CN110406603A - It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot - Google Patents
It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot Download PDFInfo
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- CN110406603A CN110406603A CN201910736596.4A CN201910736596A CN110406603A CN 110406603 A CN110406603 A CN 110406603A CN 201910736596 A CN201910736596 A CN 201910736596A CN 110406603 A CN110406603 A CN 110406603A
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- swing arm
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- crawler
- crawler belt
- shaft
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- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 239000007921 spray Substances 0.000 claims abstract description 31
- 241000876443 Varanus salvator Species 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 77
- 239000010959 steel Substances 0.000 claims description 77
- 230000005540 biological transmission Effects 0.000 claims description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 48
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000006978 adaptation Effects 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 5
- 239000004576 sand Substances 0.000 description 5
- 238000012546 transfer Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 208000005168 Intussusception Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 239000000567 combustion gas Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009970 fire resistant effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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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
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B37/00—Wheel-axle combinations, e.g. wheel sets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot, including chassis, vehicle body, fire water monitor, spray equipment, crawler-type traveling portion, rubber-tyred running part and hoofing part assembly；Spray equipment is connected with fire water monitor；Crawler-type traveling portion is set as two groups, its two sides for being located at chassis, crawler-type traveling portion include the moping pulley group being mounted on chassis side wall, the driving wheel being rotatably connected on chassis by shaft and the traveling crawler being wound around on the same side moping pulley group and driving wheel；It is respectively that two crawler-type traveling portions provide the driving assembly of driving force that hoofing part assembly, which includes two groups,；Rubber-tyred running part is set as four groups comprising rubber tyre and the quick-disassembly structure being connected between rubber tyre and driving wheel.It is an advantage of the invention that having both two kinds of walking mechanisms of crawler belt and tire, the ability of fire-fighting robot adaptation to the ground is improved, staff's Rapid Implementation fire fighting and rescue is facilitated.
Description
Technical field
The present invention relates to fire-fighting equipment technical fields, more particularly, to a kind of collection tire, crawler belt, the three-in-one vehicle with walking machine of swing arm
The multi-function robot of structure.
Background technique
The one kind of fire-fighting robot as specialized robot plays very important work in fire extinguishing and rescue further
With.Since fire-fighting robot can replace fire-fighting and rescue personnel to enter the hazards accident such as inflammable and explosive, toxic, anoxic, dense smoke
Scene carries out data sampling and processing, feedback, is therefore widely used in various Large Scale Petrochemical Enterprises, tunnel, subway, oil
The fire in the places such as product combustion gas, toxic gas leakage explosion, subway collapsing.
Existing fire-fighting robot includes crawler type fire-fighting robot and rubber-tyred fire-fighting robot, wherein crawler type disappears
Anti- robot can refer to the Chinese patent that Authorization Notice No. is CN205659300U, and it discloses crawler type fire-fighting robot, packets
Chassis, left crawler belt, right-hand track chiain, drive assembly, remote controler, circuit part are included, top plate is provided with above chassis, is arranged on top plate
There is a transfer tube, the rear end on chassis is provided with fire hose to interface, is fixed with injector head in the upper port of transfer tube；It is solid on top plate
Surely there is the horizontal rotation motor for driving transfer tube to rotate in the horizontal plane, be fixed on transfer tube and drive injector head pitch rotation
Pitching movement motor is provided on injector head and selects motor to the water spray state that water column state is adjusted.
But when crawler travel is on hard ground, biggish noise can be issued, simultaneously because it is iron, walking
During be also possible to that friction spark can be generated, be not suitable for inflammable and explosive place, such as gas station, gas station.
Rubber-tyred fire-fighting robot can refer to the Chinese patent that Authorization Notice No. is CN2780257, and it discloses one kind to disappear
Anti- rescue robot walking chassis, chassis is by sole, single sprocket chain group, double chain wheel group, chain, tire, hub reduction gear and oil
The components such as motor composition.
Although above-mentioned tire can be using the fire resistant tire with certain function resistant to high temperatures, if fire extinguishing is rescued in practical operation
The overlong time helped causes tire close to fire source, still can damage to tire for a long time, cause fire-fighting robot can not be just
Often walking, while it being limited to landform, such as sand ground or hills ground.
Therefore, above two walking mechanism has some limitations.
Summary of the invention
The object of the present invention is to provide it is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot,
Advantage is to have both two kinds of walking mechanisms of crawler belt and tire, improves the ability of fire-fighting robot adaptation to the ground, facilitates staff
Rapid Implementation fire fighting and rescue.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of collection tire, crawler belt, swing arm
The multi-function robot of three-in-one walking mechanism, including chassis, vehicle body, fire water monitor, spray equipment, crawler-type traveling portion, wheel
Tire formula running part and hoofing part assembly；
The vehicle body is fixed on the chassis；
The fire water monitor is mounted on the vehicle body；
The spray equipment is connected with the fire water monitor；
The crawler-type traveling portion is set as two groups, is located at the chassis along the two sides in length direction, the crawler belt
Formula running part includes the moping pulley group being mounted on the chassis side wall, is rotatably connected on the chassis by shaft and respectively
Driving wheel positioned at moping pulley group rear and front end and the walking that is wound around in moping pulley group and the driving wheel described in the same side
Crawler belt；
It is respectively that the two crawler-type traveling portions provide preceding driving force and rear driving force that the hoofing part assembly, which includes two groups,
Driving assembly；
The rubber-tyred running part is set as four groups comprising rubber wheel of the driving wheel far from the chassis side is arranged in
Tire and the quick-disassembly structure being connected between the rubber tyre and the driving wheel.
