CN111939502A - Auxiliary device for walking in ruin field of fire-fighting robot - Google Patents
Auxiliary device for walking in ruin field of fire-fighting robot Download PDFInfo
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- CN111939502A CN111939502A CN202010663397.8A CN202010663397A CN111939502A CN 111939502 A CN111939502 A CN 111939502A CN 202010663397 A CN202010663397 A CN 202010663397A CN 111939502 A CN111939502 A CN 111939502A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 120
- 238000004140 cleaning Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 28
- 238000003860 storage Methods 0.000 claims description 18
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000005728 strengthening Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 description 7
- 238000007790 scraping Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of walking auxiliary devices, in particular to a walking auxiliary device for a fire-fighting robot in a ruin field, which comprises a protection structure, an angle adjusting structure, a transmission structure, a guide structure, an anti-skidding structure, a cleaning structure and a driving structure, wherein the protection structure is arranged on the protection structure; one end of the transmission structure, which is far away from the angle adjusting structure, is provided with a guide structure in rotary connection; a driving structure for driving the guide structure is arranged in the angle adjusting structure and the transmission structure; and then be convenient for through the tire hub connection of drive structure with the robot, adjust the position of the guide structure of transmission structure's tip through angle adjustment structure simultaneously, make the robot drive transmission structure through drive structure and drive the guide structure and roll at the in-process that traveles, through the position difference of guide structure, make guide structure clear up the object that shelters from in the place ahead of the robot or pass through guide structure mobile robot, and then the robot of being convenient for searches for and rescues in ruins place, improved the function of traveling of robot greatly.
Description
Technical Field
The invention relates to the field of walking auxiliary devices, in particular to a walking auxiliary device for a fire-fighting robot in a ruin field.
Background
The fire-fighting robot is mainly applied to fire suppression and reconnaissance in various fields, is particularly applicable to explosive environments such as petroleum, gas and the like, has basic characteristics such as perception, decision-making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves working efficiency and quality, serves human life, expands or extends the activity and capacity range of the human beings, and improves safety in the fire-fighting and rescue process.
However, the walking parts of the traditional fire-fighting robot are tires or tracks, the robot using the tires as the walking parts has the advantages that in order to reduce the center of gravity as much as possible, the fire-fighting robot is close to the ground, when the robot is applied to ruin places, the chassis of the fire-fighting robot is easy to scratch and rub, the fire-fighting robot is clamped, meanwhile, the advancing direction of the robot is not provided with a guide assembly, when large foreign matters exist right in front of the tires, the tires of the robot are easy to roll over due to different stresses, and when more dust and debris exist in the ruin places, the tires are easy to slip, and the ground gripping ability of the tires is affected after the debris is adhered to the tires.
Disclosure of Invention
To solve the problems in the prior art, the present invention provides a walking aid for a fire fighting robot in a ruin field.
The technical scheme adopted by the invention for solving the technical problems is as follows: a walking auxiliary device for a fire-fighting robot in a ruins field comprises a protection structure, an angle adjusting structure, a transmission structure, a guide structure, an anti-skid structure, a cleaning structure and a driving structure; the angle adjusting structure for adjusting the angle is arranged on the protecting structure for protecting the tire; the angle adjusting structure is rotatably connected with the transmission structure, and one end of the transmission structure, which is far away from the angle adjusting structure, is provided with the guide structure which is rotatably connected; the guide structure is provided with the anti-skid structure for increasing the friction force; the driving structure for driving the guide structure is arranged inside the angle adjusting structure and the transmission structure, and the driving structure is rotatably connected with the protection structure; the inside of protective structure is equipped with and is used for clearing up the tire sweeps clean the structure, clean the structure with rotate between the protective structure and be connected, just clean the structure connect in drive structure.
Specifically, protective structure includes fixed plate and lag, be equipped with on the angle modulation structure the lag, be equipped with a plurality of on the lag the fixed plate.
Specifically, the angle adjustment structure is including accomodating frame, strengthening rib, electric hydraulic cylinder, rack and first gear, accomodate the frame vertical fixation in the lag, accomodate the frame with the corner of lag is equipped with a plurality of cross-sections and is trapezoidal the strengthening rib, accomodate the inside of frame and be equipped with electric hydraulic cylinder, electric hydraulic cylinder's tip is equipped with the rack, the rack with accomodate sliding connection between the frame, the rack with mesh between the first gear, first gear with accomodate and rotate between the frame and be connected.
