CN107416058A - A kind of walking mechanism of fire-fighting robot - Google Patents
A kind of walking mechanism of fire-fighting robot Download PDFInfo
- Publication number
- CN107416058A CN107416058A CN201710778660.6A CN201710778660A CN107416058A CN 107416058 A CN107416058 A CN 107416058A CN 201710778660 A CN201710778660 A CN 201710778660A CN 107416058 A CN107416058 A CN 107416058A
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- China
- Prior art keywords
- rocker
- walking mechanism
- hinged
- fire
- scissor
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of walking mechanism of fire-fighting robot, it includes the drive wheel assemblies with output power part drive connection, the first rocker is hinged with the left of drive wheel assemblies, the second rocker is hinged with the left of first rocker, the 3rd rocker is hinged with the left of second rocker, 3rd rocker is Y type frame bodies, its one end is hinged with the second rocker, another both ends are respectively fixed with the first driven pulley and the second driven pulley, crawler belt bypasses drive wheel assemblies successively, first driven pulley and the second driven pulley, tensioning wheel is additionally provided between first driven pulley and drive wheel assemblies, tensioning wheel is located at the inner side of crawler belt；The first fixed seat is provided with second rocker, the second fixed seat is provided with the 3rd rocker, expansion link is connected between the first fixed seat and the second fixed seat, the outer sheath of expansion link is provided with adjustable spring；First rocker and the second rocker are hinged by jointed shaft, and the first scissor and the second scissor are also hinged with jointed shaft, and the first scissor and the second scissor are arranged in a crossed manner.
Description
Technical field：
The present invention relates to technical field of fire control, and in particular to a kind of walking mechanism of fire-fighting robot.
Background technology：
Fire-fighting robot as a kind of fire-fighting equipment, alternative fire fighter enter high temperature, inflammable and explosive, poisonous, anoxic,
The hazards such as dense smoke scene of the accident is put out a fire, decontamination, smoke evacuation, illumination, investigation and data sampling and processing, feedback etc., can
Effectively solves the problems such as personal safety, data information acquisition deficiency that fire fighter faces in above-mentioned place.Floor manager personnel
It can in advance be suppressed using it, and according to its feedback result, science judgment made to the condition of a disaster in time, so as to disaster accident
Correct, reasonably decision-making is made in work on the spot.
The fire-fighting robot to come into operation both at home and abroad at present is typically by the full landform chassis of drive as traveling and load-carrying
Matrix, the various special types of progress such as fire-extinguishing apparatus, washing equipment, fume extractor, lighting apparatus, investigation equipment are loaded above and are rescued
Operation, and loading data collection, processing, feedback device progress field data feedback are helped, and is supported equipped with water smoke self protective function
High temperature resistance high-heat environment, the control and transmission of all devices are carried out by being wirelessly transferred, and the application of fire-fighting robot significantly carries
The high ability of processing serious accident simultaneously greatly reduces the injures and deaths of personnel.But the walking mechanism buffering of existing fire-fighting robot
Poor performance, it can not effectively get around barrier, it is difficult to adapt to various road conditions.
The content of the invention：
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of walking mechanism of fire-fighting robot.
The technology solution of the present invention is as follows：
A kind of walking mechanism of fire-fighting robot, it includes the drive wheel assemblies with output power part drive connection, driving
The first rocker is hinged with the left of wheel assembly, the second rocker is hinged with the left of the first rocker, is hinged with the left of the second rocker
3rd rocker, the 3rd rocker are Y type frame bodies, and its one end is hinged with the second rocker, another both ends be respectively fixed with the first driven pulley and
Second driven pulley, crawler belt bypass drive wheel assemblies, the first driven pulley and the second driven pulley, the first driven pulley and driving wheel successively
Tensioning wheel is additionally provided between component, tensioning wheel is located at the inner side of crawler belt；The first fixed seat, the 3rd pendulum are provided with second rocker
The second fixed seat is provided with frame, expansion link is connected between the first fixed seat and the second fixed seat, is arranged on the outside of expansion link
There is adjustable spring；First rocker and the second rocker are hinged by jointed shaft, and the first scissor and second is also hinged with jointed shaft and is cut
Fork, the first scissor and the second scissor are arranged in a crossed manner, and both upper ends are connected with buffer bar, and the outer sheath of buffer bar is provided with buffering elastic
Spring；The lower end of first scissor is hinged with first support, and two the first support wheels, the lower end of the second scissor are provided with first support
Second support is hinged with, is provided with two the second support wheels in second support, the first support wheel and the second support wheel are and crawler belt
Contact.
Two row's stepped tooths are provided with the inside of crawler belt, is provided with the outside of crawler belt and grabs ground projection, grab ground projection and crawler belt it
Between be detachably connected.
Drive wheel assemblies include the short axle being connected with output power part, are connected with mounting bracket and driving wheel in short axle, install
Follower and driving wheel are additionally provided with frame, is connected between driving wheel and follower by chain, follower and driving wheel are coaxial
Connection, the both sides of driving wheel are provided with poke rod, and poke rod acts on stepped tooth.