Through the above technical solutions, the fire-fighting robot in the application has both two kinds of walking mechanisms of crawler belt and tire, it is allowed to
It can not only walk on plane, hard ground, moreover it is possible to it walks in sand ground or other field landform, as needed, staff
Fire-fighting robot can be jacked up by hydraulic device, the fast quick-detach to rubber tyre is then realized by quick-disassembly structure, is completed
The switching of walking manner, fire-fighting robot compared to the prior art substantially increase the ability of adaptation to the ground, so as to the people that works
Member being capable of Rapid Implementation fire fighting and rescue.
The present invention is further arranged to: the quick-disassembly structure includes driving of the flanged joint on the driving wheel side wall
Axis and be vertically fixed in the tire wheel hub side sleeve, be keyed between the sleeve and the drive shaft, it is described
The inner hollow of sleeve and both ends are opening, are connected with the fixation towards sleeve axis direction projection on the inner wall of the sleeve
The sleeve inner is separated into mounting hole and working hole by ring, the fixed ring, and the working hole is arranged close to wheel hub, described solid
Determine to be equipped with the steel loop extended towards the working hole direction in ring, offers several ball grooves being circumferentially distributed, institute on the steel loop
It states activity in ball groove and is placed with steel ball, offer in the drive shaft and supplied when the sleeve is slidably socketed to the drive shaft
The annular recess of the steel ball clamping；
The switch block for guaranteeing that steel ball is connected in the annular recess or exits the annular recess is equipped in the working hole.
Through the above technical solutions, moving tire when installation, sleeve being slidably socketed on the driving shaft, then by opening
Closing component makes steel ball and annular recess be engaged by clamping, and realizes Fast Installation；When disassembly, chassis is jacked up by hydraulic device, so
So that steel ball is exited annular recess by switch block afterwards, then again remove tire, realizes fast quick-detach.
The present invention is further arranged to: the switch block includes being slidably located in outside the steel loop to carry out to steel ball
The baffle ring of pressure holding, be integrally attached on the steel loop outer wall and towards wheel hub direction extend throw-out collar and be set in the steel loop
The spring that external and both ends are abutted with the fixed ring and the throw-out collar respectively；
The anti-decylization limited to the baffle ring far from described fixed ring one end is connected on the outer wall of the steel loop；
Gap between the throw-out collar inner wall and the steel loop outer wall is greater than the depth, small that the steel ball protrudes into the annular recess
In the diameter of the steel ball；
The handle hole for facilitating staff to press the throw-out collar to drive the baffle ring sliding is offered on the wheel hub.
Through the above technical solutions, chassis is jacked up by hydraulic device, has then removed tire when installation, by keyway and
Spline alignment, then pushes tire to be slidably socketed sleeve on the driving shaft；When the thin axis of drive shaft protrudes into steel loop and and steel ball
When contact, steel ball can hinder drive shaft to protrude into, at this point, staff presses throw-out collar towards sleeve inner, baffle ring be made to be staggered with ball groove,
It then proceedes to push tire, makes steel ball be influenced to move along the first chamfering towards the direction far from steel loop axis by thrust, Zhi Daogang
The part sphere of ball is extruded into the gap between throw-out collar and steel loop, and no longer influences going deep into for drive shaft；When the end of sleeve
When portion is abutted with the shaft shoulder of drive shaft, throw-out collar is unclamped, at this point, baffle ring resets under the influence of spring restoring force, the process of reset
In the second chamfering push steel ball to be retracted into ball groove and be clamped with annular recess, realize the fixed installation to tire；
When disassembly, chassis is jacked up by hydraulic device, throw-out collar is then pressed, baffle ring is made to be staggered with ball groove, then towards far from drive
The direction of moving axis pulls tire, very convenient, fast.
The present invention is further arranged to: the shaft includes active rotating shaft and driven spindle, and the active rotating shaft is diagonally set
It sets；
The driving component includes the movable motor and retarder being fixed on the chassis, the output shaft of the movable motor with
The input terminal of the retarder is connected, the output end of the retarder and the active for being located at the chassis front end or rear end
Shaft is connected.
Through the above technical solutions, power is transmitted to the active being attached thereto by retarder and turned when starting movable motor
On axis, driving wheel is made to drive traveling crawler rotation, walking.
The present invention is further arranged to: further including oscillating arm mechanisms and swing arm driving assembly；
The oscillating arm mechanisms are set as four groups, are separately mounted in the every shaft with chassis rotation connection, and be located at
Between the chassis and the crawler-type traveling portion；
Swing arm driving assembly is set as two groups, is located at the front-end and back-end on the chassis, and can drive front end or
The oscillating arm mechanisms of the two of rear end are simultaneously along the shaft towards a side oscillation.
Through the above technical solutions, the setting of oscillating arm mechanisms and swing arm driving assembly, for assisting fire-fighting robot to climb
Or it crosses a ridge.
The present invention is further arranged to: the oscillating arm mechanisms include swing arm frame, driving wheel, driven wheel and swing arm crawler belt；
The swing arm frame includes the big wheel carrier being in U-shape and small wheel carrier, the branch being connected between the big wheel carrier and the small wheel carrier
Fagging and several auxiliary wheels for being rotatably connected on the support plate two sides, the big wheel carrier are rotatably connected on institute by bearing
It states in shaft；
The driving wheel is fixed in the position in the shaft and being located between two circular side panels of the big wheel carrier；
The driven wheel is rotatably connected on the small wheel carrier；
The swing arm crawler belt is wound around on the driving wheel and the driven wheel；
The auxiliary wheel is supported in the inside of the swing arm crawler belt and rolling contact.
