt joint device for a fire hydrant water pipe of a fire-fighting robot, which comprises a fixed end pipe interface and a movable end pipe interface; the fixed end pipe interface comprises a fixed pipe sleeve and a water outlet pipe head; the water outlet pipe head passes through a through hole on the fixed pipe sleeve; the circumferential inner diameter of the through hole is larger than the circumferential outer diameter of the water outlet pipe head; an outwardly extending expansion ring is arranged on the circumferential outer wall of the water outlet pipe head; and a concave ring groove is arranged on the circumferential inner wall of the through hole; the axial width of the ring groove is larger than the axial thickness of the expansion ring, and the outer diameter of the ring groove is larger than the inner diameter of the expansion ring; and the expansion ring is movably arranged in the ring groove. The application provides the quick and autonomous butt joint device for the fire hydrant water pipe of the fire-fighting robot, which is high in reliability and strong in adaptability.

Description

Technical Field

[0001] This invention relates to the field of fire protection equipment technology, specifically to a rapid autonomous docking device for fire hydrant pipes used in fire-fighting robots. Background Technology

[0002] With the development of machine technology, robots that can efficiently replace human labor have emerged in various fields. Firefighting robots can carry fire hoses to the fire scene and directly extinguish the fire source, with the advantages of high firefighting efficiency and good safety.

[0003] Currently, the docking process between fire-fighting robots and fire hoses still suffers from significant errors and a low success rate. In real-world scenarios, the location of fire hydrant interfaces is often difficult to pinpoint accurately. As a rigid moving platform, the moving end of the fire-fighting robot cannot guarantee perfect alignment of its axes with the fixed end when approaching it. Traditional docking devices employ rigid fixed structures, which cannot adaptively compensate for positional deviations during docking. When there is angular misalignment or radial misalignment between the moving and fixed ends, the rigid contact generates significant contact forces, easily damaging the equipment interfaces and even causing docking failure. Even with accurate initial alignment, minor positional disturbances may occur due to the fire-fighting robot's inertia or uneven ground. Docking devices lacking floating compensation capabilities cannot absorb these disturbances, further increasing the difficulty and safety risks of docking.

[0004] Therefore, a new type of rapid autonomous docking device for fire hydrant pipes for firefighting robots is proposed, providing an effective solution to the shortcomings of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid autonomous docking device for fire hydrant pipes used in firefighting robots, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A rapid autonomous docking device for fire hydrant pipes used in firefighting robots includes a fixed end pipe interface and a movable end pipe interface:

[0008] The fixed end pipe interface includes a fixed pipe sleeve and a water outlet pipe head. The water outlet pipe head passes through a through hole in the fixed pipe sleeve, and the inner diameter of the through hole is larger than the outer diameter of the water outlet pipe head. An outwardly extending expansion ring is provided on the outer circumference of the water outlet pipe head, and an inwardly recessed annular groove is provided on the inner circumference of the through hole. The axial width of the annular groove is larger than the axial thickness of the expansion ring, and the outer diameter of the annular groove is larger than the inner diameter of the expansion ring. The expansion ring is movably installed in the annular groove. The outlet pipe head has a fixed end connector seat with an outwardly expanding annular shape at its port. The movable end connector includes an inlet pipe head. The inlet pipe head has a movable end connector seat with an outwardly expanding annular shape at its port. The fixed end connector seat and the movable end connector seat have the same outer diameter. At least three outwardly expanding guide claws are evenly distributed around the outer edge of the movable end connector seat. At least three forward-extending electromagnetic locks are evenly distributed around the outer edge of the movable end connector seat. The electromagnetic locks are spaced apart from the guide claws. The electromagnetic locks have a locking tongue that slides radially along the inlet pipe head. When the locking tongue is extended, its inner end abuts against the back edge of the fixed end connector seat to achieve axial locking.

[0009] Furthermore, the latch is slidably installed in the latch chamber of the electromagnetic lock. An electromagnet is fixedly installed on the side of the latch chamber away from the axis of the water inlet pipe. A magnetic attracting block is fixedly embedded on the end of the latch facing the electromagnet. A pair of spring grooves are provided on the side of the latch away from the axis of the water inlet pipe. A spring is installed in each spring groove. The end of the spring extending out of the spring groove abuts against the electromagnet.

