CN111409029B - A clamping claw mechanism for a fire hose butt joint - Google Patents
A clamping claw mechanism for a fire hose butt joint Download PDFInfo
- Publication number
- CN111409029B CN111409029B CN202010323439.3A CN202010323439A CN111409029B CN 111409029 B CN111409029 B CN 111409029B CN 202010323439 A CN202010323439 A CN 202010323439A CN 111409029 B CN111409029 B CN 111409029B
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- Prior art keywords
- base
- positioning
- sliding
- resetting
- butt joint
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- 210000000078 claw Anatomy 0.000 title claims abstract description 25
- 210000001503 joint Anatomy 0.000 title claims description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
本发明提供了一种消防水带对接接头夹持卡爪机构，包括基座、执行装置、夹持装置、滑动装置、定位复位装置和驱动装置；所述执行装置与所述基座连接；所述滑动装置与所述执行装置连接；所述夹持装置与所述滑动装置连接；所述定位复位装置设置在所述基座上，并且与所述执行装置连接；所述驱动装置设置在所述基座上，并且与所述定位复位装置连接。本发明对消防水带的夹持牢固可靠，能够保障消防机器人的顺利对接工作。
The present invention provides a clamping claw mechanism for a fire hose docking joint, comprising a base, an actuator, a clamping device, a sliding device, a positioning and resetting device, and a driving device; the actuator is connected to the base; the sliding device is connected to the actuator; the clamping device is connected to the sliding device; the positioning and resetting device is arranged on the base and connected to the actuator; the driving device is arranged on the base and connected to the positioning and resetting device. The present invention firmly and reliably clamps the fire hose and can ensure the smooth docking of the fire robot.
Description
Technical Field
The invention relates to the technical field of fire control, in particular to a clamping jaw mechanism of a butt joint of a fire hose.
Background
With the high-speed development of the robot industry, the fire-fighting robots are widely applied at present, but most of the fire-fighting robots need to manually finish the water butt-joint, and the work of manually butt-joint the water butt-joint consumes a great amount of time certainly under the emergency. If the automatic butt joint mode of the mechanical arm is adopted, a large amount of time can be saved, and the butt joint of the mechanical arm needs an effective clamping mechanism of the fire hose connector, so that the steps of clamping, butt joint, loosening and the like of a reliable hose are realized.
Disclosure of Invention
In order to solve the problems, the invention provides the clamping jaw mechanism for the butt joint of the fire hose, which is used for manually clamping the hose joint on the mechanism, and automatically realizing jaw loosening after the mechanical arm finishes the butt joint work of the hose, so that a robot can go to a fire scene to perform fire extinguishing and fire fighting work.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The invention provides a clamping jaw mechanism of a butt joint of a fire hose, which comprises a base, an executing device, a clamping device, a sliding device, a positioning and resetting device and a driving device, wherein the executing device is connected with the base, the sliding device is connected with the executing device, the clamping device is connected with the sliding device, the positioning and resetting device is arranged on the base and is connected with the executing device, and the driving device is arranged on the base and is connected with the positioning and resetting device.
Preferably, the executing device comprises a rotary table, a rotary shaft, a handle and a tension spring, wherein the rotary table is connected with the base through the rotary shaft fixedly arranged on the base, the handle is fixedly arranged on the rotary table, one end of the tension spring is connected with the base, and the other end of the tension spring is connected with the sliding device.
Preferably, the turntable is provided with a round hole for being matched with the positioning device.
Preferably, the clamping device comprises two clamping claws which are arranged oppositely and are connected with the base through the sliding device.
Preferably, the clamping device further comprises a rubber claw, and the rubber claw is connected with the claw through a bolt.
The sliding device comprises two sliding rails, two sliding blocks and a connecting rod, wherein the two sliding rails are symmetrically arranged on the base, the two sliding blocks are respectively arranged on the clamping jaws and are connected with the sliding rails in an adaptive mode, and the sliding blocks are connected with the executing mechanism through the connecting rod.
Preferably, the positioning and resetting device comprises a positioning rod and a resetting spring, wherein the positioning rod is connected with the resetting spring, the resetting spring is arranged in the base, and the positioning rod is arranged in the resetting spring in a penetrating way and is matched with the round hole.
