CN109925629A - A kind of mobile chassis of fire-fighting robot - Google Patents

Abstract

The present invention relates to a kind of mobile chassis of fire-fighting robot, including substrate, substrate top surface is equipped with mechanical arm, substrate bottom surface is equipped with mobile mechanism, supporting pulley assembly includes the telescopic rod for being articulated with the substrate bottom surface of car body, telescopic rod includes level-one bar and second level bar, level-one bar is inserted into second level bar, the 7th spring is provided between level-one bar and second level bar inner bottom surface, support link is hinged on second level bar outer wall, support link and second level bar are mounted on third pulley close to one end of bottom surface, and the 6th spring is equipped between support link and second level bar；Mobile chassis of the invention can be played buffer function to car body, while car body being assisted to continue the case where moving ahead, being not in overturning, substantially increase the rescue efficiency of robot by the support pulley assembly installed in substrate bottom surface in car body throwing over barrier.

Description

A kind of mobile chassis of fire-fighting robot

Technical field

The invention belongs to robotic technology fields, and in particular to a kind of mobile chassis of fire-fighting robot.

Background technique

Now in society, as urbanization promotes, high building construction speed is accelerated, but copes with the equipment development phase of tall-building fire fighting To lag, meanwhile, with the rapid development of chemical industry, all kinds of easy unsuitable mankind of exploding are in close to the fire-fighting event of processing Ascendant trend.This year, firefighters cause to hurt because tall-building fire fighting equipment lags, fire-fighting closely handles explosive case in the process The number of dying is increasing, and the problem in this fire-fighting is not resolved always.Current means of fire is mostly using aerial ladder fire-fighting Vehicle solves the problems, such as tall-building fire fighting, and the effective operation height of common fire-fighting truntable ladder is 30-50 meters, then high reachable 60-70 Rice.But fire fighting truck is usually spent limitation by street in responding fire-fighting because volume is larger, it is difficult to it is current in narrow street, usually Scene of fire cannot be being rushed at the first time, fire is caused further to deteriorate.

Fire once occurs for skyscraper, has one to be significantly characterized in " stack effect ", it may be assumed that in the fire that bottom occurs The hot-air of formation is flowed because density is told somebody what one's real intentions are through lift trough or stair channel on the net, just as in a huge chimney Air-flow, make hot gas constantly channel obtain top accumulation, the result is that make the intensity of a fire through this air convection current in mansion Top layer manufactures another scene of a fire.And with the discharge of hot-air, fresh air is constantly sucked from bottom process, cause the intensity of a fire into The aggravation of one step.This fire is spread along lift trough or corridor channel, and fire fighter cannot be as handling common buildings fire It puts out a fire like that from outside, air respiratorresuscitator can only be worn and enter the scene of a fire, fighting high fire is stormed by inside.But at this A little narrow zones, fire-extinguishing apparatus can not effective operation, once fire spread, to high-rise floor, fireman can not carry fire-extinguishing apparatus It saves, very big difficulty is brought to rescue work.

Therefore, occur many fire-fighting equipments for solving the problems, such as this, such as fire-fighting robot in fire-fighting domain, still, The fire-fighting robot that the prior art uses is only capable of travelling in the good region of road conditions, for the devastated of road conditions complexity, fire-fighting Robot can not advance well, reduce the rescue efficiency of fire-fighting robot.

Summary of the invention

In order to solve the fire-fighting robot existing in the prior art low skill of the bad region rescue efficiency of road conditions at the scene Art problem, the present invention provides following technical schemes:

A kind of mobile chassis of fire-fighting robot, including substrate, the substrate top surface are equipped with mechanical arm, the substrate bottom surface peace Equipped with mobile mechanism and support pulley assembly, the support pulley assembly includes the telescopic rod for being articulated with the substrate bottom surface of car body, The telescopic rod includes level-one bar and second level bar, and the level-one bar is inserted into second level bar, the level-one bar and second level bar inner bottom It is provided with the 7th spring between face, support link is hinged on the second level bar outer wall, the support link and second level bar are close One end of bottom surface is mounted on third pulley, and the 6th spring is equipped between the support link and second level bar；

The mobile mechanism includes rack, is installed on the driving wheel and driven wheel of the rack two sides, the driving wheel and driven It is provided with crawler belt on wheel, is connected with electric motor on the driving wheel.

