CN112896350B - Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform - Google Patents
Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform Download PDFInfo
- Publication number
- CN112896350B CN112896350B CN202110180008.0A CN202110180008A CN112896350B CN 112896350 B CN112896350 B CN 112896350B CN 202110180008 A CN202110180008 A CN 202110180008A CN 112896350 B CN112896350 B CN 112896350B
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- Prior art keywords
- wheel
- crawler
- water pipe
- chassis body
- water
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 77
- 239000007921 spray Substances 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 239000006096 absorbing agent Substances 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005507 spraying Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fire fighting robot of a crawler-type Mecanum wheel omnidirectional mobile platform, which comprises a chassis device, a cradle head spray gun device and a crawler device; the chassis device comprises a chassis body, a load bearing wheel shaft and a water pipe; the rear part of the chassis body is provided with a water pipe input port, and the top of the chassis body is provided with a water pipe output port; the water pipe output port is connected with the water pipe input port through a water pipe; the water pipe input port is connected with an external water source; the holder spray gun device comprises a yaw shaft rotating base, a water gun head, a hose and a pitch shaft bracket; the yaw shaft rotating base is fixed on the chassis body; the pitch shaft bracket is arranged on the yaw shaft rotating base; the water gun head is arranged on the pitch shaft bracket; one end of the hose is connected with the water pipe output port, and the other end of the hose penetrates through the side wall of the pitch shaft bracket and is connected with the water gun head; crawler belt devices for driving the robot to travel are arranged on two sides of the chassis body. The cradle head is small in stress and more sensitive in response. The invention relates to the technical field of fire robots.
Description
Technical Field
The invention relates to the technical field of fire robots, in particular to a fire robot with a crawler-type Mecanum wheel omnidirectional mobile platform.
Background
In recent years, the robot industry is developed, more and more program-type or dangerous work is carried out by robots, and fire-fighting robots are also growing. In order to reduce the probability of personal accidents when firefighters work, some firefighting robots can replace firefighters to flush into a fire scene to extinguish the fire.
Most of the fire-fighting robots on the market at present adopt a crawler belt driving mode, the driving mode can have the capability of crossing obstacles, in the fire scene environment, sundries on the ground or remains peeled off to the ground after wall burning can be crossed, but the movement can be limited in a narrow space, and the movement can not be achieved in some places, and the Mecanum wheeled fire-fighting robot has the capability of moving omnidirectionally, can also move in a narrow space, but can not cross the obstacles. In addition, all robots in the market are water guns directly connected to the holder, and acting force generated during water spraying can lead the holder to be stressed greatly and slow in response.
Disclosure of Invention
The invention aims to overcome the defects and the shortcomings of the prior art, and provides a fire fighting robot with a crawler-type Mecanum wheel omnidirectional mobile platform, wherein a cradle head is small in stress and quick in response when spraying water.
The aim of the invention can be achieved by the following technical scheme: a fire-fighting robot with a crawler-type Mecanum wheel omnidirectional mobile platform comprises a chassis device, a cradle head spray gun device and a crawler device;
The chassis device comprises a chassis body, a load bearing wheel shaft and a water pipe; the rear part of the chassis body is provided with a water pipe input port, and the middle of the upper part is provided with a water pipe output port; the water pipe output port is connected with the water pipe input port through a water pipe; the water pipe input port is connected with an external water source;
The holder spray gun device comprises a yaw shaft rotating base, a water gun head, a hose and a pitch shaft bracket; the yaw shaft rotating base is fixed on the chassis body; the pitch shaft bracket is arranged on the yaw shaft rotating base; the water gun head is arranged on the pitch shaft bracket; one end of the hose is connected with the water pipe output port, and the other end of the hose penetrates through the side wall of the pitch shaft bracket and is connected with the water gun head;
crawler belt devices for driving the robot to travel are arranged on two sides of the chassis body.
Further, the pitch axle support comprises a pitch axle support base and vertical plates, wherein the two vertical plates are arranged at the top of the pitch axle support base, and the water gun head is rotatably arranged between the two vertical plates. The design can enable the water gun head to rotate.