Specifically, the transmission structure includes support cover, connecting axle, two second gears, guide ring and two third gears, the guide ring run through in accomodate the frame, the guide ring with accomodate and rotate between the frame and be connected, first gear is fixed in the guide ring, the one end that the guide ring deviates from first gear is equipped with support cover, the connecting axle with rotate between the support cover and be connected, the both ends symmetry of connecting axle is equipped with one second gear and one third gear.
Specifically, the guide structure comprises a guide shaft and a roller, the guide shaft is rotatably connected with the support sleeve, the guide shaft is vertically arranged with the connecting shaft, the other third gear is arranged at the end of the guide shaft, and the other end of the guide shaft is connected with the roller through a bolt.
Specifically, the driving structure comprises a driving shaft, a clamping block, sliding grooves, pulleys, a driving block, a transmission shaft and a second screw rod, the transmission shaft is connected with the protective sleeve and the storage frame in a penetrating manner, the transmission shaft is rotatably connected with the storage frame, the transmission shaft is perpendicular to the connecting shaft, the other second gear is fixed on the transmission shaft, the two second gears are meshed with each other, the driving shaft is clamped with the transmission shaft, the second screw rod is connected with the transmission shaft and the driving block in a penetrating manner, the second screw rod is rotatably connected with the transmission shaft, the second screw rod is in threaded connection with the driving block, the driving block is in sliding connection with the transmission shaft, the driving block is provided with two obliquely arranged sliding grooves, the pulleys are in rolling connection with the sliding grooves, and the pulleys are in rolling connection with the clamping block, the clamping block is connected with the transmission shaft in a sliding mode, the sliding direction of the clamping block is perpendicular to that of the driving block, the clamping block is clamped with the driving shaft, and the section of the clamping block is L-shaped.
Specifically, clean the structure and include belt, pivot, band pulley, reset spring, scraper blade and uide bushing, the pivot with the lag and it connects to accomodate to rotate between the frame, the pivot with rotate between the transmission shaft and connect, the transmission shaft with be equipped with in the pivot the band pulley, the belt twine in the band pulley, be equipped with the cylinder structure in the pivot the uide bushing, circumference array is equipped with a plurality ofly on the uide bushing the scraper blade, the scraper blade with be equipped with between the uide bushing reset spring, the tip of scraper blade is the arc structure.
Specifically, anti-skidding structure includes anti-skidding pole, transmission piece, piston and first lead screw, the piston with sliding connection between the gyro wheel, first lead screw with rotate between the piston and be connected, first lead screw with threaded connection between the gyro wheel, circumference array is equipped with a plurality ofly on the gyro wheel the transmission piece, the transmission piece with sliding connection between the gyro wheel, the equidistance is equipped with a plurality ofly on the transmission piece the anti-skidding pole, just the anti-skidding pole with sliding connection between the gyro wheel.
The invention has the beneficial effects that:
(1) the invention relates to a walking auxiliary device in a ruin field for a fire-fighting robot, wherein an angle adjusting structure for adjusting an angle is arranged on a protective structure for protecting tires; the angle adjusting structure is rotatably connected with the transmission structure, and a guide structure which is rotatably connected is arranged at one end of the transmission structure, which is far away from the angle adjusting structure; a driving structure for driving the guide structure is arranged inside the angle adjusting structure and the transmission structure, and the driving structure is rotatably connected with the protection structure; and then be convenient for through the tire hub connection of drive structure with the robot, adjust the position of the guide structure of drive structure's tip simultaneously through angle modulation structure, make the robot drive the guide structure through drive structure drive structure and roll at the in-process of traveling, position through guide structure is different, make the object that guide structure clearance robot the place ahead was sheltered from or move the robot through guide structure, and then the robot of being convenient for searches for and rescues in ruins place, the function of traveling of robot has been improved greatly, promptly: firstly, a fixing plate is fixed on a bracket of a robot through bolts or direct welding, a protective sleeve protects a robot tire, a driving shaft is correspondingly welded on a tire shaft, then a hexagonal wrench is clamped with a second screw rod, the second screw rod is rotated, the second screw rod drives a driving block and a transmission shaft to slide in a threaded manner, the driving block slides in a direction deviating from the driving shaft, a sliding groove on the driving block guides and limits the pulley, the pulley drives a clamping block and the transmission shaft to slide, the two clamping blocks slide relatively to clamp the driving shaft, the driving shaft is polygonal, the clamping between the driving shaft and the transmission shaft is more stable, when the driving shaft and the transmission shaft are