As a further explanation of the present invention, the mechanical arm includes the rotary electric machine being fixed on the substrate, with institute State the turntable that rotary electric machine output shaft is fixedly connected, the large arm being articulated on the turntable, the hinged forearm with the large arm, if It is placed in the forearm and slidable telescopic arm, the manipulator being connect by rotating electric machine with the telescopic arm；

It is hinged with the first electric pushrod between the turntable and large arm, second is hinged between the large arm and forearm and electronic is pushed away Bar is provided with third electric pushrod between the forearm and telescopic arm

As a further explanation of the present invention, the manipulator includes the shell being fixedly connected with the rotating electric machine output shaft, The 4th electric pushrod is fixedly installed in the shell, the 4th electric pushrod top is stretched out outside the shell and fixed company An articulated shaft is connect, the housing top surface is fixedly installed two pieces of articulated slabs arranged in parallel, and the electric pushrod stretches out shell External part and the articulated shaft are respectively positioned between two pieces of articulated slabs；

The articulated shaft both ends have been respectively articulated with the first linking arm, and articulated slab top both sides have been respectively articulated with the second connection Arm, first linking arm and the second linking arm are hinged；

Second linking arm top is fixedly connected with Buffer Unit, and two Buffer Units are provided with card on opposite face Pawl.

As a further explanation of the present invention, the Buffer Unit includes shell, adjacent with the claw on the shell And the second through-hole for connecting rod insertion interior of shell is provided on parallel side, there are two the connecting rod settings and mutual It is symmetrical arranged；

One end that the connecting rod is in shell exterior is fixedly connected with the claw, and the connecting rod is inserted into the interior of shell One end two opposite flanks on be symmetrical arranged there are two second pulley；

The 4th spring is fixedly installed between the inner wall opposite with second through-hole and the connecting rod in the shell；

There are two buffer stoppers, the buffer stopper to be slidably connected with outer casing inner wall for setting in the shell, two buffer stoppers it Between be fixedly connected with third spring；

Two second pulleys in the connecting rod are contacted with the side of outer casing inner wall and buffer stopper respectively；

The side that the buffer stopper is contacted with second pulley is third inclined-plane.

Compared with prior art, what the present invention obtained has the beneficial effect that

Mobile chassis of the invention, by the support pulley assembly installed in substrate bottom surface can in car body throwing over barrier, Buffer function is played to car body, while car body being assisted to continue the case where moving ahead, being not in overturning, substantially increases robot Rescue efficiency.

The present invention is described in further details below with reference to accompanying drawings and embodiments.

Detailed description of the invention

Fig. 1 is robot overall structure diagram.

Fig. 2 is bindiny mechanism's cross-sectional view.

Fig. 3 is robot manipulator structure schematic diagram.

Fig. 4 is Buffer Unit structural schematic diagram.

Fig. 5 sleeve inner structural schematic diagram.

Fig. 6 is support pulley block structure schematic diagram.

Fig. 7 is telescopic rod sectional view.