Further, a connecting rod control motor is arranged on the yaw shaft rotating base; an output shaft of the connecting rod control motor is connected with one end of the connecting rod group; the other end of the connecting rod group is connected with the water gun head. The design of the rotating shaft, the connecting rod group and the connecting rod control motor can enable the water gun head to rotate around the X axis.
Further, a large synchronous wheel is arranged at the bottom of the yaw shaft rotary base, and a motor hole is formed in the chassis body; a small synchronous wheel and a yaw shaft control motor are arranged in the motor hole; an output shaft of the yaw shaft control motor is connected with a small synchronous wheel; the large synchronizing wheel is connected with the small synchronizing wheel through a gear belt. The arrangement of the big synchronizing wheel, the small synchronizing wheel and the gear belt can enable the yaw shaft rotating base to rotate and drive the water gun head to rotate around the X shaft.
Further, the crawler device comprises a Mecanum wheel crawler chain link, a driving wheel and a crawler driving motor; the Mecanum wheel crawler belt links are connected through thin shafts; the loop of the stroke is clamped on the driving wheel; the crawler driving motor is arranged in the chassis body, and the output shaft extends out of the side surface of the chassis body; and is connected with the driving wheel. The design of the crawler device can lead the robot to face different road conditions and has the capability of crossing obstacles.
Furthermore, the two side walls of the chassis body are provided with load wheel shafts; the outer ends of the load bearing wheel shafts are respectively connected with the load bearing wheels through connecting rods; the bogie wheel is clamped on the Mecanum wheel crawler chain link. The design of the bogie wheel can further improve the bearing capacity of the robot.
Further, each Mecanum wheel chain link is obliquely provided with a small wheel. The design of the small wheels can enable the robot to have the capacity of omni-directional movement.
Further, a shock absorber is arranged between the loading wheel and the chassis body. The shock absorber can reduce the stress of the robot when the robot runs on complex terrains, so that the robot runs more stably.
Further, two ends of the hose are connected with the vertical plate and the water pipe output port through bolts and flanges respectively.
Further, the yaw shaft rotating base is fixed on the chassis body through screws.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. The hose is communicated with the water pipe, and the hose is transferred to the side surface from the lower part and is supplied to the water gun head, so that the acting force direction generated during water spraying is transferred to the X-axis direction, the stress of the holder is reduced, the holder can move in a stable state, the reaction is more sensitive, and the control is convenient;
2. the design of the crawler device realizes that the robot can move omnidirectionally and can cross obstacles;
3. all parts of the fire-fighting robot are common parts in the market, and are convenient to purchase.
Drawings
Fig. 1 is an overall structure diagram of a fire fighting robot of a crawler-type Mecanum wheel omni-directional mobile platform in an embodiment of the invention;
FIG. 2 is a block diagram of a chassis apparatus in an embodiment of the present invention;
FIG. 3 is an interior top view of FIG. 2;
FIG. 4 is a schematic diagram of a holder gun device according to an embodiment of the present invention;
FIG. 5 is a block diagram of a yaw axis swivel base in accordance with an embodiment of the invention;
FIG. 6 is a diagram of the structure of a pitch axle bracket in an embodiment of the invention;
FIG. 7 is a view from the bottom perspective of FIG. 4;
FIG. 8 is a bottom view of FIG. 5;
FIG. 9 is a front view of a track assembly and a chassis assembly in an embodiment of the present invention;
fig. 10 is a block diagram of a crawler apparatus in an embodiment of the present invention.
Wherein: 11: chassis device, 12: weight bearing axle, 13: water pipe input port, 14: water pipe delivery outlet, 15: motor hole, water pipe: 16. 21: link control motor, 22: yaw axle swivel base, 23: linkage, 24: gun head, 25: hose, 26: pitch shaft bracket, 261: pitch axle bracket mount, 262: riser, 27: large synchronizing wheel, 28: small synchronizing wheel, 29: yaw axis control motor, 31: mecanum wheel track links, 32: driving wheel, 33: small wheel, 34: track driving motor, 35: weight wheel, 36: shock absorber, 37: and (5) connecting a rod.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
As shown in fig. 1, the fire fighting robot of the crawler-type Mecanum wheel omnidirectional mobile platform comprises a chassis device, a cradle head spray gun device and a crawler device.