disassembled, the second screw rod is rotated in a reverse direction, the driving block and the transmission shaft slide in a threaded manner, the driving block slides in the direction of the driving shaft, and the sliding groove on the driving block guides and limits the pulley, the pulley drives the clamping blocks to slide with the transmission shaft, the two clamping blocks slide oppositely and are not clamped with the drive shaft, so that the drive shaft and the transmission shaft are more convenient and quicker to mount and dismount, then a camera in the running direction of the robot acquires ground information, the opening and closing of the electric hydraulic cylinder are controlled by the control assembly, the rack is driven by the electric hydraulic cylinder to slide in the accommodating frame, the rack drives a multiple of the rotation degree of a first gear, the first gear drives the guide ring to rotate with the accommodating frame, the guide ring drives the angle between the support sleeve and the accommodating frame to change, the position of a roller on a guide shaft at the end part of the support sleeve is changed, when foreign matters cannot be moved to the side edge in the running direction, the roller rotates anticlockwise after the support sleeve rotates, when the foreign matters can be allocated to the side edge in the running direction, the roller rotates clockwise after the support sleeve rotates, the tire shaft drives the drive shaft to rotate, the driving shaft drives the transmission shaft to rotate, the second gear on the transmission shaft drives the second gear on the connecting shaft to rotate, the third gear on the connecting shaft drives the third gear on the guide shaft to rotate, the third gear drives the guide shaft to rotate, the guide shaft drives the roller to rotate, foreign matters in the driving direction are distributed towards two sides of the tire through the rotation of the roller, the problem that the robot is difficult to drive or even turns over due to the fact that the tire is blocked by large foreign matters is effectively avoided, the robot can conveniently drive in ruined places, meanwhile, after the roller is in contact with the ground after the supporting sleeve rotates, the distance between the roller and the chassis is increased, the center of gravity is increased, the temporary driving assembly can be used as a temporary driving assembly, the robot can conveniently drive in a place with more foreign matters, and the driving quality of the robot is.
(2) Protective structure's inside is equipped with the structure that cleans that is used for clearing up tire sweeps, cleans and rotates between structure and the protective structure to be connected, and cleans structural connection in drive structure, and drive structure drive cleans the structure and rotates, and then is convenient for through cleaning sweeps and the bond on the structure clearance tire, prevents effectively that the foreign matter from bonding on the tire and causing the tire to skid, promptly: the robot in-process transmission shaft that traveles rotates, epaxial band pulley of transmission drives changes epaxial band pulley and rotates, the pivot with accomodate and rotate between the frame, the pivot drives the uide bushing and rotates, the uide bushing rotates, it slides to contradict between the scraper blade of the rubber materials of arc center towards the tire and the tire on the messenger's uide bushing, prevent effectively that the foreign matter from bonding on the tire, scraper blade circumference array is equipped with a plurality ofly simultaneously, be equipped with reset spring between scraper blade and the uide bushing, and then can continue to use after making the scraper blade wearing and tearing, shake after making the scraper blade reset simultaneously, prevent effectively that the sweeps.
(3) The guide structure is provided with an anti-skid structure for increasing friction force; the setting up of anti-skidding structure has increased frictional force, makes guide structure anti-skidding ability stronger in the process of going, and then makes the robot go more stably, promptly: when using the gyro wheel to go subaerial, subaerial accumulational sweeps is when too much, use hexagon socket wrench and first lead screw block, rotate hexagon socket wrench, make first lead screw rotate, first lead screw rotates the inside of screw thread drive piston at the gyro wheel and slides towards the steering spindle direction, make the cavity that holds between piston and the gyro wheel reduce, atmospheric pressure increase drive transmission piece deviates from the axle center direction and slides, it exposes to make the transmission piece drive the skid resistant bar, and then make the ground ability of grabbing of gyro wheel stronger, it is stronger to make the gyro wheel anti-skidding ability in the in-process of driving, and then make the robot drive more stable.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view showing the overall structure of a walking aid in the ruin field for a fire fighting robot according to the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic view of a connection structure between the angle adjustment structure and the protection structure shown in FIG. 1;
FIG. 4 is an enlarged view of the portion B shown in FIG. 3;
FIG. 5 is a schematic structural view of the sweeping structure shown in FIG. 4;
FIG. 6 is an enlarged view of the portion C shown in FIG. 3;
FIG. 7 is a schematic view of a connection structure between the receiving frame and the transmission structure shown in FIG. 6;
FIG. 8 is a schematic view of the connection structure of the transmission structure and the guide structure shown in FIG. 1;
fig. 9 is an enlarged view of the portion D shown in fig. 8.