In figure: 1, plug division；2, receptacle portion；3, pedestal；4, interconnecting piece；5, cavity；6, the first iron core；7, left side；8, Right side；9, the first spring；10, the first inclined-plane；11, first pulley；12, the first electromagnet；13, link block；14, first through hole 14；15, the second inclined-plane；16, second spring；17, the first groove；18, the second groove；19, substrate；20, rotary electric machine；21, turn Disk；22, large arm；23, forearm；24, telescopic arm；25, rotating electric machine；26, manipulator；27, the first electric pushrod；28, the second electricity Dynamic push rod；29, third electric pushrod；30, shell；31, the 4th electric pushrod；32, articulated shaft；33, articulated slab；34, first connects Connect arm；35, the second linking arm；36, Buffer Unit；37, claw；38, shell；39, the second through-hole；40, second pulley；41, Four springs；42, buffer stopper；43, third spring；44, rack；45, driving wheel；46, driven wheel；47, crawler belt；48, electric motor； 49, pedestal；50, idler wheel；51, rotating seat；52, strut；53, support plate；54, internal gear；55, sleeve；56, driving motor；57, Second electromagnet；58, the second iron core；59, the 5th spring；60, intermediate gear；61, driving gear；62, worm screw；63, the first tooth Wheel；64, second gear；65, connecting rod；66, spherical shell；67, support rod；68, vertical plate；69, spray head；70, rack gear；71, solid Determine portion；72, connecting rod；73, support；74, clip；75, upper plate；76, lower plate；77, pulley assembly is supported；78, telescopic rod；79, it props up Supporting rod；80, the 6th spring；81, third pulley；82, the 7th spring；83, level-one bar；84, second level bar.

Specific embodiment

Reach the technical means and efficacy that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality Example is applied to a specific embodiment of the invention, structure feature and its effect, detailed description are as follows.

In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand For the limitation to the invention.

In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply Relative importance or the quantity for implicitly indicating indicated technical characteristic.The feature of " first ", " second " etc. is defined as a result, It can explicitly or implicitly include one or more of the features.In the description of the invention, unless otherwise indicated, The meaning of " plurality " is two or more.

Term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to removable Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through Concrete condition understands concrete meaning of the above-mentioned term in the invention.

Mobile chassis provided in this embodiment for fire-fighting robot, can be applied to the fire tower of a variety of different structures Device people, the present embodiment only provide one kind, as shown in Figure 1, include active car body and from motor vehicles bodies, active car body and from motor vehicles bodies it Between pass through bindiny mechanism and connect, wherein bindiny mechanism includes the plug division 1 being set on active car body and being set to from motor vehicles bodies On receptacle portion 2；Plug division is fixedly connected with connection on pedestal 3 as shown in Fig. 2, include the pedestal 3 that is fixed on active car body Portion 4, interconnecting piece 4 are internally provided with cavity 5, and one first iron core 6 is provided in cavity 5, is slided between the first iron core 6 and cavity 5 Connection；The left side 7 and right side 8 vertical with 6 glide direction of the first iron core, adjacent and parallel with left side 7 on first iron core 6 5 inner wall of cavity and left side 7 between by the connection of two the first springs 9,8 upper/lower terminal of right side is respectively arranged with first Inclined-plane 10 is fixedly installed first pulley 11 on first inclined-plane 10；On 5 inner wall of cavity adjacent and parallel with left side 7, it is located at It is fixedly installed one first electromagnet 12 between two the first springs 9, cavity 5 inner wall adjacent and parallel with right side 8 and the right side Between end face 8 setting is there are two link block 13, and two link blocks 13 in the upper and lower two side walls of interconnecting piece 4 respectively by being arranged First through hole 14 stretches out 4 external world of interconnecting piece, and the sliding block being fixedly installed on link block 13 and 14 inner wall of first through hole is slidably connected；Two A link block 13 is provided with the second inclined-plane 15 on the left of opposite end face, and the second inclined-plane 15 is parallel with the first inclined-plane 10, and first is sliding Wheel 11 is contacted with the second inclined-plane 15 and is slided along the second inclined-plane 15, and two link blocks 13 are provided with second between opposite end face Spring 16；The first groove 17 being inserted into for interconnecting piece 4 is provided in receptacle portion 2, the upper and lower two sides of the first groove 17 are provided with confession Link block 13 be inserted into the second groove 18, active car body and between motor vehicles bodies pass through link block 13 be connected to the second groove 18 It is interior, to realize active car body and from the connection of motor vehicles bodies.

Robot provided in this embodiment connects active car body by above-mentioned bindiny mechanism and from motor vehicles bodies, makes active car body Drive is sailed from motor vehicles bodies common row, from without installing individual mobile mechanism from motor vehicles bodies, can reduce robot Cost.