As shown in fig. 2-3, the chassis device comprises a chassis body 11, load-bearing wheel shafts 12 and water pipes 16, wherein four load-bearing wheel shafts 12 are respectively arranged on two side walls of the chassis body 11, a water pipe input port 13 is arranged at the rear part of the chassis body 11, and the water pipe input port 13 is externally connected with an external water source. A water pipe output port 14 and a motor hole 15 are arranged in the middle of the upper part of the chassis body, and the water pipe output port 14 is connected with the water pipe input port 13 through a water pipe 16.
As shown in fig. 4, the holder gun device includes a link control motor 21, a yaw axis swivel base 22, a link group 23, a gun head 24, a hose 25, a pitch axis bracket 26, a large synchronizing wheel 27, a small synchronizing wheel 28, a yaw axis control motor 29, and a gear belt. The yaw axis indicates rotation about the Y axis, and the pitch axis indicates rotation about the X axis. The connecting rod control motor 21 is arranged on the yaw shaft rotating base 22, one end of the connecting rod group 23 is connected with the water gun head 24, and the other end is connected with the connecting rod control motor 21. The pitch axle bracket 26 comprises a pitch axle bracket base 261 and vertical plates 262, and the two vertical plates 262 are arranged on the top of the pitch axle bracket base 261 and are respectively positioned on two sides of the water gun head 24.
As shown in fig. 5-6, hose 25 extends from water outlet 14 and laterally through pitch shaft mount 261, then upwardly and laterally through riser 262 and into gun head 24. The two ends of the water gun 24 are provided with rotating shafts, and the rotating shafts are fixed between the two vertical plates 262, so that the water gun 24 can rotate around the rotating shafts. The hose 25 is communicated with the water pipe 16, so that a water source is transferred to the side surface of the water gun head from the rear part of the chassis device and is supplied to the water gun head 24, the acting force direction generated during water spraying is transferred to the X-axis direction, the stress of the cradle head is relieved, the cradle head can move in a stable state, the reaction is more sensitive, and the control is convenient. The two ends of the hose 25 are connected with the riser 262 and the water pipe outlet 14 by bolts and flanges respectively.
As shown in fig. 7-8, the yaw shaft rotating base 22 is fixed on the chassis body 11 through screws, a large synchronizing wheel 27 is installed at the bottom of the yaw shaft rotating base 22 and used for driving the yaw shaft rotating base 22 to rotate, a small synchronizing wheel 28 and a yaw shaft control motor 29 are installed in a motor hole 15 on the chassis body 11, an output shaft of the yaw shaft control motor 29 is connected with the small synchronizing wheel, and the large synchronizing wheel 27 is connected with the small synchronizing wheel 28 through a gear belt.
As shown in fig. 9-10, the crawler includes a mecanum wheel track link 31, a drive wheel 32, a small wheel 33, a track drive motor 34, a bogie wheel 35, and a connecting rod 37. The Mecanum wheel track links 31 are connected by a thin shaft, a return ring of a stroke is respectively clamped on the two driving wheels 32, a small wheel 33 is obliquely arranged on each Mecanum wheel link 31, the two driving wheels 32 are respectively connected with a track driving motor 34, as shown in figure 3, the track driving motor 34 is arranged inside a chassis body, a loading wheel 35 is respectively arranged at the outer end of the loading wheel shaft 12 through a connecting rod 37, and the loading wheel 35 is clamped on the Mecanum wheel track links 31, so that the loading capacity of the robot can be increased. And a shock absorber 36 is arranged between the load wheel 35 and the chassis body, and the shock absorber 36 can reduce the stress of the robot when the robot runs on complex terrain, so that the robot can run more stably.