In the figure: 1. the protective structure comprises a protective structure 11, a fixing plate 12, a protective sleeve 2, an angle adjusting structure 21, a storage frame 22, reinforcing ribs 23, an electric hydraulic cylinder 24, a rack 25, a first gear 3, a transmission structure 31, a support sleeve 32, a connecting shaft 33, a second gear 34, a guide ring 35, a third gear 4, a guide structure 41, a guide shaft 42, a roller 5, an anti-slip structure 51, an anti-slip rod 52, a transmission block 53, a piston 54, a first screw rod 6, a cleaning structure 61, a belt 62, a rotating shaft 63, a belt wheel 64, a return spring 65, a scraping plate 66, a guide sleeve 7, a driving structure 71, a driving shaft 72, a clamping block 73, a sliding groove 74, a pulley 75, a driving block 76, a transmission shaft 77 and a second screw rod.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 9, the walking aid for the ruin field of the fire-fighting robot in the invention comprises a protection structure 1, an angle adjusting structure 2, a transmission structure 3, a guide structure 4, an anti-skid structure 5, a cleaning structure 6 and a driving structure 7; the angle adjusting structure 2 for adjusting the angle is arranged on the protective structure 1 for protecting the tire; the angle adjusting structure 2 is rotatably connected with the transmission structure 3, and one end of the transmission structure 3, which is far away from the angle adjusting structure 2, is provided with the guide structure 4 which is rotatably connected; the guide structure 4 is provided with the anti-skid structure 5 for increasing friction force; the driving structure 7 for driving the guide structure 4 is arranged inside the angle adjusting structure 2 and the transmission structure 3, and the driving structure 7 is rotatably connected with the protective structure 1; protective structure 1's inside is equipped with and is used for clearing up the tire sweeps clean structure 6, clean structure 6 with rotate between the protective structure 1 and be connected, just clean structure 6 connect in drive structure 7.
Specifically, protective structure 1 includes fixed plate 11 and lag 12, be equipped with on angle modulation structure 2 lag 12, be equipped with a plurality of on lag 12 fixed plate 11.
Specifically, the angle adjusting structure 2 includes a storage frame 21, a reinforcing rib 22, an electric hydraulic cylinder 23, a rack 24 and a first gear 25, the storage frame 21 is perpendicularly fixed to the protective sleeve 12, a plurality of reinforcing ribs 22 having trapezoidal cross sections are disposed at corners of the storage frame 21 and the protective sleeve 12, the electric hydraulic cylinder 23 is disposed inside the storage frame 21, the rack 24 is disposed at an end of the electric hydraulic cylinder 23, the rack 24 is slidably connected to the storage frame 21, the rack 24 is engaged with the first gear 25, and the first gear 25 is rotatably connected to the storage frame 21.
Specifically, the transmission structure 3 includes a support sleeve 31, a connecting shaft 32, two second gears 33, a guide ring 34 and two third gears 35, the guide ring 34 penetrates through the storage frame 21, the guide ring 34 is rotatably connected with the storage frame 21, the first gear 25 is fixed to the guide ring 34, the support sleeve 31 is arranged at one end of the guide ring 34 away from the first gear 25, the connecting shaft 32 is rotatably connected with the support sleeve 31, and the second gear 33 and the third gear 35 are symmetrically arranged at two ends of the connecting shaft 32.
Specifically, the guide structure 4 includes a guide shaft 41 and a roller 42, the guide shaft 41 is rotatably connected to the support sleeve 31, the guide shaft 41 is vertically arranged with the connecting shaft 32, another third gear 35 is arranged at an end of the guide shaft 41, and the roller 42 is bolted to another end of the guide shaft 41.