The bindiny mechanism when in use, a left side for the first iron core 6 of control is realized by the energization of the first electromagnet 12 with power-off Right movement is powered off to the first electromagnet 12 first, under the elastic force effect of the first spring 9, when moving right the first iron core 6, First pulley 11 is slided along the second inclined-plane 15, to make two link blocks 13 be located remotely from each other, i.e., outside stretching interconnecting piece 4, to make Link block 13 is inserted into the second groove 18 in receptacle portion 2, realizes active car body and the docking from motor vehicles bodies, when active car body and It when needing to separate from motor vehicles bodies, is powered for the first electromagnet 12, so that the first electromagnet 12 is adsorbed the first iron core 6 and move downward, this When two link blocks 13 under the elastic force effect of second spring 16, while to 4 internal motion of interconnecting piece, so that interconnecting piece 4 be made to move Second groove 18 out realizes active car body and the separation from motor vehicles bodies.

It should be pointed out that the first electromagnet 12 can be powered off directly, make the when active car body and after from motor vehicles bodies separation One spring 9 and second spring 16 are in drift, and the position of the first iron core 6 and link block 13 is also not required to limit, so both Electric energy can be saved, and can guarantee that spring is in drift, extends the service life of spring.

Above-mentioned active car body includes that mobile mechanism, substrate 19, mechanical arm and multiple groups support pulley assembly 77, substrate 19 are fixed In in mobile mechanism, mechanical arm is installed on 19 top surface of substrate, and support pulley assembly is installed on 19 bottom surface of substrate, and pedestal 3 is fixed In on substrate 19；

Support pulley assembly 77 is as shown in fig. 6, include being articulated with 19 bottom surface of substrate and being located at neighbouring from the flexible of motor vehicles bodies side Bar 78, telescopic rod 78 is as shown in fig. 7, comprises level-one bar 83 and second level bar 84, and level-one bar 83 is inserted into second level bar 84, level-one bar 83 It is provided with the 7th spring 82 between 84 second level bar inner bottom surfaces, support link 79 is hinged on 84 outer wall of second level bar, support connects Bar 79 and second level bar 84 are mounted on third pulley 81 close to one end of bottom surface, are equipped between support link 79 and second level bar 84 6th spring 80.

Above-mentioned support pulley assembly 77 can guarantee that car body does not overturn, in car body advance side in car body throwing over barrier To rear play the role of an Auxiliary support, keep car body entirety axial line elongated, increase car body stability, the support pulley blocks Multiple groups can be arranged according to body dimensions in part 77, to achieve the purpose that car body whole machine balancing, in car body throwing over barrier, before vehicle body When end moves upwards, vehicle body center of gravity is moved back, at this point, support pulley assembly 77 can play a supporting role, when car body continues movement, Two third pulleys 81 installing can assist car body to continue to travel on support pulley assembly 77, and level-one bar 83 is to second level bar 84 internal motions compress the 7th spring 82, simultaneously as entirely support 77 decentralization of pulley assembly, so two thirds are sliding The distance between wheel 81 increases, and stretching the 6th spring 80 can be played by the restoring force of the 6th spring 80 and the 7th spring 82 Buffer function offsets car body and supports the gravity of 77 decentralization of pulley assembly, that is, forms second level damping, enable car body more Firm breaks the barriers.

Mechanical arm includes the rotary electric machine 20 being fixed on substrate 19, the turntable being fixedly connected with 20 output shaft of rotary electric machine 21, the large arm 22 being articulated on turntable 21, the forearm 23 hinged with large arm 22 is set in forearm 23 and slidable flexible Arm 24, the manipulator 26 being connect by rotating electric machine 25 with telescopic arm 24；It is electronic that first is hinged between turntable 21 and large arm 22 Push rod 27 is hinged with the second electric pushrod 28, is provided with third between forearm 23 and telescopic arm 24 between large arm 22 and forearm 23 Electric pushrod 29.