Through the above technical solutions, staff is driven by swing arm driving assembly when fire-fighting robot needed ditch
The oscillating arm mechanisms of dynamic front end are moved downward along active rotating shaft and driven spindle, are made it across channel and are overlapped on the another of channel
Side, to extend the length of traveling crawler, so that it is passed through；When fire-fighting robot needs to cross a ridge, staff passes through
Swing arm driving assembly drives the oscillating arm mechanisms of front end to move downward along active rotating shaft and driven spindle, until swing arm crawler belt overlaps
On bank, swing arm crawler belt and traveling crawler is then driven to move by hoofing part assembly；When fire-fighting robot is travelled to bank
When upper, for the stationarity for guaranteeing its own, it was supported by the oscillating arm mechanisms of rear end；Since driving wheel is fixed in shaft,
Therefore, when the spindle is rotated, driving wheel will drive driven wheel and swing arm crawler belt rotates synchronously, to guarantee swing arm crawler belt and walking
Crawler belt is rotated with frequency always, so that fire-fighting robot preferably can climb or cross a ridge.
The present invention is further arranged to: the swing arm driving assembly includes being weldingly fixed on the chassis side and being located at institute
The protective cover between swing arm frame and the chassis is stated, is set in outside the driven spindle and is turned by bearing and the protective cover
The quill of dynamic connection, is rotatably connected on the protective cover above the turbine at the turbine being fixed on described sleeve pipe axis
And the worm screw being meshed with the turbine, the movable motor that is mounted on the chassis and it is connected to the motor output shaft
With the speed reducer of described worm screw one end, described sleeve pipe axis is fixedly connected close to one end of the swing arm frame with the big wheel carrier；
It further include the transmission component being connected between described sleeve pipe axis and another oscillating arm mechanisms.
Through the above technical solutions, power is transmitted on the worm screw being attached thereto by speed reducer when starting swing arm motor,
And turbine rotation is driven, at this point, rotate with the swing arm frame of casing axis connection, at the same time, transmission component power is by power
Conduction causes the other side, thus two oscillating arm mechanisms synchronous huntings of driving.
The present invention is further arranged to: the transmission component include be rotatably connected on the driven spindle and with the set
Pipe axis far from the first affixed transmission gear of walking mechanism one end, be rotatably connected on two front end side plates or two rear ends on the chassis
Transmission shaft between side plate, the second transmission for being rotatably connected on the active rotating shaft and being fixedly connected with swing arm frame described in the side
It gear and is fixed on the transmission shaft and is respectively meshed with first transmission gear and second transmission gear
Third transmission gear.
Through the above technical solutions, will be moved when the rotation of the first transmission gear by the second transmission gear and transmission shaft
Power is transferred on third transmission gear, and third transmission gear is made to synchronize rotation, to drive two swing arms of front end or rear end
Frame is swung simultaneously.
The present invention is further arranged to: the fire water monitor include be fixed on it is on the top plate of the vehicle body and horizontally disposed
Water inlet pipe, the water cannon pedestal for being vertically installed on water inlet pipe and being connected with water inlet pipe are integrally attached on water cannon pedestal and water
The gun tube of flat setting and the big gun head for being mounted on gun tube end.
Through the above technical solutions, in use, making water column successively by water inlet pipe, water cannon by the external high-pressure water of water pipe
Pedestal and gun tube, which converge at big gun head, is directed at fire source transmitting, puts out a fire.
The present invention is further arranged to: the spray equipment includes being vertically installed on the water inlet pipe and communicating therewith
Spray tube is mounted on atomizing spray head of the spray tube far from water inlet pipe one end and is mounted on spray tube and is connected with PLC
Solenoid valve.
Through the above technical solutions, opening solenoid valve after water jets under high pressure enters water inlet pipe, water flow can rise along spray tube
And sprayed by atomizing spray head, cool down for the car body to fire-fighting robot, so that fire-fighting robot being capable of continuous operation.
In conclusion advantageous effects of the invention are as follows:
1, the fire-fighting robot in the application has both two kinds of walking mechanisms of crawler belt and tire, and being allowed to can not only be in plane, hard
It walks on ground, moreover it is possible to walk in sand ground or other field landform, as needed, staff can be by hydraulic device by fire-fighting
Robot jacks up, and is then realized by quick-disassembly structure to the fast quick-detach of rubber tyre, completes the switching of walking manner, compared to existing
Have the fire-fighting robot in technology, substantially increase the ability of adaptation to the ground, so as to staff can Rapid Implementation fire extinguishing rescue
It helps；
2, the setting of oscillating arm mechanisms and swing arm driving assembly facilitates fire-fighting robot to cross ditch, crosses slope or cross a ridge, further improves
The ability of its adaptation to the ground；
3, when starting movable motor, power is transmitted on the active rotating shaft being attached thereto by retarder, makes driving wheel, driving wheel
It is rotated synchronously under the drive of active rotating shaft with rubber tyre, and the rotation of driving wheel and driving wheel drives swing arm crawler belt and row
Crawler belt synchronous rotation is walked, to realize that a drive is mostly dynamic, driving cost is reduced, keeps the structure of fire-fighting robot more compact；
4, the setting of spray equipment cools down for the car body to fire-fighting robot, so that fire-fighting robot can continue to make
Industry.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the schematic diagram for embodying translation modular construction；
Fig. 3 is the structural schematic diagram for embodying hoofing part assembly and swing arm driving assembly position；
Fig. 4 be embody crawler-type traveling portion structure and between rubber-tyred running part connection relationship schematic diagram；
Fig. 5 is the schematic diagram for embodying hoofing part assembly, oscillating arm mechanisms and swing arm driving assembly structure and connection relationship；
Fig. 6 is the perspective view of the explosion for embodying link position relationship between rubber tyre, sleeve and drive shaft；
Fig. 7 is to embody sleeve inner structure and the cross-sectional view with switch block cooperation；
Fig. 8 is the enlarged diagram embodied in Fig. 5 at A；
Fig. 9 is the structural schematic diagram for embodying cascaded surface；
Figure 10 is the structural schematic diagram for embodying the first chamfering；
Figure 11 is the structural schematic diagram for embodying rubber tyre assembly.