[0010] Furthermore, a guide rod is fixedly connected in each of the spring slots. The electromagnet is provided with a pair of guide rod holes. The guide rod passes through the spring and the guide rod holes. The inner diameter of the guide rod hole is smaller than the outer diameter of the spring. The end of the guide rod away from the spring slot is provided with a radially protruding anti-disengagement ring. The outer diameter of the anti-disengagement ring is larger than the inner diameter of the guide rod hole.

[0011] Furthermore, the fixed sleeve has at least two outwardly extending grooves evenly distributed circumferentially on the outer side of the annular groove. The outer edge of the expanding ring has protrusions evenly distributed circumferentially, the number of which equals the number of outwardly extending grooves. These protrusions are located within the outwardly extending grooves, and their width is less than the width of the outwardly extending groove. The depth of the outwardly extending groove along the axial direction of the fixed sleeve is greater than or equal to the length of the protrusion along the axial direction of the outlet pipe head, and the protrusion remains within the axial projection range of the outwardly extending groove when in the mating and locking state.

[0012] Furthermore, a sealing ring groove is provided on the mating end face of the fixed end connector, and a sealing ring is installed in the sealing ring groove.

[0013] Furthermore, the sealing ring has a V-shaped cross-section, with its opening facing the high-pressure water side inside the fixed end connector seat.

[0014] Furthermore, a support bridge is provided inside the opening of the sealing ring, and the support bridge has densely and evenly distributed perforated holes in the circumferential direction.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention utilizes a floating fit structure between the outer expansion ring and the ring groove, enabling the outlet pipe head to adaptively adjust its position during docking, effectively reducing the docking accuracy requirements and avoiding equipment damage caused by rigid contact. The fit between the protrusion and the outer groove restricts circumferential rotation while retaining necessary fine-tuning margins, ensuring the accuracy and reliability of docking. Automatic guidance and alignment during docking are achieved through guide claws, reducing the difficulty of docking. The electromagnetic lock uses an electromagnet and spring to drive the locking tongue; it automatically locks when power is off using spring force and unlocks when power is on using electromagnetic force, offering advantages such as rapid response and simple control. This invention achieves the overall effect of "autonomous docking even with large positional deviations and locking immediately upon power failure" through the coordinated use of floating compensation, guide claw guidance, and power-off spring self-locking.

[0016] 2. This invention employs a V-shaped cross-section sealing ring, utilizing the self-tightening principle of water pressure to achieve enhanced sealing performance with increasing pressure, making it particularly suitable for high-pressure water environments in firefighting. The support bridge and its perforated holes provide structural support while ensuring uniform water pressure transmission and flexibility in sealing ring deformation, effectively improving the reliability and service life of the seal. Attached Figure Description

[0017] Figure 1 A schematic diagram of the structure of a rapid autonomous docking device for fire hydrant hoses used in firefighting robots; Figure 2 This is a structural schematic diagram of a fixed-end pipe interface; Figure 3 This is an exploded view of the fixed-end pipe interface. Figure 4 This is a schematic diagram of the water outlet pipe head; Figure 5 This is a schematic diagram of the sealing ring structure; Figure 6 This is a structural diagram of the active end pipe interface; Figure 7 This is a schematic diagram of the electromagnetic lock. Figure 8 This is an exploded view of the electromagnetic lock. Figure 9 This is a schematic diagram of the locking tongue.