Above-mentioned manipulator 26 is as shown in figure 3, include the shell 30 being fixedly connected with 25 output shaft of rotating electric machine, in shell 30 It is fixedly installed the 4th electric pushrod 31, an articulated shaft 32 is stretched out outside shell 30 and is fixedly connected on 31 top of the 4th electric pushrod, 30 top surface of shell is fixedly installed two pieces of articulated slabs 33 arranged in parallel, and electric pushrod stretches out part and hinge outside shell 30 Spindle 32 is respectively positioned between two pieces of articulated slabs 33；32 both ends of articulated shaft have been respectively articulated with the first linking arm 34,33 top of articulated slab Both sides have been respectively articulated with the second linking arm 35, and the first linking arm 34 and the second linking arm 35 are hinged；Second linking arm, 35 top is solid Surely it is connected with Buffer Unit 36, two Buffer Units 36 are provided with claw 37 on opposite face.

Above-mentioned Buffer Unit is as shown in figure 4,36 include shell 38, on shell 38 on the side adjacent and parallel with claw 37 It is provided with for the second through-hole 39 inside the insertion shell 38 of connecting rod 65, there are two the settings of connecting rod 65 and is symmetrically set； One end that connecting rod 65 is in outside shell 38 is fixedly connected with claw 37, and connecting rod 65 is inserted into two of one end inside shell 38 Second pulley 40 there are two being symmetrical arranged on a opposite flank；The inner wall and connecting rod 65 opposite with the second through-hole 39 in shell 38 Between be fixedly installed the 4th spring 41；There are two buffer stopper 42, buffer stopper 42 and 38 inner walls of shell to slide for setting in shell 38 It connects, is fixedly connected with third spring 43 between two buffer stoppers 42；Two second pulleys 40 in connecting rod 65 are respectively and outside The contact of the side of 38 inner wall of shell and buffer stopper 42；The side that buffer stopper 42 is contacted with second pulley 40 is third inclined-plane.

Mechanical arm provided in this embodiment, each joint is directly hinged, keeps mechanical arm activity more flexible, and uses city The electric pushrod sold on face is equipped with Buffer Unit 36 as dynamical element, easy maintenance and replacement on claw 37, is formed Flexible manipulator 26 is capable of increasing the chucking power of claw 37 by the effect of spring, crawl is more when clamping irregular object Add reliably, effectively improves the working efficiency of mechanical arm.

Above-mentioned mobile mechanism includes rack 44, is installed on the driving wheel 45 and driven wheel 46 of 44 two sides of rack, driving wheel 45 With crawler belt 47 is provided on driven wheel 46, electric motor 48 is connected on driving wheel 45.Active car body provided in this embodiment is logical Cross the driving traveling of electric motor 48, in the process of moving, need to only adjust electric motor 48 on two driving wheels 45 revolving speed and The movement such as traveling, turning and u-turn of active car body can be realized in direction.

Above-mentioned from motor vehicles bodies includes pedestal 49, and 49 bottom surface of pedestal is provided with idler wheel 50, and the fixed setting of 49 top surface of pedestal is with teeth Wheel assembly and plug division are equipped with water cannon on gear assembly；Gear assembly includes being installed on pedestal 49 by shaft Rotating seat 51 is fixedly connected with support plate 53 by multiple struts 52 above rotating seat 51, be fixedly installed in the middle part of strut 52 in Gear 54；Rotating seat is fixedly installed sleeve 55 and driving motor 56 on 51 top surface；Bottom is fixedly installed second in sleeve 55 Electromagnet 57, as shown in figure 5, be provided with the second iron core 58 above the second electromagnet 57, the second iron core 58 and 55 side wall of sleeve it Between be slidably connected, between 55 bottom wall of the second iron core 58 and sleeve be fixedly installed the 5th spring 59, be provided with above sleeve 55 Between gear 60, intermediate gear 60 and the second iron core 58 pass through shaft be rotatablely connected；56 output shaft of driving motor is fixedly connected with master Moving gear 61；Intermediate gear 60 is engaged with internal gear 54 and driving gear 61 respectively；53 top surface of support plate is provided with a worm screw 62 With first gear 63,62 axial line of worm screw is arranged in parallel with 53 top surface of support plate, and first gear 63 is installed on support by shaft On plate 53,62 end of worm screw is fixedly installed second gear 64, and second gear 64 is engaged with first gear 63；It is set in support plate 53 It is equipped with third through-hole (attached drawing is not shown), intermediate gear 60 may pass through third through-hole and engage with first gear 63.