In figure, 1, chassis；11, vehicle body；12, rack gear；13, level board；14, U-shaped bending part；2, fire water monitor；21, it intakes
Pipe；22, water cannon pedestal；23, gun tube；24, big gun head；25, mounting base；251, sketch plate；252, connecting plate；26, discharge outlet；3, it sprays
Shower device；31, spray tube；32, atomizing spray head；33, solenoid valve；4, hoofing part assembly；41, movable motor；42, slow down
Device；5, oscillating arm mechanisms；51, swing arm frame；511, big wheel carrier；512, small wheel carrier；513, support plate；514, auxiliary wheel；52, actively
Wheel；53, driven wheel；54, swing arm crawler belt；6, swing arm driving assembly；61, protective cover；62, quill；63, turbine；64, worm screw；
65, swing arm motor；66, speed reducer；67, transmission component；671, the first transmission gear；672, transmission shaft；673, the second driving cog
Wheel；674, third transmission gear；7, crawler-type traveling portion；71, moping pulley group；711, rack；712, support wheel；72, driving wheel；
73, traveling crawler；8, rubber-tyred running part；81, rubber tyre；811, handle hole；82, drive shaft；821, annular recess；822,
First chamfering；823, spline；83, sleeve；831, fixed ring；832, mounting hole；8321, keyway；833, working hole；84, flange
Disk；85, steel loop；851, cascaded surface；852, fixation hole；853, ball groove；854, anti-decylization；86, steel ball；87, switch block；871,
Baffle ring；872, throw-out collar；873, spring；874, the second chamfering；9, active rotating shaft；91, driven spindle.
Specific embodiment
Referring to Figure 1 and Figure 3, for it is disclosed by the invention it is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm it is multi-functional
Robot, including chassis 1, vehicle body 11, fire water monitor 2, spray equipment 3, walking mechanism, hoofing part assembly 4, oscillating arm mechanisms 5
With swing arm driving assembly 6；Wherein, chassis 1 is welded by square steel skeleton and plurality of steel plates；Vehicle body 11 is fixed on chassis 1,
If being welded by dry plate；Referring to Fig. 2, fire water monitor 2 is mounted on the top plate of vehicle body 11 comprising water inlet pipe 21, vertical
Be mounted on water inlet pipe 21 and be connected with water inlet pipe 21 water cannon pedestal 22, be integrally attached on water cannon pedestal 22 and level is set
The gun tube 23 set and the big gun head 24 for being mounted on 23 end of gun tube, water inlet pipe 21 include horizontally disposed straight tube and integrally connect
It is connected to the curved pipe of straight tube one end, water cannon pedestal 22 is fixed on curved pipe by flange.
Referring to Fig. 2, it is located at the position below water cannon pedestal 22 equipped with mounting base 25 in curved pipe, is used for fire water monitor
2 are fixed on the top plate of vehicle body 11.Mounting base 25 includes horizontally disposed sketch plate 251, is connected to sketch plate 251 and water inlet pipe
Connecting plate 252 between 21 curved pipe and several connecting holes being provided on sketch plate 251, on the top plate of vehicle body 11
Corresponding hole is set, when installation, adjusts the position of fire water monitor 2, makes to be aligned between connecting hole and hole, then be worn by bolt
It crosses, is fixed on the top plate of vehicle body 11, secondary fixation is then carried out to water inlet pipe 21 by clip again.
Installation difficulty is reduced for the safety for improving operation referring to Fig. 2, the setting translation component on the top plate of vehicle body 11,
It includes a pair of is fixed on the top plate of vehicle body 11 and the rack gear being parallel to each other 12, two pieces of levels being arranged between two rack gears 12
Plate 13 and the U-shaped bending part 14 for being respectively and fixedly connected to 13 lower surface of level board at two close end and with the sliding connection of rack gear 12, two
Rack gear 12 extends along the length direction of vehicle body 11, and U-shaped bending part 14 is slidably mounted on rack gear 12 by one end, every toothed rack 12
The outside projection in two sides simultaneously formed prevent U-shaped bending part 14 from disengaging from top anti-delinking part, it is opposite, U-shaped bending part 14 it is interior
Compatible slot therewith is equipped at wall.
It offers threaded hole on two blocks of level boards 13, when installation, fire water monitor 2 is placed on level board 13, then
It first passes through clip to fix water inlet pipe 21 for the first time, then adjusts the position of level board 13, be directed at connecting hole with threaded hole,
Then it is fixed by bolt.
In use, making water column successively be converged by water inlet pipe 21, water cannon pedestal 22 and gun tube 23 by the external high-pressure water of water pipe
Gather to alignment fire source transmitting at big gun head 24, puts out a fire.
Referring to Fig. 2, the lower surface of straight tube is communicated with discharge outlet 26, in the fire water monitor 2 after being used to stop operation
Water empties, and avoids pipeline intussusception endophytic bacteria or is corroded, and the outer wall of discharge outlet 26 is equipped with external screw thread, it is generally the case that draining
Mouth 26 passes through end cap and seals.
Spray equipment 3 is arranged on fire water monitor 2 comprising is vertically installed on the straight tube of water inlet pipe 21 and communicates therewith
Spray tube 31, be mounted on atomizing spray head 32 of the spray tube 31 far from 21 one end of water inlet pipe and be mounted on spray tube 31
And the solenoid valve 33 being connected with PLC opens solenoid valve 33, water flow can be along spray tube after water jets under high pressure enters water inlet pipe 21
31 rise and are sprayed by atomizing spray head 32, cool down for the car body to fire-fighting robot, so that fire-fighting robot can
Continuous operation.
Referring to Fig. 3, walking mechanism includes crawler-type traveling portion 7 and rubber-tyred running part 8, according to the difference of landform, work
Personnel can two kinds of walking manners of manual switching；Crawler-type traveling portion 7 is set as two groups, is located at chassis 1 along length side
To two sides.