[0018] In the diagram: 1. Fixed pipe sleeve; 2. Outlet pipe head; 3. Fixed end connector; 4. Ring groove; 5. Outward groove; 6. Outward expansion ring; 7. Protrusion; 8. Sealing ring groove; 9. Sealing ring; 10. Support bridge; 11. Hollow hole; 12. Inlet pipe head; 13. Movable end connector; 14. Guide claw; 15. Electromagnetic lock; 16. Locking tongue; 17. Spring groove; 18. Guide rod; 19. Spring; 20. Electromagnet; 21. Tongue compartment; 22. Perforation. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: like Figures 1 to 4 As shown, the fixed end pipe interface includes a fixed pipe sleeve 1 and a water outlet pipe head 2. The fixed pipe sleeve 1 is fixedly installed at the water outlet end of the fire hydrant or the fixed end of the fire water pipe. The water outlet pipe head 2 passes through a through hole 22 on the fixed pipe sleeve 1. The inner circumferential diameter of the through hole 22 is larger than the outer circumferential diameter of the water outlet pipe head 2, so that the water outlet pipe head 2 has a certain radial movement space within the through hole 22.

[0021] The outer circumferential wall of the water outlet head 2 is provided with an outwardly extending expansion ring 6, and the inner circumferential wall of the perforation 22 is provided with an inwardly recessed annular groove 4. The axial width of the annular groove 4 is greater than the axial thickness of the expansion ring 6, and the outer diameter of the annular groove 4 is greater than the inner diameter of the expansion ring 6. The expansion ring 6 is movably installed in the annular groove 4. Because the axial width of the annular groove 4 is greater than the axial thickness of the expansion ring 6, the expansion ring 6 can reciprocate within a certain range along the axial direction within the annular groove 4; at the same time, because the inner circumferential diameter of the perforation 22 is greater than the outer circumferential diameter of the water outlet head 2, the water outlet head 2 can have a certain radial swing margin within the perforation 22.

[0022] The fixed sleeve 1 has at least two outwardly extending grooves 5 evenly distributed circumferentially on the outer side of the annular groove 4. The outer edge of the expanding ring 6 has an equal number of protrusions 7 evenly distributed circumferentially, each protrusion 7 located within the outwardly extending groove 5, with the width of the protrusion 7 being less than the width of the outwardly extending groove 5. The depth of the outwardly extending groove 5 along the axial direction of the fixed sleeve 1 is greater than or equal to the length of the protrusion 7 along the axial direction of the outlet pipe head 2, and the protrusion 7 remains within the axial projection range of the outwardly extending groove 5 during the mating and locking state. In specific manufacturing, the fixed sleeve 1 can be configured as a two-section structure that is axially separated and fixedly connected. During assembly, the expanding ring 6 is inserted, and the two sections are aligned, with axial positioning by the end faces of the two sections preventing detachment.

[0023] Working principle: In the non-connected state, the outlet pipe head 2 is confined within the fixed sleeve 1 by the cooperation of the outer expansion ring 6 and the annular groove 4, and will not come out. When the movable end pipe interface is connected to the fixed end pipe interface, the outlet pipe head 2 can adaptively float axially and radially within the cooperation range of the outer expansion ring 6 and the annular groove 4, thereby compensating for the positional deviation between the movable end and the fixed end. The cooperation between the protrusion 7 and the outer expansion groove 5 restricts the circumferential rotation of the outlet pipe head 2 within the fixed sleeve 1, ensuring that the port orientation of the outlet pipe head 2 always remains correct. At the same time, since the width of the protrusion 7 is smaller than the width of the outer expansion groove 5, the outlet pipe head 2 can still be finely adjusted circumferentially within a certain range.

[0024] In this embodiment, the floating fit structure between the outer expansion ring 6 and the ring groove 4 enables the outlet pipe head 2 to adaptively adjust its position during docking, effectively reducing the docking accuracy requirements and avoiding equipment damage caused by rigid contact. The fit between the protrusion 7 and the outer expansion groove 5 restricts circumferential rotation while retaining necessary fine-tuning margins, ensuring the accuracy and reliability of docking.

[0025] Example 2: This embodiment is based on embodiment 1, such as... Figure 1 , Figures 6 to 9 As shown, the movable end pipe interface includes a water inlet pipe head 12, and a circularly flared movable end connector 13 is provided at the port of the water inlet pipe head 12. The outer diameter of the fixed end connector 3 is equal to that of the movable end connector 13.