Preferably, the driving device is an electromagnet, is arranged on the base, and is connected with the positioning and resetting device.
Preferably, the device further comprises a proximity switch, wherein the proximity switch is arranged on the base.
Compared with the prior art, the hose clamping device has the beneficial effects that the hose clamping process is manually operated and is clamped by the clamping device, and the hose clamping device is more reliable. The driving device can trigger the positioning and resetting device to automatically loosen, and the process is quicker.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front clamping state of the present invention;
FIG. 2 is a front side release of the present invention;
FIG. 3 is a back side clamping state of the present invention;
FIG. 4 is a partial cross-sectional view of an electromagnet and a stop lever of the present invention;
FIG. 5 is a partially exploded view of the turntable of the present invention;
Fig. 6 is an exploded view of a portion of the pawl of the present invention.
Reference numerals illustrate:
The device comprises a base, a handle, a turntable, an electromagnet, a connecting rod, a claw, a rubber claw, a hose joint, a tension spring, a proximity switch, a slider, a sliding rail, a rotating shaft, a positioning rod and a return spring, wherein the base, the handle, the turntable, the electromagnet, the connecting rod, the claw, the rubber claw, the hose joint, the tension spring, the proximity switch, the slider, the sliding rail, the rotating shaft, the positioning rod and the return spring are all arranged in sequence, and the positioning rod is arranged in sequence.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The terms "mounted," "connected," "coupled," and "connected" are used in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intermediate medium, or may be in communication with the interior of two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 6, the invention provides a clamping jaw mechanism of a butt joint of a fire hose, which comprises a base 1, an executing device, a clamping device, a sliding device, a positioning and resetting device and a driving device, wherein the executing device is connected with the base 1, the sliding device is connected with the executing device, the clamping device is connected with the sliding device, the positioning and resetting device is arranged on the base 1 and connected with the executing device, and the driving device is arranged on the base 1 and connected with the positioning and resetting device. The base 1 is connected to the mechanical arm by bolts and cylindrical pins.
In a more preferred embodiment, as shown in fig. 1 and 5, the executing device comprises a rotary table 3, a rotary shaft 13, a handle 2 and a tension spring 9, wherein the rotary table 3 is connected with the base 1 through the rotary shaft 13 fixedly arranged on the base 1, the handle 2 is fixedly arranged on the rotary table 3, one end of the tension spring 9 is connected with the base 1, and the other end of the tension spring 9 is connected with the sliding device. The base 1 is fixedly provided with a rotating shaft 13, the rotating disc 3 can rotate on the rotating shaft 13, the rotating disc 3 is connected to the clamping jaw 6 through a sliding device, and the clamping device is pulled to slide while the rotating disc 3 rotates.
In a more preferred embodiment, as shown in fig. 1 and 2, the turntable 3 has a circular hole for cooperation with the positioning means. The turntable 3 is provided with a round hole, and when the turntable rotates to a certain angle, the round hole can be clamped on the positioning and resetting device.
In a more preferred embodiment, as shown in fig. 1 and 6, the clamping means comprise two jaws 6, which jaws 6 are arranged opposite each other and are connected to the base 1 by means of the sliding means.
As shown in fig. 1 and 6, in a more preferred embodiment, the clamping device further comprises a rubber claw 7, the rubber claw 7 being connected to the claw 6 by means of a bolt. The outer surface of the water hose connector is an irregular cylinder, so that the rubber claw 7 is adopted for flexible clamping, the clamping is firmer, deflection to a certain extent can be counteracted during butt joint, and the butt joint is ensured to be carried out smoothly.
In a more preferred embodiment, as shown in fig. 1 and 3, the sliding device comprises two sliding rails 12, two sliding blocks 11 and a connecting rod 5, wherein the two sliding rails 12 are symmetrically arranged on the base 1, the two sliding blocks 11 are respectively arranged on the clamping jaws 6 and are in fit connection with the sliding rails 12, and the sliding blocks 11 are connected with an executing mechanism through the connecting rod 5. The clamping jaw 6 is provided with a sliding block 11, and then is integrally arranged on a sliding rail 12 of the base 1, and the left clamping jaw 6 and the right clamping jaw 6 can slide left and right along the base 1.