Referring to Fig. 4, crawler-type traveling portion 7 includes the moping pulley group 71 being mounted on 1 side wall of chassis, by shaft rotation company
It connects on chassis 1 and is located at the driving wheel 72 of 71 rear and front end of moping pulley group and is wound around the same side moping pulley group 71
With the traveling crawler 73 on driving wheel 72, the inside of traveling crawler 73 is uniformly provided with several induction teeth, is used to regulatory walking and carries out
Band 73 prevents fire-fighting robot from turning to or rolling traveling crawler 73 when driving and falls off.It is realized between shaft and chassis 1 by bearing
Rotation connection.Moping pulley group 71 passes through including rack 711 and the support wheel 712 being rotatably connected in rack 711, rack 711
Bolt is fixed on chassis 1, and support wheel 712 and the inside of traveling crawler 73 are in rolling contact, for supporting.
Rubber-tyred running part 8 is set as four groups, is located at side of the driving wheel 72 far from chassis 1, rubber-tyred walking
Portion 8 includes rubber tyre 81 and quick-disassembly structure, and rubber tyre 81 is mounted on the side wall of driving wheel 72 by quick-disassembly structure, rubber
The diameter of tire 81 is greater than the diameter of driving wheel 72, is walked under normal conditions by rubber tyre 81.
Referring to Fig. 4 and Fig. 5, oscillating arm mechanisms 5 are set as four groups, are separately mounted to every and turn with what chassis 1 was rotatablely connected
On axis, and between chassis 1 and crawler-type traveling portion 7.Oscillating arm mechanisms 5 include swing arm frame 51, driving wheel 52,53 and of driven wheel
Swing arm crawler belt 54, wherein swing arm frame 51 include big wheel carrier 511, small wheel carrier 512, connection support plate 513 therebetween, with
And several auxiliary wheels 514 of 513 two sides of support plate are rotatably connected on, big wheel carrier 511 and small wheel carrier 512 are in U-shape, the knot of the two
Structure is identical, only has differences in size, and the circular side panel of big 511 two sides of wheel carrier is rotatably connected in shaft by bearing, main
Driving wheel 52 is fixed in the position in shaft between two circular side panels of bull wheel frame 511, and driven wheel 53 is rotatably connected on steamboat
On frame 512, swing arm crawler belt 54 is wound around on driving wheel 52 and driven wheel 53, and auxiliary wheel 514 is supported in the inside of swing arm crawler belt 54
And rolling contact.
Hoofing part assembly 4 includes two groups of driving assemblies, is divided into positioned at the One On The Chassis front-end and back-end, and with two
Crawler-type traveling portion 7 corresponds, and is herein side for providing driving force for the diagonal driving wheel 72 in two crawler-type traveling portions 7
Just it distinguishes, the shaft connecting with hoofing part assembly 4 is named as active rotating shaft 9, another shaft of front end or rear end is named as
Driven spindle 91.
Referring to Fig. 5, driving assembly includes being fixed on the One On The Chassis movable motor 41 and retarder 42, movable motor 41
Output shaft is connected with the input terminal of retarder 42, and the output end of retarder 42 is connected with active rotating shaft 9, starts movable motor
When 41, power is transmitted on the active rotating shaft 9 being attached thereto by retarder 42, makes driving wheel 52, driving wheel 72 and rubber wheel
Tire 81 rotates synchronously under the drive of active rotating shaft 9, and the rotation of driving wheel 52 and driving wheel 72 drives 54 He of swing arm crawler belt
Traveling crawler 73 rotates synchronously, to realize that a drive is mostly dynamic, reduces driving cost, steps up the structure of fire-fighting robot more
It gathers.
Referring to Fig. 4 and Fig. 5, swing arm driving assembly 6 is set as two groups, is located at the One On The Chassis front-end and back-end, uses
In the oscillating arm mechanisms 5 for respectively driving front end or rear end while swinging.Swing arm driving assembly 6 includes protective shell, quill 62, turbine
63, worm screw 64, swing arm motor 65, speed reducer 66 and transmission component 67, wherein protective shell is between swing arm frame 51 and chassis 1
And it is weldingly fixed on the side on chassis 1, protective shell includes upper housing and lower case, is bolted between the two, quill
62 are socketed in the outside of driven spindle 91 and pass through upper housing and lower case, pass through upper housing and lower case in quill 62
Position is rotatablely connected by bearing, is fixedly connected close to one end of swing arm frame 51 with the side wall of big wheel carrier 511 in quill 62.
Turbine 63 is connected by key the position on quill 62 and being located in protective shell；Worm screw 64 is set to turbine 63
It surface and is meshed with turbine 63, the both ends of worm screw 64 are rotationally connected in upper housing by bearing；Swing arm motor 65 is logical
It crosses clip and is fixed on the position for being located at 41 top of movable motor on chassis 1；Speed reducer 66 is mounted on chassis 1, input terminal with
The output shaft of swing arm motor 65 is connected, and output end is connected with one end of worm screw 64；Transmission component 67 is arranged before chassis 1
Between end or the quill 62 and another oscillating arm mechanisms 5 of rear end, it is used to power conducting the cause other side by side, to drive
Two oscillating arm mechanisms, 5 synchronous hunting.
Referring to Fig. 5, transmission component 67 includes the first transmission gear 671, transmission shaft 672, the second transmission gear 673 and third
Transmission gear 674, the first transmission gear 671 are rotatably connected on the outer wall of driven spindle 91 by bearing, and it is by different
Shape connecting plate is fixedly connected with quill 62 far from one end of walking mechanism；Transmission shaft 672 is rotatably connected on two front ends on chassis 1
Between side plate or two rear end side plates, it is located at top and the setting parallel with it of active rotating shaft 9 and driven spindle 91；Second passes
Moving gear 673 is rotatablely connected on the outer wall of active rotating shaft 9 by bearing, is fixedly connected by bearing plate with swing arm frame 51；The
Three transmission gears 674 are fixed on transmission shaft 672 and nibble respectively with the first transmission gear 671 and 673 phase of the second transmission gear
It closes.