The side of driving wheel is additionally provided with buffering strainer.
The front end of walking mechanism is provided with walking camera, and walking camera is used for the image for gathering walking road surface.
The rear end of walking mechanism has warning lamp, and the quantity of warning lamp is two, respectively positioned at the rear end two of walking mechanism
Side.
The front end of walking mechanism has two major lights, and major light is fixedly mounted in walking mechanism by lamp bracket, lamp bracket
Adjustment irradiating angle can be rotated around walking mechanism.
The beneficial effects of the present invention are：Walking mechanism in the present invention has multiple swing spans being hinged, due to
Connected mode is be hinged, and swing span can carry out adaptability swing when running into barrier so that whole walking process is more steady
It is fixed.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of drive wheel assemblies.
Embodiment：
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As shown in Figure 1-2, a kind of walking mechanism of fire-fighting robot, it includes the driving with output power part drive connection
Wheel assembly 11, the left side of drive wheel assemblies 11 are hinged with the first rocker 12, and the left side of the first rocker 12 is hinged with the second rocker 13,
The left side of second rocker 13 is hinged with the 3rd rocker 14, and the 3rd rocker 14 is Y type frame bodies, and its one end is be hinged with the second rocker 13,
Another both ends are respectively fixed with the first driven pulley 141 and the second driven pulley 142, and crawler belt 10 bypasses drive wheel assemblies 11, first successively
The driven pulley 142 of driven pulley 141 and second, tensioning wheel 17 is additionally provided between the first driven pulley 141 and drive wheel assemblies 11,
Bearing up pulley 17 is located at the inner side of crawler belt 10；The first fixed seat is provided with second rocker 13, it is solid that second is provided with the 3rd rocker 14
Reservation, is connected with expansion link between the first fixed seat and the second fixed seat, the outer sheath of expansion link is provided with adjustable spring 130；The
One rocker 12 and the second rocker 13 are hinged by jointed shaft, and the first scissor 15 and the second scissor 16 are also hinged with jointed shaft, the
One scissor 15 and the second scissor 16 are arranged in a crossed manner, and both upper ends are connected with buffer bar, and the outer sheath of buffer bar is provided with buffering elastic
Spring 150；The lower end of first scissor 15 is hinged with first support, two the first support wheels 151 is provided with first support, second cuts
The lower end of fork 16 is hinged with second support, is provided with two the second support wheels 161 in second support, the first support wheel 151 and the
Two support wheels 161 contact with crawler belt 10.
The inner side of crawler belt 10 is provided with two row's stepped tooths 102, and the outside of crawler belt 10, which is provided with, grabs ground projection 101, grabs convex
It is detachably connected between block 101 and crawler belt 10.
Drive wheel assemblies 11 include the short axle 111 being connected with output power part, and the He of mounting bracket 110 is connected with short axle 111
Driving wheel 112, follower 113 and driving wheel 114 are additionally provided with mounting bracket 110, lead between driving wheel 112 and follower 113
Chain connection is crossed, follower 113 and driving wheel 114 are coaxially connected, and the both sides of driving wheel 114 are provided with poke rod 115, poke rod
115 act on stepped tooth 102.
The side of driving wheel 114 is additionally provided with buffering strainer 48.
The front end of walking mechanism is provided with walking camera, and walking camera is used for the image for gathering walking road surface.
The rear end of walking mechanism has warning lamp, and the quantity of warning lamp is two, respectively positioned at the rear end two of walking mechanism
Side.
The front end of walking mechanism has two major lights, and major light is fixedly mounted in walking mechanism by lamp bracket, lamp bracket
Adjustment irradiating angle can be rotated around walking mechanism.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art
The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention
Enclose, should be as listed by the claim of the present invention.
Claims (7)
- A kind of 1. walking mechanism of fire-fighting robot, it is characterised in that：It includes the driving wheel with output power part drive connection Component (11), the first rocker (12) is hinged with the left of drive wheel assemblies (11), the first rocker is hinged with second on the left of (12) Rocker (13), is hinged with the 3rd rocker (14) on the left of the second rocker (13), and the 3rd rocker (14) is Y type frame bodies, its one end with Second rocker (13) is be hinged, and another both ends are respectively fixed with the first driven pulley (141) and the second driven pulley (142), crawler belt (10) according to It is secondary to bypass drive wheel assemblies (11), the first driven pulley (141) and the second driven pulley (142), the first driven pulley (141) and driving Tensioning wheel (17) is additionally provided between wheel assembly (11), tensioning wheel (17) is located at the inner side of crawler belt (10)；On second rocker (13) The first fixed seat is provided with, the second fixed seat is provided with the 3rd rocker (14), is connected between the first fixed seat and the second fixed seat Expansion link is connected to, the outer sheath of expansion link is provided with adjustable spring (130)；First rocker (12) and the second rocker (13) pass through be hinged Axle is hinged, and the first scissor (15) and the second scissor (16), the first scissor (15) and the second scissor (16) are also hinged with jointed shaft Arranged in a crossed manner, both upper ends are connected with buffer bar, and the outer sheath of buffer bar is provided with buffer spring (150)；First scissor (15) Lower end be hinged with first support, be provided with two the first support wheels (151) in first support, the lower end hinge of the second scissor (16) Second support is connected to, two the second support wheels (161), the first support wheel (151) and the second support wheel are provided with second support (161) contacted with crawler belt (10).