[0026] The movable end connector 13 has at least three outwardly extending guide claws 14 evenly distributed around its outer circumference, with the guide claws 14 extending forward. The movable end connector 13 also has at least three forward-extending electromagnetic locks 15 evenly distributed around its outer circumference, with the electromagnetic locks 15 spaced apart from the guide claws 14. Each electromagnetic lock 15 has a locking tongue 16 that slides radially along the inlet pipe head 12.

[0027] The latch 16 is slidably installed in the latch chamber 21 of the electromagnetic lock 15. An electromagnet 20 is fixedly installed on the side of the latch chamber 21 away from the axis of the water inlet pipe head 12. A magnetic attraction block is fixedly embedded at the end of the latch 16 facing the electromagnet 20. A pair of spring grooves 17 are provided on the side of the latch 16 away from the axis of the water inlet pipe head 12. A spring 19 is installed in each spring groove 17. The end of the spring 19 extending out of the spring groove 17 abuts against the electromagnet 20.

[0028] A guide rod 18 is also fixedly connected in each spring groove 17. The electromagnet 20 is provided with a pair of guide rod holes, and the guide rod 18 passes through the spring 19 and the guide rod holes. The inner diameter of the guide rod hole is smaller than the outer diameter of the spring 19. The end of the guide rod 18 away from the spring groove 17 is provided with a radially protruding anti-disengagement ring, and the outer diameter of the anti-disengagement ring is larger than the inner diameter of the guide rod hole.

[0029] Working principle: When the movable end pipe interface moves closer to the fixed end pipe interface under the drive of the fire-fighting robot, the guide claw 14 first contacts the outer edge of the fixed end pipe seat 3, guiding the movable end pipe seat 13 and the fixed end pipe seat 3 to be accurately aligned, so that the mating end surfaces of the two fit together.

[0030] After docking is completed, the electromagnetic lock 15 starts to work. In the initial state, the electromagnet 20 is energized. The magnetic force generated by the electromagnet 20 attracts the magnetic attraction block at the end of the locking tongue 16, overcoming the elastic force of the spring 19 and pulling the locking tongue 16 away from the axis of the water inlet pipe head 12. The locking tongue 16 retracts into the tongue chamber 21. At this time, the inner end of the locking tongue 16 does not exceed the inner edge of the movable end connector 13, allowing the movable end connector 13 to freely separate from the fixed end connector 3.

[0031] When locking is required, the electromagnet 20 is de-energized, the magnetic force disappears, and the elastic force of the spring 19 pushes the locking tongue 16 to extend in the axial direction of the water inlet pipe head 12. In the extended state, the inner end of the locking tongue 16 extends into the back of the fixed end connector 3, abutting against the edge of the back of the fixed end connector 3, thereby axially locking the fixed end connector 3 and the movable end connector 13. During this process, the guide rod 18 guides the extension and retraction of the spring 19, preventing the spring 19 from radially deflecting. The anti-disengagement retaining ring and the guide rod hole limit the maximum extension distance of the locking tongue 16, preventing the locking tongue 16 from disengaging from the tongue chamber 21.

[0032] When unlocking is required, the electromagnet 20 is re-energized, and the magnetic force overcomes the elastic force of the spring 19 to pull the locking tongue 16 back to the tongue chamber 21, thus releasing the lock.

[0033] This embodiment achieves automatic guidance and alignment during the docking process through the guide claw 14, reducing the difficulty of docking. The electromagnetic lock 15 uses an electromagnet 20 and a spring 19 to drive the bolt 16. When power is off, it automatically locks by spring force, and when power is on, it unlocks by electromagnetic force, which has the advantages of rapid response and simple control. The design of the guide rod 18 and the anti-disengagement ring ensures the smoothness and safety of the movement of the bolt 16.

[0034] Example 3: This embodiment is based on embodiment 1, such as... Figure 1 and Figure 5 As shown, a sealing ring groove 8 is provided on the mating end face of the fixed end connector 3, and a sealing ring 9 is installed in the sealing ring groove 8. The sealing ring 9 has a V-shaped cross-section, with its opening side facing the high-pressure water side inside the fixed end connector 3. A support bridge 10 is provided inside the opening of the sealing ring 9, and the support bridge 10 has densely and evenly distributed perforated holes 11 in the circumferential direction.