When starting swing arm motor 65, power is transmitted on the worm screw 64 being attached thereto by speed reducer 66, makes quill 62
With the first transmission gear 671 turbine 63, worm screw 64 drive under rotate, the first transmission gear 671 rotate during,
Power is transferred on third transmission gear 674 by it by the second transmission gear 673 and transmission shaft 672, makes third transmission gear
674 synchronize rotation, to drive two swing arm frames 51 of front end or rear end while swing.
When walking on level land or hard ground, walked by rubber-tyred running part 8；In sand ground or other field landform rows
When walking, walked by crawler-type traveling portion 7.
Referring to Fig. 4 and Fig. 5, when fire-fighting robot needed ditch, before staff is driven by swing arm driving assembly 6
The oscillating arm mechanisms 5 at end are moved downward along active rotating shaft 9 and driven spindle 91, are made it across channel and are overlapped on the another of channel
Side, to extend the length of traveling crawler 73, so that it is passed through；When fire-fighting robot needs to cross a ridge, staff is logical
Swing arm drive assembly 6 is crossed to drive the oscillating arm mechanisms 5 of front end to move downward along active rotating shaft 9 and driven spindle 91, until swing arm
Crawler belt 54 is overlapped on bank, and swing arm crawler belt 54 and traveling crawler 73 is then driven to move by hoofing part assembly 4；Work as fire-fighting
When robot travels to bank, for the stationarity for guaranteeing its own, it is supported by the oscillating arm mechanisms 5 of rear end.
Referring to Fig. 4 and Fig. 6, above-mentioned quick-disassembly structure include drive shaft 82 of the flanged joint on 72 side wall of driving wheel, with
And it is vertically fixed in the sleeve 83 of the wheel hub side of rubber tyre 81, the inner hollow of sleeve 83 and both ends are opening is close
Ring flange 84 is connected on the outer wall of one end, sleeve 83 is fixed on wheel hub by ring flange 84.On the inner wall of sleeve 83
It is connected with the fixed ring 831 towards 62 line direction projection of quill, interconnected mounting hole 832 will be separated into inside sleeve 83
With working hole 833, wherein working hole 833 is arranged close to wheel hub.
Referring to Fig. 7 and Fig. 9, the steel loop 85 extended towards 833 direction of working hole is equipped in fixed ring 831, steel loop 85 is close to one
The outer wall at end is equipped with the cascaded surface 851 of same size with fixed ring 831, and steel loop 85 passes through cascaded surface 851 and fixed ring 831
Inner thread connection.
For avoid steel loop 85 after protruding into sleeve 83 due to nowhere hold and can not normal mounting, steel loop 85 close to wheel
It offers multiple fixation holes 852 on the end face of hub one end, when operation, rod tool is inserted in fixation hole 852, then rotating bar
Shape tool makes it that steel loop 85 be driven to be threaded io in fixed ring 831, until the end face with fixed ring 831.
Several ball grooves 853 being circumferentially distributed are offered on the outer wall that steel loop 85 is located in working hole 833, run through steel loop
85, activity is placed with steel ball 86 in each ball groove 853, and the diameter of steel ball 86 is greater than the ball groove close to 85 inner wall side of steel loop
853 openings are open less than the ball groove 853 close to 85 outer wall side of steel loop, for guaranteeing steel ball 86 while normal mounting not
It falls into inside steel loop 85.
Referring to Fig. 6 and Figure 10, drive shaft 82 is multi-diameter shaft, and the outer diameter of the thick axis of the internal diameter and drive shaft 82 of sleeve 83 is mutually fitted
Match, steel loop 85(is shown in Fig. 7) internal diameter be adapted with the outer diameter of the thin axis of drive shaft 82, offer ring on the thin axis of drive shaft 82
Shape groove 821, when sleeve 83 is slidably socketed to drive shaft 82, steel ball 86 is connected in annular groove, to realize to rubber
The installation of rubber tire tire 81.The first chamfering 822 for facilitating installation is equipped with close to one end of annular recess 821 in drive shaft 82.
Connection component is equipped between mounting hole 832 and drive shaft 82, for guaranteeing that rubber tyre 81 is same with drive shaft 82
Step rotation.Connection component include be integrally attached on the thick axis of drive shaft 82 and along its axis direction extend spline 823 and
It is provided on the inner wall of mounting hole 832 and keyway 8321 compatible with spline 823, cooperates between the two, realize power
Transmission.
Referring to Fig. 7, it is equipped with switch block 87 in working hole 833, is used to guarantee that steel ball 86 to be connected to annular recess 821
It is interior or exit annular recess 821(and see Fig. 6), i.e. installation condition or disassembly status.Switch block 87 includes the steel loop that is slidably located in
Outside 85 with steel ball 86 is pressed baffle ring 871, be integrally attached on 85 outer wall of steel loop and towards wheel hub direction extend pushing away
Ring 872 and it is set in the spring 873 that the outside of steel loop 85 and both ends are abutted with fixed ring 831 and throw-out collar 872 respectively, wherein push away
Ring 872 stretches out working hole 833 and is adapted to external and its outer diameter with the internal diameter of working hole 833, it is generally the case that baffle ring 871 exists
It is blocked under the action of spring 873 at ball groove 853.Gap between 85 outer wall of 872 inner wall of throw-out collar and steel loop is greater than steel ball 86 and stretches
Enter the depth of annular recess 821, less than the diameter of steel ball 86, above-mentioned condition is for keeping away while guaranteeing 86 normal mounting of steel ball
Exempt from steel ball 86 to be detached from out of ball groove 853 completely.