- A kind of 2. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：Crawler belt is set on the inside of (10) Two row's stepped tooths (102) are equipped with, is provided with the outside of crawler belt (10) and grabs ground projection (101), grab ground projection (101) and crawler belt (10) Between be detachably connected.
- A kind of 3. walking mechanism of fire-fighting robot according to claim 2, it is characterised in that：Drive wheel assemblies (11) are wrapped The short axle (111) being connected with output power part is included, mounting bracket (110) and driving wheel (112) is connected with short axle (111), installs Follower (113) and driving wheel (114) are additionally provided with frame (110), passes through chain between driving wheel (112) and follower (113) Bar connects, and follower (113) and driving wheel (114) are coaxially connected, and the both sides of driving wheel (114) are provided with poke rod (115), dials Lever (115) acts on stepped tooth (102).
- A kind of 4. walking mechanism of fire-fighting robot according to claim 3, it is characterised in that：The side of driving wheel (114) Face is additionally provided with buffering strainer (48).
- A kind of 5. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The front end of walking mechanism is set Walking camera is equipped with, walking camera is used for the image for gathering walking road surface.
- A kind of 6. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The rear end tool of walking mechanism There is warning lamp, the quantity of warning lamp is two, respectively positioned at the rear end both sides of walking mechanism.
- A kind of 7. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The front end tool of walking mechanism There are two major lights, major light is fixedly mounted in walking mechanism by lamp bracket, and lamp bracket can rotate around walking mechanism to be adjusted Irradiating angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710778660.6A CN107416058A (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710778660.6A CN107416058A (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107416058A true CN107416058A (en) | 2017-12-01 |
Family
ID=60435614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710778660.6A Withdrawn CN107416058A (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107416058A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969941A (en) * | 2018-08-03 | 2018-12-11 | 安徽赛福贝特信息技术有限公司 | A kind of crawler belt security robot |
| CN111438700A (en) * | 2020-04-16 | 2020-07-24 | 哈尔滨锅炉厂有限责任公司 | A robot is patrolled and examined to 5G crawler-type intelligence for power plant |
| CN113484494A (en) * | 2021-06-11 | 2021-10-08 | 浙江机电职业技术学院 | Nondestructive testing device for metal shaft body |
| CN114313041A (en) * | 2022-01-13 | 2022-04-12 | 江苏英拓动力科技有限公司 | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler |
| CN117863204A (en) * | 2024-03-12 | 2024-04-12 | 四川华鲲振宇智能科技有限责任公司 | Data acquisition robot and data acquisition method |
| CN117863204B (en) * | 2024-03-12 | 2024-05-31 | 四川华鲲振宇智能科技有限责任公司 | Data acquisition robot and data acquisition method |
-
2017
- 2017-09-01 CN CN201710778660.6A patent/CN107416058A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969941A (en) * | 2018-08-03 | 2018-12-11 | 安徽赛福贝特信息技术有限公司 | A kind of crawler belt security robot |
| CN111438700A (en) * | 2020-04-16 | 2020-07-24 | 哈尔滨锅炉厂有限责任公司 | A robot is patrolled and examined to 5G crawler-type intelligence for power plant |
| CN113484494A (en) * | 2021-06-11 | 2021-10-08 | 浙江机电职业技术学院 | Nondestructive testing device for metal shaft body |
| CN114313041A (en) * | 2022-01-13 | 2022-04-12 | 江苏英拓动力科技有限公司 | Whole-vehicle hydraulic anti-tilt control mechanism of unmanned crawler |
| CN117863204A (en) * | 2024-03-12 | 2024-04-12 | 四川华鲲振宇智能科技有限责任公司 | Data acquisition robot and data acquisition method |
| CN117863204B (en) * | 2024-03-12 | 2024-05-31 | 四川华鲲振宇智能科技有限责任公司 | Data acquisition robot and data acquisition method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200507 Address after: 523000 Guangdong province Dongguan Songshan Lake high tech Industrial Development Zone Productivity Building Room 408 Applicant after: DONGGUAN BEIYANG INDUSTRIAL DESIGN Co.,Ltd. Address before: 523000 Dongguan City, Guangdong Province, Songshan Lake High-tech Industrial Development Zone Industrial West Road No. 14 12 102 Applicant before: DONGGUAN SHENGQI INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. |
|
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171201 |