[0035] Working principle: After the fixed end connector 3 and the movable end connector 13 are mated and locked, the sealing ring 9 is clamped between the two mating end faces. The V-shaped opening side of the sealing ring 9 faces the high-pressure water side inside the fixed end connector 3. When high-pressure water enters the mating device, the water pressure acts on the inner wall of the V-shaped opening of the sealing ring 9, pushing the two lips of the V-shape to open outward, making the lips fit more tightly against the mating end faces of the fixed end connector 3 and the movable end connector 13. The higher the water pressure, the greater the opening force of the lips, and the better the sealing effect.

[0036] The support bridge 10 is positioned within the V-shaped opening of the sealing ring 9, providing support for the V-shaped structure and preventing excessive deformation or collapse of the sealing ring 9 under high pressure. The densely distributed, evenly circumferentially perforated holes 11 on the support bridge 10 allow high-pressure water to enter evenly throughout the V-shaped opening, ensuring that the lip of the sealing ring 9 opens uniformly circumferentially. Simultaneously, the perforated holes 11 give the support bridge 10 a certain degree of elastic deformation capability, ensuring support strength without excessively restricting the opening of the lip.

[0037] This embodiment employs a V-shaped cross-section sealing ring 9, utilizing the self-tightening principle of water pressure to achieve enhanced sealing performance with increasing pressure, making it particularly suitable for high-pressure water environments in firefighting. The support bridge 10 and its perforated holes 11 provide structural support while ensuring uniform water pressure transmission and flexibility in sealing ring deformation, effectively improving the reliability and service life of the seal.

[0038] Example 4: Based on the above embodiments, the complete working process of the present invention is as follows:

[0039] Docking Process: The fire-fighting robot, carrying the movable end pipe interface, moves to the vicinity of the fixed end pipe interface. The guide claw 14 on the movable end pipe connector 13 first contacts the outer edge of the fixed end pipe connector 3. As the fire-fighting robot continues to advance, the guide claw 14 guides the movable end pipe connector 13 and the fixed end pipe connector 3 to accurately align. During this process, the outlet pipe head 2 adaptively floats within the fixed pipe sleeve 1 through the cooperation of the outer expansion ring 6 and the ring groove 4, compensating for the positional deviation between the movable end and the fixed end. Finally, the docking end faces of the fixed end pipe connector 3 and the movable end pipe connector 13 fit together, and the sealing ring 9 is clamped between the two docking end faces.

[0040] After docking is completed, the control system de-energizes the electromagnet 20, and the spring 19 pushes the locking tongue 16 to extend. The inner end of the locking tongue 16 abuts against the back edge of the fixed end connector 3, achieving axial locking. At this time, the fixed end pipe interface and the movable end pipe interface are docked, and fire water can smoothly enter the water system of the fire robot from the fire hydrant through the outlet pipe head 2 and the inlet pipe head 12.

[0041] Disengagement Process: After the firefighting mission is completed, the control system energizes the electromagnet 20. The electromagnetic force overcomes the elasticity of the spring 19, pulling the locking tongue 16 back to the tongue chamber 21, thus releasing the lock. The fire-fighting robot then moves the movable end pipe interface backward, separating the movable end connector 13 from the fixed end connector 3, completing the disengagement process.

[0042] This embodiment demonstrates the complete workflow of the present invention from docking to disconnection. The entire process requires no manual intervention, enabling the fire-fighting robot to quickly and autonomously dock and disconnect from the fire hydrant pipe, effectively improving the autonomous operation capability and fire-fighting efficiency of the fire-fighting robot.