Specifically, the driving structure 7 includes a driving shaft 71, a latch 72, a sliding slot 73, a pulley 74, a driving block 75, a transmission shaft 76 and a second screw rod 77, the transmission shaft 76 is connected to the protecting jacket 12 and the receiving frame 21 in a penetrating manner, the transmission shaft 76 is connected to the receiving frame 21 in a rotating manner, the transmission shaft 76 is perpendicular to the connecting shaft 32, the other second gear 33 is fixed to the transmission shaft 76, the two second gears 33 are engaged with each other, the driving shaft 71 is engaged with the transmission shaft 76, the second screw rod 77 is connected to the transmission shaft 76 and the driving block 75 in a penetrating manner, the second screw rod 77 is connected to the transmission shaft 76 in a rotating manner, the second screw rod 77 is connected to the driving block 75 in a threaded manner, the driving block 75 is connected to the transmission shaft 76 in a sliding manner, the driving block 75 is provided with the two sliding slots 73 which are arranged in an inclined manner, the pulley 74 is in rolling connection with the sliding groove 73, the pulley 74 is in rolling connection with the latch 72, the latch 72 is in sliding connection with the transmission shaft 76, the sliding direction of the latch 72 is perpendicular to the sliding direction of the driving block 75, the latch 72 is engaged with the driving shaft 71, and the cross section of the latch 72 is L-shaped; the angle adjusting structure 2 for adjusting the angle is arranged on the protective structure 1 for protecting the tire; the angle adjusting structure 2 is rotatably connected with the transmission structure 3, and one end of the transmission structure 3, which is far away from the angle adjusting structure 2, is provided with the guide structure 4 which is rotatably connected; the driving structure 7 for driving the guide structure 4 is arranged inside the angle adjusting structure 2 and the transmission structure 3, and the driving structure 7 is rotatably connected with the protective structure 1; the driving structure 7 is connected with a tire shaft of the robot conveniently, the position of the guide structure 4 at the end part of the transmission structure 3 is adjusted by the angle adjusting structure 2, so that the robot drives the transmission structure 3 to drive the guide structure 4 to roll by the driving structure 7 in the driving process, and the guide structure 4 is used for cleaning objects sheltered in front of the robot or moving the robot through the guide structure 4 by the difference of the positions of the guide structure 4, so that the robot can search and rescue in ruins, and the driving function of the robot is greatly improved, namely: firstly, the fixing plate 11 is fixed on a bracket of a robot through bolts or direct welding, the protecting sleeve 12 protects a robot tire, the driving shaft 71 is correspondingly welded on a tire shaft, then a hexagonal wrench is used for clamping with the second screw mandrel 77, the second screw mandrel 77 is rotated, the second screw mandrel 77 drives the driving block 75 and the transmission shaft 76 to slide through screw threads, the driving block 75 slides away from the driving shaft 71, the sliding chute 73 on the driving block 75 guides and limits the pulley 74, the pulley 74 drives the clamping block 72 and the transmission shaft 76 to slide, the two clamping blocks 72 clamp and clamp the driving shaft 71 relatively in a sliding way, the driving shaft 71 is polygonal, the clamping between the driving shaft 71 and the transmission shaft 76 is more stable, when the driving shaft 71 and the transmission shaft 76 are disassembled, the second screw rod 77 is rotated reversely, the second screw rod 77 drives the driving block 75 and the transmission shaft 76 to slide through threads, so that the driving block 75 slides towards the driving shaft 71, the sliding groove 73 on the driving block 75 guides and limits the pulley 74, the pulley 74 drives the fixture block 72 and the transmission shaft 76 to slide, the two fixture blocks 72 slide back to back and are not clamped with the driving shaft 71, the driving shaft 71 and the transmission shaft 76 are more convenient and rapid to mount and dismount, then a camera in the running direction of the robot collects ground information, the electric hydraulic cylinder 23 is controlled to open and close through a control assembly, the rack 24 is driven by the electric hydraulic cylinder 23 to slide in the accommodating frame 21, the rack 24 drives the first gear 25 to rotate by multiples of 90 degrees, and the first gear 25 drives the guide ring 34 and the accommodating frame 21 to rotate, the angle between the support sleeve 31 and the receiving frame 21 is changed by the guide ring 34, the position of the roller 42 on the guide shaft 41 at the end of the support sleeve 31 is changed, when the foreign matter cannot be moved to the side in the traveling direction, the roller 42 rotates counterclockwise after the support sleeve 31 rotates, when the foreign matter can be distributed to the side in the traveling direction, the roller 42 rotates clockwise after the support sleeve 31 rotates, the tire shaft drives the driving shaft 71 to rotate during the traveling of the robot, the driving shaft 71 drives the transmission shaft 76 to rotate, the second gear 33 on the transmission shaft 76 drives the second gear 33 on the connecting shaft 32 to rotate, the third gear 35 on the connecting shaft 32 drives the third gear 35 on the guide shaft 41 to rotate, and the third gear 35 drives the guide shaft 41 to rotate, the guide shaft 41 drives the roller 42 to rotate, foreign matters in the driving direction are distributed towards two sides of the tire through the rotation of the roller 42, so that the problem that the robot is difficult to drive and even turns over due to the fact that the tire is blocked by large foreign matters is effectively avoided, the robot can conveniently drive in ruin places, meanwhile, after the roller 42 is in contact with the ground after the support sleeve 31 rotates, the distance between the roller 41 and the chassis is increased, the center of gravity is increased, the roller can serve as a temporary driving assembly, the robot can conveniently drive in a place with more foreign matters, and the driving quality of the robot is greatly improved.