Referring to Fig. 7 and Fig. 8,85 outer wall of steel loop corresponds to baffle ring 871 and is connected with anti-decylization far from the position of 831 one end of fixed ring
854, for limiting to baffle ring 871, prevent it from falling off from steel loop 85.Baffle ring 871 is equipped with close to one end of anti-decylization 854
Facilitate the second chamfering 874 that steel ball 86 is retracted into ball groove 853.
The position for corresponding to the stretching sleeve 83 of throw-out collar 872 on 1 wheel hub referring to Fig.1 offers handle hole 811, so as to staff
Throw-out collar 872 is pressed, makes it that baffle ring 871 be driven to slide along the outer wall of steel loop 85.
Referring to Fig. 6 and Figure 11, when installation, staff drives 5 edge of oscillating arm mechanisms of front and back by swing arm driving assembly 6
Active rotating shaft 9 and driven spindle 91 move downward, and prop up until by the chassis 1 of fire-fighting robot, have then removed rubber tyre 81,
Keyway 8321 is aligned with spline 823, then pushes rubber tyre 81 that sleeve 83 is slidably socketed in drive shaft 82；Work as driving
The thin axis of axis 82 protrude into steel loop 85 and with steel ball 86, when contact, steel ball 86 can hinder drive shaft 82 to protrude into, at this point, staff
Throw-out collar 872 is pressed inside towards sleeve 83, and baffle ring 871 is made to see figure with ball groove 853() it is staggered, it then proceedes to push rubber tyre 81,
Steel ball 86 is set to be influenced to move along the first chamfering 822 towards the direction far from 85 axis of steel loop by thrust, until the part of steel ball 86
Sphere is extruded into the gap between throw-out collar 872 and steel loop 85, and no longer influences going deep into for drive shaft 82；When the end of sleeve 83
When portion is abutted with the shaft shoulder of drive shaft 82, throw-out collar 872 is unclamped, at this point, baffle ring 871 resets under the influence of 873 restoring force of spring,
The second chamfering 874(is shown in figure during reset) push steel ball 86 to be retracted into ball groove 853 and be clamped with annular recess 821,
It realizes the fixed installation to rubber tyre 81, at this point, withdrawing oscillating arm mechanisms 5, makes traveling crawler 73 and ground face contact.
Referring to Fig. 5 and Figure 11, when disassembly, chassis 1 is jacked up by oscillating arm mechanisms 5, throw-out collar 872 is then pressed, makes baffle ring
871 are staggered with ball groove 853, then pull rubber tyre 81 towards the direction far from drive shaft 82.
Fire-fighting robot in the application has both two kinds of walking mechanisms of crawler belt and tire, and being allowed to can not only be in plane, hard
Quality is walked on face, moreover it is possible to be walked in sand ground or other field landform, as needed, staff can be incited somebody to action by oscillating arm mechanisms 5
Fire-fighting robot jacks up, and is then realized by quick-disassembly structure to the fast quick-detach of rubber tyre 81, completes the switching of walking manner,
Meanwhile oscillating arm mechanisms 5 can be also controlled by swing arm driving assembly 6 along shaft to lower swing, thus as fire-fighting robot
Front support and rear support are climbed or are crossed a ridge, and improve the ability of fire-fighting robot adaptation to the ground, facilitate staff fast
Speed implements fire fighting and rescue.
The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this
Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done, should all be covered by protection scope of the present invention it
It is interior.
Claims (10)
1. the multi-function robot of a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm, it is characterised in that: including chassis
(1), vehicle body (11), fire water monitor (2), spray equipment (3), crawler-type traveling portion (7), rubber-tyred running part (8) and walking are driven
Dynamic assembly (4)；
The vehicle body (11) is fixed on the chassis (1)；
The fire water monitor (2) is mounted on the vehicle body (11)；
The spray equipment (3) is connected with the fire water monitor (2)；
The crawler-type traveling portion (7) is set as two groups, is located at the chassis (1) along the two sides in length direction, institute
Crawler-type traveling portion (7) are stated to include the moping pulley group (71) being mounted on the chassis (1) side wall, be rotatably connected on by shaft
On the chassis (1) and it is located at the driving wheel (72) of moping pulley group (71) rear and front end and is wound around described in the same side
Traveling crawler (73) in moping pulley group (71) and the driving wheel (72)；
It is respectively driving force and rear-guard before the two crawler-type traveling portions (7) provide that the hoofing part assembly (4), which includes two groups,
The driving assembly of power；
The rubber-tyred running part (8) is set as four groups comprising setting is in the driving wheel (72) far from the chassis (1) one
The rubber tyre (81) of side and the quick-disassembly structure being connected between the rubber tyre (81) and the driving wheel (72).
2. the multi-function robot of a kind of collection tire according to claim 1, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the quick-disassembly structure includes drive shaft (82) of the flanged joint on the driving wheel (72) side wall and vertical
It is fixed in the sleeve (83) of the wheel hub side of the tire, is keyed between the sleeve (83) and the drive shaft (82), institute
The inner hollow of sleeve (83) and both ends are stated as opening, is connected on the inner wall of the sleeve (83) towards the sleeve (83) axis
The fixed ring (831) of direction projection, the fixed ring (831) will be separated into mounting hole (832) and work inside the sleeve (83)
Make hole (833), the working hole (833) is arranged close to wheel hub, is equipped in the fixed ring (831) towards the working hole (833)
The steel loop (85) that direction extends offers several ball grooves (853) being circumferentially distributed, the ball groove on the steel loop (85)
(853) interior activity is placed with steel ball (86), is offered on the drive shaft (82) and is slidably socketed in the sleeve (83) to described
For the annular recess (821) of the steel ball (86) clamping when in drive shaft (82)；
It is equipped in the working hole (833) and guarantees that steel ball (86) are connected in the annular recess (821) or exit the ring-type
The switch block (87) of groove (821).