Claims

1. A rapid autonomous docking device for fire hydrant hoses used in firefighting robots, characterized in that, Includes fixed-end pipe interfaces and movable-end pipe interfaces: The fixed end pipe interface includes a fixed pipe sleeve (1) and a water outlet pipe head (2). The water outlet pipe head (2) passes through a perforation (22) on the fixed pipe sleeve (1). The inner diameter of the perforation (22) is larger than the outer diameter of the water outlet pipe head (2). An outwardly extending expansion ring (6) is provided on the outer circumference of the water outlet pipe head (2). An inwardly recessed annular groove (4) is provided on the inner circumference of the perforation (22). The axial width of the annular groove (4) is larger than the axial thickness of the expansion ring (6), and the outer diameter of the annular groove (4) is larger than the inner diameter of the expansion ring (6). The expansion ring (6) is movably installed in the annular groove (4). The outlet pipe head (2) has a fixed end connector seat (3) with an outward expansion of a circular ring at its port. The movable end connector includes an inlet pipe head (12). The inlet pipe head (12) has a movable end connector seat (13) with an outward expansion of a circular ring at its port. The fixed end connector seat (3) and the movable end connector seat (13) have the same outer diameter. The movable end connector seat (13) has at least three outward expansion guide claws (14) evenly distributed around its outer edge. The movable end connector seat (13) has at least three forward-extending electromagnetic locks (15) evenly distributed around its outer edge. The electromagnetic locks (15) and the guide claws (14) are spaced apart. The electromagnetic locks (15) have a locking tongue (16) that slides radially along the inlet pipe head (12). When the locking tongue (16) is extended, its inner end abuts against the back edge of the fixed end connector seat (3) to achieve axial locking.

2. The rapid autonomous docking device for fire hydrant pipes for fire-fighting robots according to claim 1, characterized in that: The locking tongue (16) is slidably installed in the tongue chamber (21) of the electromagnetic lock (15). An electromagnet (20) is fixedly installed on the side of the tongue chamber (21) away from the axis of the water inlet pipe head (12). A magnetic attracting block is fixedly embedded on the end of the locking tongue (16) facing the electromagnet (20). A pair of spring grooves (17) are provided on the side of the locking tongue (16) away from the axis of the water inlet pipe head (12). A spring (19) is installed in each of the spring grooves (17). The end of the spring (19) extending out of the spring groove (17) abuts against the electromagnet (20).

3. The rapid autonomous docking device for fire hydrant pipes for fire-fighting robots according to claim 2, characterized in that: A guide rod (18) is fixedly connected in each of the spring grooves (17). The electromagnet (20) is provided with a pair of guide rod holes. The guide rod (18) passes through the spring (19) and the guide rod holes. The inner diameter of the guide rod hole is smaller than the outer diameter of the spring (19). The end of the guide rod (18) away from the spring groove (17) is provided with a radially protruding anti-disengagement ring. The outer diameter of the anti-disengagement ring is larger than the inner diameter of the guide rod hole.

4. The rapid autonomous docking device for fire hydrant pipes for fire-fighting robots according to claim 1, characterized in that: The fixed sleeve (1) has at least two outwardly extending grooves (5) evenly distributed circumferentially outside the annular groove (4). The outer edge of the expanding ring (6) has an equal number of protrusions (7) circumferentially distributed, matching the number of outwardly extending grooves (5). The protrusions (7) are located within the outwardly extending grooves (5), and their width is less than the width of the outwardly extending grooves (5). The depth of the outwardly extending grooves (5) along the axial direction of the fixed sleeve (1) is greater than or equal to the length of the protrusions (7) along the axial direction of the outlet pipe head (2). Furthermore, the protrusions (7) are always located within the axial projection range of the outwardly extending grooves (5) when the connection is locked.

5. The rapid autonomous docking device for fire hydrant pipes for firefighting robots according to claim 1, characterized in that: The fixed end connector (3) has a sealing ring groove (8) on its mating end surface, and a sealing ring (9) is installed in the sealing ring groove (8).

6. The rapid autonomous docking device for fire hydrant pipes for fire-fighting robots according to claim 5, characterized in that: The sealing ring (9) has a V-shaped cross-section, with its opening facing the high-pressure water side inside the fixed end connector (3).

7. A rapid autonomous docking device for fire hydrant pipes for firefighting robots according to claim 6, characterized in that: The opening of the sealing ring (9) is provided with a support bridge (10), and the support bridge (10) has densely and evenly distributed perforated holes (11) in the circumferential direction.

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