Specifically, the cleaning structure 6 includes a belt 61, a rotating shaft 62, a belt wheel 63, a return spring 64, a scraper 65 and a guiding sleeve 66, the rotating shaft 62 is rotatably connected with the protecting sleeve 12 and the receiving frame 21 thereof, the rotating shaft 62 is rotatably connected with the transmission shaft 76, the belt wheel 63 is arranged on the transmission shaft 76 and the rotating shaft 62, the belt 61 is wound on the belt wheel 63, the guiding sleeve 66 with a cylindrical structure is arranged on the rotating shaft 62, a plurality of the scrapers 65 are circumferentially arranged on the guiding sleeve 66, the return spring 64 is arranged between the scrapers 65 and the guiding sleeve 66, and the end of each scraper 65 is in an arc structure; protective structure 1's inside is equipped with and is used for clearing up tire sweeps clean structure 6, clean structure 6 with rotate between the protective structure 1 and be connected, just clean structure 6 connect in drive structure 7, drive structure 7 drive clean structure 6 and rotate, and then be convenient for pass through scrap and the bond on the structure 6 clearance tire effectively prevent that the foreign matter from bonding on the tire and causing the tire to skid, promptly: the robot driving in-process the transmission shaft 76 rotates, on the transmission shaft 76 the band pulley 63 drives in the pivot 62 the band pulley 63 rotates, the pivot 76 with accomodate and rotate between the frame 21, the pivot 62 drives the uide bushing 66 rotates, makes arc center is towards the rubber materials of tire on the uide bushing 66 conflict the slip between scraper blade 65 and the tire, effectively prevents the foreign matter and bonds on the tire, simultaneously scraper blade 65 circumference array is equipped with a plurality ofly, scraper blade 65 with be equipped with between the uide bushing 66 reset spring 64, and then makes can continue to use after scraper blade 65 wearing and tearing, makes simultaneously the shake after scraper blade 65 resets, effectively prevents the sweeps and is in bond on the scraper blade 65.
Specifically, the anti-skid structure 5 includes an anti-skid rod 51, a transmission block 52, a piston 53 and a first lead screw 54, the piston 53 is slidably connected with the roller 42, the first lead screw 54 is rotatably connected with the piston 53, the first lead screw 54 is in threaded connection with the roller 42, a plurality of transmission blocks 52 are arranged on the roller 42 in a circumferential array, the transmission blocks 52 are slidably connected with the roller 42, a plurality of anti-skid rods 51 are equidistantly arranged on the transmission blocks 52, and the anti-skid rods 51 are slidably connected with the roller 42; the guide structure 4 is provided with the anti-skid structure 5 for increasing friction force; the anti-skid structure 5 increases the friction force, so that the anti-skid capacity of the guide structure 4 is stronger in the running process, and the running of the robot is more stable, namely: when the roller 42 is used for driving on the ground and the accumulated waste on the ground is too much, an inner hexagonal wrench is used for being clamped with the first screw rod 54, the inner hexagonal wrench is rotated to enable the first screw rod 54 to rotate, the first screw rod 54 rotates and drives the piston 53 to slide in the roller 42 towards the direction of the guide shaft 41, the accommodating cavity between the piston 43 and the roller 42 is reduced, the transmission block 52 is driven to slide in the direction deviating from the axis by increasing the atmospheric pressure, the transmission block 52 drives the anti-skid rod 51 to be exposed, the ground-holding capacity of the roller 42 is further enhanced, the anti-skid capacity of the roller 42 is further enhanced in the driving process, and the robot is further more stable in driving.