In a more preferred embodiment, as shown in fig. 4, the positioning and resetting device comprises a positioning rod 14 and a resetting spring 15, wherein the positioning rod 14 is connected with the resetting spring 15, the resetting spring 15 is arranged in the base 1, and the positioning rod 14 is arranged in the resetting spring 15 in a penetrating way and is matched with the round hole.
As shown in fig. 1 to 5, in a more preferred embodiment, the driving means is an electromagnet 4, which is disposed on the base 1 and is connected to the positioning and resetting means. The detent lever 14 can be pulled back in the energized state.
The working principle of the invention is as follows:
when in an initial state, under the action of the tension spring 9, the claw 6 is in an open state, the water hose connector is manually placed in the middle of the claw 6, then the handle 2 is manually pulled to rotate the rotary table 3 anticlockwise, when a round hole on the rotary table 3 is aligned with the positioning rod 14, the positioning rod 14 stretches out under the action of the return spring 15 and enters the round hole of the rotary table 3, so that the claw 6 is in a closed state to clamp the water hose connector, and at the moment, the whole mechanism is in a to-be-operated state. When the fire-fighting robot needs to realize water hose butt joint, the mechanical arm drives the mechanism to move together, the water inlet joint of the robot is recognized through the additionally hung camera to finish butt joint, and in addition, the proximity switch 10 detects the position of the clamping jaw 6, so that the clamping jaw 6 is ensured to move in place. After the butt joint work is finished, the electromagnet 4 is electrified to generate magnetic force by a signal, after the positioning rod 14 is pulled, the elastic force of the reset spring 15 is overcome, the turntable 3 is pulled out of the round hole of the turntable 3, the left claw 6 and the right claw 6 slide to two sides due to the acting force of the tension spring 9, so that the water joint 8 is loosened, the proximity switch 10 monitors the position of the claw 6, the claw 6 is ensured to be loosened, the mechanical arm can be retracted at the moment, and the robot goes to a destination to perform fire-fighting work.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
Claims (4)
1. The clamping jaw mechanism for the butt joint of the fire hose is characterized by comprising a base (1), an executing device, a clamping device, a sliding device, a positioning and resetting device, a driving device and a camera, wherein the executing device is connected with the base (1), the sliding device is connected with the executing device, the clamping device is connected with the sliding device, the positioning and resetting device is arranged on the base (1) and connected with the executing device, the driving device is arranged on the base (1) and connected with the positioning and resetting device,
Wherein the driving device is an electromagnet (4), is arranged on the base (1) and is connected with the positioning and resetting device;
the device also comprises a proximity switch (10), wherein the proximity switch (10) is arranged on the base (1);
the camera is used for identifying whether the water inlet joint of the fire hose is in butt joint;
the executing device comprises a rotary table (3), a rotary shaft (13), a handle (2) and a tension spring (9), wherein the rotary table (3) is connected with the base (1) through the rotary shaft (13) fixedly arranged on the base (1), the handle (2) is fixedly arranged on the rotary table (3), one end of the tension spring (9) is connected with the base (1), and the other end of the tension spring (9) is connected with the sliding device;
the turntable (3) is provided with a round hole for being matched with the positioning and resetting device;
the clamping device comprises a claw (6);
the positioning and resetting device comprises a positioning rod (14) and a resetting spring (15), wherein the positioning rod (14) is connected with the resetting spring (15), the resetting spring (15) is arranged in the base (1), and the positioning rod (14) is arranged in the resetting spring (15) in a penetrating way and is matched with the round hole;
In an initial state, under the action of the tension spring (9), the claw (6) is in an open state, a water hose connector is manually placed in the middle of the claw (6), then the handle (2) is manually pulled to rotate the rotary table (3) anticlockwise, when a round hole on the rotary table (3) is aligned with the positioning rod (14), the positioning rod (14) stretches out under the action of the return spring (15) and enters the round hole of the rotary table (3), so that the claw (6) is in a closed state to clamp the water hose connector, and
After the butt joint work is finished, the electromagnet (4) is electrified by a signal to generate magnetic force, after the positioning rod (14) is subjected to tensile force, the elastic force of the return spring (15) is overcome to pull out from the round hole of the rotary disc (3), the rotary disc (3) is not positioned, and the clamping jaw (6) slides to two sides due to the acting force of the tension spring (9), so that the water hose connector is loosened.