Above-mentioned water cannon includes spherical shell 66, between spherical shell 66 and the support rod 67 being fixed in support plate 53 It is rotatably connected by bearing realization；Water pipe (attached to be not shown in the figure), water pipe water outlet and fixation are provided in spherical shell 66 Spray head 69 on spherical shell 66 is connected to, and water pipe water inlet is connected to water supply line；66 outer wall bottom of spherical shell is provided with One rack gear 70, rack gear 70 is arranged in parallel with worm screw 62 and engages with worm screw 62.

The injection direction provided in this embodiment for adjusting water cannon by gear assembly from motor vehicles bodies, and using When, interior the second electromagnet 57, the second iron core 58 and the 5th spring 59 being arranged of sleeve 55 is used to adjust the height of intermediate gear 60 Degree is powered and is powered off by the second electromagnet 57 of control, and when the second electromagnet 57 is powered, the second iron core of absorption 58 is downwards Movement, intermediate gear 60 engage with internal gear 54 at this time, to make the rotation of internal gear 54, due to internal gear 54 and rotating seat 51 and Support plate 53 is fixedly connected with, so rotating seat 51 and support plate 53 is driven to rotate simultaneously, i.e., water cannon turns in the horizontal direction It is dynamic；When the power-off of the second electromagnet 57, adsorption capacity disappears, and under the elastic force effect of the 5th spring 59, intermediate gear 60 is transported upwards It is dynamic, and engaged with first gear 63, while being detached from internal gear 54, when driving gear 61 drives intermediate gear 60 to rotate, the One gear 63 is driven, and second gear 64 is driven to rotate, since second gear 64 is fixedly connected with worm screw 62, so, worm screw 62 rotate with it, and rotate with carry-over bar 70, i.e., water cannon rotates along the vertical direction.

A driving motor 56, which is only arranged, in said gear component can be realized two parts movement of water cannon, can be less Multiple components reduce water cannon overall volume, and can save biggish cost.

Above-mentioned 51 side of rotating seat is fixedly installed an auxiliary support mechanism, and auxiliary support mechanism includes fixed part 71, connects Bar 72, support 73 and clip 74；Fixed part 71 includes upper plate 75, lower plate 76 and vertical plate 68, between upper plate 75 and lower plate 76 mutually It is arranged in parallel, upper plate 75 and lower plate 76 are arranged in a mutually vertical manner with vertical plate 68 and are individually fixed in 68 top and bottom of vertical plate, stand Plate 68 is fixedly connected with rotating seat 51；72 one end of connecting rod is inserted between upper plate 75 and lower plate 76 and by pin shaft and fixed part 71 It is rotatably connected, 72 other end of connecting rod is fixedly connected with support 73, and clip 74 is fixed on support 73.

Auxiliary support mechanism provided in this embodiment, is capable of fixing fire hose, makes water cannon and the linear position of water band, when When rotating disk 21 rotates, auxiliary support mechanism is rotated together, and not will lead to fire hose bending, is influenced high pressure water flow flow, and And it is hinged between fixed part 71 and connecting rod 72, keep overall mechanism more flexible, guarantees that water cannon adjusts spray angle in rotation When, water flow will not be caused to reduce because fire hose is bent, influence to spray hydraulic pressure.

Rescuing robot for fire control provided in this embodiment cooperates, work compound by active car body and from motor vehicles bodies, Under the premise of guaranteeing rescuing robot for fire control basic function, components are maximumlly reduced, reduce robot cost, Er Qiezhu It motor vehicles bodies and is adjusted from the injection direction of connection, water cannon between motor vehicles bodies and the control of mechanical arm, by existing Technology remote control makes the more convenient to use of robot, and in active car body and after motor vehicles bodies separation, active car body can To carry out patrol rescue work, obstacle can be understood by mechanical arm, suitable position need to be only parked in from motor vehicles bodies can carry out water The fire-fighting work of rifle injection, substantially increases the rescue efficiency of fire-fighting robot, and fire-fighting work personnel only need remote control , when danger coefficient is reduced in controlled range, enters back into scene and carry out round-off work, ensure that the person of fire fighter Safety.