When the device is used, firstly, the fixing plate 11 is fixed on a bracket of a robot through bolts or direct welding, the protecting sleeve 12 protects tires of the robot, the driving shaft 71 is correspondingly welded on a tire shaft, then a hexagonal wrench is used for clamping with the second screw mandrel 77, the second screw mandrel 77 is rotated, the second screw mandrel 77 drives the driving block 75 and the transmission shaft 76 to slide through threads, the driving block 75 slides in a direction deviating from the driving shaft 71, the sliding chute 73 on the driving block 75 guides and limits the pulley 74, the pulley 74 drives the clamping block 72 and the transmission shaft 76 to slide, the two clamping blocks 72 relatively slide to clamp and clamp the driving shaft 71, the driving shaft 71 is polygonal, the clamping between the driving shaft 71 and the transmission shaft 76 is more stable, when the driving shaft 71 and the transmission shaft 76 are disassembled, the second screw mandrel 77 is rotated reversely, the driving block 75 and the transmission shaft 76 slide through threads, the driving block 75 is made to slide towards the driving shaft 71, the sliding groove 73 on the driving block 75 guides and limits the pulley 74, the pulley 74 drives the fixture blocks 72 to slide between the transmission shafts 76, the two fixture blocks 72 slide back to back and are not clamped with the driving shaft 71, the driving shaft 71 and the transmission shafts 76 are more convenient and faster to mount and dismount, then the camera in the running direction of the robot collects ground information, the control assembly controls the electric hydraulic cylinder 23 to open and close, the electric hydraulic cylinder 23 drives the rack 24 to slide in the storage frame 21, the rack 24 drives the first gear 25 to rotate by multiples of 90 degrees, the first gear 25 drives the guide ring 34 to rotate with the storage frame 21, the guide ring 34 drives the support sleeve 31 to change the angle with the storage frame 21, the position of the roller 42 on the guide shaft 41 at the end of the support sleeve 31 is changed, and when foreign matters cannot be moved to the side in the running direction, the roller 42 rotates counterclockwise after the support sleeve 31 rotates, when the foreign matters can be distributed to the side edge in the driving direction, the roller 42 rotates clockwise after the support sleeve 31 rotates, the tire shaft drives the driving shaft 71 to rotate during the robot driving, the driving shaft 71 drives the transmission shaft 76 to rotate, the second gear 33 on the transmission shaft 76 drives the second gear 33 on the connecting shaft 32 to rotate, the third gear 35 on the connecting shaft 32 drives the third gear 35 on the guide shaft 41 to rotate, the guide shaft 41 drives the roller 42 to rotate, the foreign matters in the driving direction are distributed to the two sides of the tire through the rotation of the roller 42, thereby effectively avoiding the difficulty in driving the robot or the rollover caused by the larger foreign matters blocking the tire, facilitating the robot to drive in ruin places, and simultaneously increasing the distance between the roller 41 and a chassis after the roller 42 contacts with the ground after the support sleeve 31 rotates, the gravity center is increased, the robot can be used as a temporary driving assembly, driving in a section with more foreign matters is facilitated, and the driving quality of the robot is greatly improved; the transmission shaft 76 rotates in the running process of the robot, the belt pulley 63 on the transmission shaft 76 drives the belt pulley 63 on the rotating shaft 62 to rotate, the rotating shaft 76 and the containing frame 21 rotate, the rotating shaft 62 drives the guide sleeve 66 to rotate, the guide sleeve 66 rotates, the arc center on the guide sleeve 66 faces the scraping plate 65 made of rubber materials of the tire and is abutted to the tire to slide, foreign matters are effectively prevented from being bonded on the tire, meanwhile, a plurality of scraping plates 65 are circumferentially arrayed, the reset springs 64 are arranged between the scraping plates 65 and the guide sleeve 66, the scraping plates 65 can be continuously used after being worn, meanwhile, the scraping plates 65 are enabled to shake after being reset, and waste chips are effectively prevented from being bonded on the scraping plates; when the roller 42 is used for driving on the ground, when the accumulated waste chips on the ground are too much, the inner hexagonal wrench is used for being clamped with the first screw rod 54, the inner hexagonal wrench is rotated to enable the first screw rod 54 to rotate, the first screw rod 54 rotates, the thread driving piston 53 slides towards the direction of the guide shaft 41 in the roller 42, the accommodating cavity between the piston 43 and the roller 42 is reduced, the atmospheric pressure is increased to drive the transmission block 52 to slide away from the axis direction, the transmission block 52 drives the anti-skid rod 51 to be exposed, the ground grabbing capacity of the roller 42 is stronger, the anti-skid capacity of the roller 42 is stronger in the driving process, and the robot is more stable in driving.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A walking auxiliary device in ruin field for fire-fighting robot is characterized in that: comprises a protective structure (1), an angle adjusting structure (2), a transmission structure (3), a guide structure (4), an anti-skid structure (5), a cleaning structure (6) and a driving structure (7); the angle adjusting structure (2) for adjusting the angle is arranged on the protective structure (1) for protecting the tire; the angle adjusting structure (2) is rotatably connected with the transmission structure (3), and one end of the transmission structure (3) departing from the angle adjusting structure (2) is provided with the guide structure (4) which is rotatably connected; the guide structure (4) is provided with the anti-skid structure (5) for increasing the friction force; the driving structure (7) for driving the guide structure (4) is arranged inside the angle adjusting structure (2) and the transmission structure (3), and the driving structure (7) is rotatably connected with the protection structure (1); the inside of protective structure (1) is equipped with and is used for clearing up the tire sweeps clean structure (6), clean structure (6) with rotate between protective structure (1) and be connected, just clean structure (6) connect in drive structure (7).
2. The ruin field walking aid for a fire fighting robot according to claim 1, wherein: protective structure (1) is equipped with on angle modulation structure (2) lag (12) including fixed plate (11) and lag (12), be equipped with a plurality ofly on lag (12) fixed plate (11).