2. Fire hose butt joint clamping jaw mechanism according to claim 1, characterized in that the jaws (6) are two and oppositely arranged and are connected to the base (1) by means of the sliding means.
3. Fire hose butt joint clamping jaw mechanism according to claim 2, characterized in that the clamping device further comprises a rubber jaw (7), the rubber jaw (7) being connected with the jaw (6) by means of a bolt.
4. A fire hose butt joint clamping jaw mechanism according to claim 2 or 3, wherein the sliding device comprises two sliding rails (12), two sliding blocks (11) and a connecting rod (5), wherein the two sliding rails (12) are symmetrically arranged on the base (1), the two sliding blocks (11) are respectively arranged on the jaws (6) and are in fit connection with the sliding rails (12), and the sliding blocks (11) are connected with an executing mechanism through the connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323439.3A CN111409029B (en) | 2020-04-22 | 2020-04-22 | A clamping claw mechanism for a fire hose butt joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010323439.3A CN111409029B (en) | 2020-04-22 | 2020-04-22 | A clamping claw mechanism for a fire hose butt joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111409029A CN111409029A (en) | 2020-07-14 |
| CN111409029B true CN111409029B (en) | 2025-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010323439.3A Active CN111409029B (en) | 2020-04-22 | 2020-04-22 | A clamping claw mechanism for a fire hose butt joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN111409029B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114100046B (en) * | 2020-08-26 | 2023-08-15 | 河海大学常州校区 | Fire-fighting robot water hose connector and automatic butt joint method |
| CN112253871B (en) * | 2020-10-10 | 2022-04-15 | 奥来救援科技有限公司 | Docking device and docking system |
| CN113258253A (en) * | 2021-05-25 | 2021-08-13 | 广东电网有限责任公司 | Antenna fixing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85203357U (en) * | 1985-08-09 | 1986-04-30 | 湖南省桃江县机械厂 | Four pattern turntable-type press for making tile in half-dried condition |
| CN110281230A (en) * | 2019-07-28 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of robot claw |
| CN212218298U (en) * | 2020-04-22 | 2020-12-25 | 北京新松融通机器人科技有限公司 | Clamping jaw mechanism for butt joint of fire hose |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL196572A (en) * | 2008-02-04 | 2013-02-28 | Erowa Ag | Workpiece clamping fixture |
| CN206929426U (en) * | 2017-04-01 | 2018-01-26 | 莱芜钢铁集团有限公司 | A kind of pipeline jig |
| CN107803678A (en) * | 2017-10-16 | 2018-03-16 | 嵊泗县东升水产冷冻厂 | A kind of clamping device suitable for polytype workpiece |
| CN207495355U (en) * | 2017-12-04 | 2018-06-15 | 广东美的智能机器人有限公司 | Automatic registering fixture |
| CN208453941U (en) * | 2018-07-10 | 2019-02-01 | 进峰（江门）五金制造有限公司 | A kind of synchronous reciprocating mechanism for the automation streamline equipment applied on stamping equipment |
| CN209835541U (en) * | 2019-04-04 | 2019-12-24 | 西安东安机电设备有限公司 | Brake hub replacing device |
| CN210232788U (en) * | 2019-07-02 | 2020-04-03 | 合肥诺宸智能装备有限公司 | Eccentric clamping device |
| CN110936305A (en) * | 2019-11-26 | 2020-03-31 | 奇瑞汽车股份有限公司 | Positioning and clamping tool |
-
2020
- 2020-04-22 CN CN202010323439.3A patent/CN111409029B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85203357U (en) * | 1985-08-09 | 1986-04-30 | 湖南省桃江县机械厂 | Four pattern turntable-type press for making tile in half-dried condition |
| CN110281230A (en) * | 2019-07-28 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of robot claw |
| CN212218298U (en) * | 2020-04-22 | 2020-12-25 | 北京新松融通机器人科技有限公司 | Clamping jaw mechanism for butt joint of fire hose |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111409029A (en) | 2020-07-14 |
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