3. the multi-function robot of a kind of collection tire according to claim 2, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the switch block (87) includes being slidably located in the steel loop (85) outside to be pressed to steel ball (86)
Baffle ring (871), be integrally attached on the steel loop (85) outer wall and towards wheel hub direction extend throw-out collar (872) and be set in
The spring (873) that steel loop (85) outside and both ends are abutted with the fixed ring (831) and the throw-out collar (872) respectively；
It is connected on the outer wall of the steel loop (85) and the baffle ring (871) is limited far from the fixed ring (831) one end
Anti-decylization (854)；
Gap between throw-out collar (872) inner wall and the steel loop (85) outer wall is greater than the steel ball (86) and protrudes into the ring-type
The depth of groove (821), the diameter for being less than the steel ball (86)；
The behaviour for facilitating staff to press the throw-out collar (872) to drive the baffle ring (871) to slide is offered on the wheel hub
Make hole (811).
4. the multi-function robot of a kind of collection tire according to claim 1, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the shaft includes active rotating shaft (9) and driven spindle (91), and the active rotating shaft (9) is diagonally arranged；
The driving component includes the movable motor (41) and retarder (42) being fixed on the chassis (1), the walking electricity
The output shaft of machine (41) is connected with the input terminal of the retarder (42), the output end of the retarder (42) be located at it is described
The active rotating shaft (9) of chassis (1) front end or rear end is connected.
5. the multi-function robot of a kind of collection tire according to claim 1, crawler belt, the three-in-one walking mechanism of swing arm,
It is characterized in that: further including oscillating arm mechanisms (5) and swing arm driving assembly (6)；
The oscillating arm mechanisms (5) are set as four groups, are separately mounted in the every shaft with the chassis (1) rotation connection,
And between the chassis (1) and the crawler-type traveling portion (7)；
Swing arm driving assembly (6) is set as two groups, is located at the front-end and back-end on the chassis (1), and can drive
Two oscillating arm mechanisms (5) of front end or rear end are simultaneously along the shaft towards a side oscillation.
6. the multi-function robot of a kind of collection tire according to claim 5, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the oscillating arm mechanisms (5) include swing arm frame (51), driving wheel (52), driven wheel (53) and swing arm crawler belt (54)；
The swing arm frame (51) include the big wheel carrier (511) being in U-shape and small wheel carrier (512), be connected to the big wheel carrier (511) and
Support plate (513) between the small wheel carrier (512) and several auxiliary for being rotatably connected on the support plate (513) two sides
It takes turns (514), the big wheel carrier (511) is rotatably connected in the shaft by bearing；
The driving wheel (52) is fixed in the position in the shaft and being located between two circular side panels of the big wheel carrier (511)
It sets；
The driven wheel (53) is rotatably connected on the small wheel carrier (512)；
The swing arm crawler belt (54) is wound around on the driving wheel (52) and the driven wheel (53)；
The auxiliary wheel (514) is supported in the inside of the swing arm crawler belt (54) and rolling contact.
7. the multi-function robot of a kind of collection tire according to claim 6, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the swing arm driving assembly (6) includes being weldingly fixed on the chassis (1) side and being located at the swing arm frame (51)
Protective cover (61) between the chassis (1), to be set in the driven spindle (91) external and by bearing and the protection
The quill (62) of cover (61) rotation connection, is rotatably connected on the guarantor at the turbine (63) being fixed on described sleeve pipe axis (62)
Shield (61) is located at the worm screw (64) being meshed above the turbine (63) and with the turbine (63), is mounted on the chassis
(1) movable motor (41) on and the speed reducer (66) for being connected to the motor output shaft Yu the worm screw (64) one end, institute
Quill (62) are stated to be fixedly connected close to the one end of the swing arm frame (51) with the big wheel carrier (511)；
It further include the transmission component (67) being connected between described sleeve pipe axis (62) and another oscillating arm mechanisms (5).
8. the multi-function robot of a kind of collection tire according to claim 7, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the transmission component (67) includes being rotatably connected on the driven spindle (91) and remote with described sleeve pipe axis (62)
First transmission gear (671) affixed from walking mechanism one end, after being rotatably connected on the two front end side plates or two on the chassis (1)
Transmission shaft (672) between the plate of end side is rotatably connected on the active rotating shaft (9) and fixed with swing arm frame described in the side (51)
Connection the second transmission gear (673) and be fixed on the transmission shaft (672) and respectively with first transmission gear
(671) and the third transmission gear (674) that is meshed of second transmission gear (673).
9. the multi-function robot of a kind of collection tire according to claim 1, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the fire water monitor (2) include be fixed on the top plate of the vehicle body (11) and horizontally disposed water inlet pipe (21),
Be vertically installed on water inlet pipe (21) and be connected with water inlet pipe (21) water cannon pedestal (22), be integrally attached to water cannon pedestal
(22) on and horizontally disposed gun tube (23) and the big gun head (24) for being mounted on gun tube (23) end.
10. the multi-function robot of a kind of collection tire according to claim 1, crawler belt, the three-in-one walking mechanism of swing arm,
Be characterized in that: the spray equipment (3) include be vertically installed on the water inlet pipe (21) and communicate therewith spray tube (31),
Be mounted on spray tube (31) far from water inlet pipe (21) one end atomizing spray head (32) and be mounted on spray tube (31) and with
The solenoid valve (33) that PLC is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910736596.4A CN110406603A (en) | 2019-08-09 | 2019-08-09 | It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910736596.4A CN110406603A (en) | 2019-08-09 | 2019-08-09 | It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot |
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| Publication Number | Publication Date |
|---|---|
| CN110406603A true CN110406603A (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910736596.4A Pending CN110406603A (en) | 2019-08-09 | 2019-08-09 | It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot |
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