3. The ruin field walking aid for a fire fighting robot according to claim 2, wherein: angle modulation structure (2) are including accomodating frame (21), strengthening rib (22), electric hydraulic cylinder (23), rack (24) and first gear (25), accomodate frame (21) vertical fixation in lag (12), accomodate frame (21) with the corner of lag (12) is equipped with a plurality of cross-sections and is trapezoidal strengthening rib (22), the inside of accomodating frame (21) is equipped with electric hydraulic cylinder (23), the tip of electric hydraulic cylinder (23) is equipped with rack (24), rack (24) with sliding connection between accomodating frame (21), rack (24) with mesh between first gear (25), first gear (25) with rotate between accomodating frame (21) and be connected.
4. The ruin field walking aid for a fire fighting robot according to claim 3, wherein: the transmission structure (3) comprises a support sleeve (31), a connecting shaft (32), two second gears (33), a guide ring (34) and two third gears (35), wherein the guide ring (34) penetrates through the storage frame (21), the guide ring (34) is rotatably connected with the storage frame (21), the first gear (25) is fixed on the guide ring (34), one end, deviating from the first gear (25), of the guide ring (34) is provided with the support sleeve (31), the connecting shaft (32) is rotatably connected with the support sleeve (31), and the two ends of the connecting shaft (32) are symmetrically provided with one of the second gears (33) and one of the third gears (35).
5. The ruin field walking aid for a fire fighting robot according to claim 4, wherein: the guide structure (4) comprises a guide shaft (41) and a roller (42), the guide shaft (41) is rotatably connected with the support sleeve (31), the guide shaft (41) is vertically arranged with the connecting shaft (32), the end part of the guide shaft (41) is provided with another third gear (35), and the other end of the guide shaft (41) is connected with the roller (42) through a bolt.
6. The ruin field walking aid for a fire fighting robot according to claim 4, wherein: the driving structure (7) comprises a driving shaft (71), a clamping block (72), a sliding groove (73), a pulley (74), a driving block (75), a transmission shaft (76) and a second screw rod (77), the transmission shaft (76) is connected to the protective sleeve (12) and the storage frame (21) in a penetrating manner, the transmission shaft (76) is connected with the storage frame (21) in a rotating manner, the transmission shaft (76) is perpendicular to the connecting shaft (32), the other second gear (33) is fixed to the transmission shaft (76), the two second gears (33) are meshed with each other, the driving shaft (71) is clamped with the transmission shaft (76), the second screw rod (77) is connected with the transmission shaft (76) and the driving block (75) in a penetrating manner, the second screw rod (77) is connected with the transmission shaft (76) in a rotating manner, and the second screw rod (77) is connected with the driving block (75) in a threaded manner, drive block (75) with sliding connection between transmission shaft (76), be equipped with two slope settings on drive block (75) spout (73), pulley (74) with roll connection between fixture block (72), fixture block (72) with sliding connection between transmission shaft (76), the slip direction of fixture block (72) with the slip direction of drive block (75) is perpendicular, fixture block (72) with block between drive shaft (71), the cross-section of fixture block (72) is the L shape.
7. The ruin field walking aid for a fire fighting robot according to claim 6, wherein: clean structure (6) and include belt (61), pivot (62), band pulley (63), reset spring (64), scraper blade (65) and uide bushing (66), pivot (62) with lag (12) and it connects to accomodate to rotate between frame (21), pivot (62) with rotate between transmission shaft (76) and connect, transmission shaft (76) with be equipped with in pivot (62) band pulley (63), belt (61) twine in band pulley (63), be equipped with the cylinder structure on pivot (62) uide bushing (66), the circumference array is equipped with a plurality ofly on uide bushing (66) scraper blade (65), scraper blade (65) with be equipped with between uide bushing (66) reset spring (64), the tip of scraper blade (65) is the arc structure.
8. The ruin field walking aid for a fire fighting robot according to claim 5, wherein: the anti-skid structure (5) comprises anti-skid rods (51), transmission blocks (52), a piston (53) and a first screw rod (54), the piston (53) is connected with the roller (42) in a sliding mode, the first screw rod (54) is connected with the piston (53) in a rotating mode, the first screw rod (54) is connected with the roller (42) in a threaded mode, the roller (42) is provided with the transmission blocks (52) in an upper circumferential array mode, the transmission blocks (52) are connected with the roller (42) in a sliding mode, the transmission blocks (52) are provided with the anti-skid rods (51) at equal intervals, and the anti-skid rods (51) are connected with the roller (42) in a sliding mode.
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