Further, rescuing robot for fire control provided in this embodiment can pacify in active car body and from motor vehicles bodies High-definition camera is filled, keeps remote control more convenient.

The components such as electric pushrod, electromagnet used in the present embodiment, motor, motor are sold using market general Logical product, application method, circuit connection etc. are the prior art, and when production need to only select to match with robot size Model, this is the production stage depending on actual production demand, so, do not elaborate above-mentioned first device herein The particular circuit configurations and application method of part.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention Protection scope.

Claims (4)

1. a kind of mobile chassis of fire-fighting robot, including substrate, the substrate top surface is equipped with mechanical arm, the substrate bottom surface Mobile mechanism and support pulley assembly are installed, it is characterised in that: the support pulley assembly includes the substrate for being articulated with car body The telescopic rod of bottom surface, the telescopic rod include level-one bar and second level bar, in the level-one bar insertion second level bar, the level-one bar with It is provided with the 7th spring between second level bar inner bottom surface, support link, the support link are hinged on the second level bar outer wall It is mounted on third pulley close to one end of bottom surface with second level bar, the 6th bullet is installed between the support link and second level bar Spring；

The mobile mechanism includes rack, is installed on the driving wheel and driven wheel of the rack two sides, the driving wheel and driven It is provided with crawler belt on wheel, is connected with electric motor on the driving wheel.

2. mobile chassis according to claim 1, it is characterised in that: the mechanical arm includes being fixed on the substrate Rotary electric machine, the turntable being fixedly connected with the rotary electric machine output shaft, the large arm being articulated on the turntable, with the large arm Hinged forearm, is set in the forearm and slidable telescopic arm, the machine being connect by rotating electric machine with the telescopic arm Tool hand；

It is hinged with the first electric pushrod between the turntable and large arm, second is hinged between the large arm and forearm and electronic is pushed away Bar is provided with third electric pushrod between the forearm and telescopic arm.

3. mobile chassis according to claim 2, it is characterised in that: the manipulator includes exporting with the rotating electric machine The shell that axis is fixedly connected, the 4th electric pushrod is fixedly installed in the shell, and institute is stretched out on the 4th electric pushrod top It states outside shell and is fixedly connected with an articulated shaft, the housing top surface is fixedly installed two pieces of articulated slabs arranged in parallel, institute The part and the articulated shaft stated outside electric pushrod stretching shell are respectively positioned between two pieces of articulated slabs；

The articulated shaft both ends have been respectively articulated with the first linking arm, and articulated slab top both sides have been respectively articulated with the second connection Arm, first linking arm and the second linking arm are hinged；

Second linking arm top is fixedly connected with Buffer Unit, and two Buffer Units are provided with card on opposite face Pawl.

4. mobile chassis according to claim 3, it is characterised in that: the Buffer Unit includes shell, on the shell The second through-hole for connecting rod insertion interior of shell is provided on adjacent and parallel side with the claw, the connecting rod is set It sets there are two and is symmetrically set；

One end that the connecting rod is in shell exterior is fixedly connected with the claw, and the connecting rod is inserted into the interior of shell One end two opposite flanks on be symmetrical arranged there are two second pulley；

The 4th spring is fixedly installed between the inner wall opposite with second through-hole and the connecting rod in the shell；

There are two buffer stoppers, the buffer stopper to be slidably connected with outer casing inner wall for setting in the shell, two buffer stoppers it Between be fixedly connected with third spring；

Two second pulleys in the connecting rod are contacted with the side of outer casing inner wall and buffer stopper respectively；

The side that the buffer stopper is contacted with second pulley is third inclined-plane.