The working principle of the invention is as follows: the robot is started, an external water source is connected to the water pipe input port, the crawler driving motor supplies power to the driving wheel to drive the crawler to move, the robot can climb over the obstacle, and meanwhile, the small wheels on the Mecanum wheel crawler chain links can enable the robot to realize the function of omnidirectional movement. The connecting rod control motor drives the connecting rod group to move, so that the rotation of the water gun head can be controlled, the yaw shaft control motor in the chassis body drives the small synchronous wheel to rotate, and the rotation of the yaw shaft rotating base is controlled through the transmission of the gear belt. The rotation of the yaw rotating base and the water gun head can meet the fire-fighting requirements of any angle.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The fire fighting robot of the omnidirectional mobile platform of the crawler-type Mecanum wheel is characterized by comprising a chassis device, a cradle head spray gun device and a crawler device;
the chassis device comprises a chassis body (11) and a water pipe (16); the rear part of the chassis body (11) is provided with a water pipe input port (13), and the top part of the chassis body is provided with a water pipe output port (14); the water pipe output port (14) is connected with the water pipe input port (13) through a water pipe (16); the water pipe input port (13) is connected with an external water source;
The cradle head spray gun device comprises a yaw shaft rotating base (22), a water gun head (24), a hose (25) and a pitch shaft bracket (26); the yaw shaft rotating base (22) is fixed on the chassis body (11); the pitch shaft bracket (26) is arranged on the yaw shaft rotating base (22); the water gun head (24) is arranged on a pitch shaft bracket (26); one end of the hose (25) is connected with the water pipe output port (14), and the other end of the hose penetrates through the side wall of the pitch shaft bracket (26) and is connected with the water gun head (24);
Crawler belt devices for driving the robot to travel are arranged on two sides of the chassis body (11);
The pitch shaft bracket (26) comprises a pitch shaft bracket base (261) and vertical plates (262), the two vertical plates (262) are arranged at the top of the pitch shaft bracket base (261), and the water gun head (24) is rotatably arranged between the two vertical plates (262);
a connecting rod control motor (21) is arranged on the yaw shaft rotating base (22); an output shaft of the connecting rod control motor (21) is connected with one end of the connecting rod group (23); the other end of the connecting rod group is connected with the water gun head;
The bottom of the yaw shaft rotating base (22) is provided with a large synchronous wheel (27), and the chassis body (11) is provided with a motor hole (15); a small synchronous wheel (28) and a yaw shaft control motor (29) are arranged in the motor hole (15); an output shaft of the yaw shaft control motor (29) is connected with a small synchronous wheel (28); the large synchronizing wheel (27) is connected with the small synchronizing wheel (28) through a gear belt;
The crawler device comprises a Mecanum wheel crawler chain link (31), a driving wheel (32) and a crawler driving motor (34); the Mecanum wheel crawler belt links (31) are connected by thin shafts, and a return ring of the travel is clamped on the driving wheel (32); the crawler driving motor (34) is arranged inside the chassis body (11), and the output shaft extends out of the side face of the chassis body (11) and is connected with the driving wheel (32).
2. The fire fighting robot of the crawler-type Mecanum wheel omnidirectional mobile platform according to claim 1, wherein the two side walls of the chassis body (11) are provided with loading wheel shafts (12); the outer ends of the load bearing wheel shafts (12) are respectively connected with the load bearing wheels (35) through connecting rods (37); the bogie wheel (35) is clamped on the Mecanum wheel crawler chain link (31).
3. A fire fighting robot for a tracked Mecanum wheel omni-directional mobile platform according to claim 1, characterized in that each Mecanum wheel track link (31) is mounted with a small wheel (33) diagonally.
4. Fire fighting robot for a crawler-type Mecanum wheel omni-directional mobile platform according to claim 2, characterized in that a shock absorber (36) is installed between the bogie wheel (35) and the chassis body (11).
5. A fire fighting robot for a crawler-type Mecanum wheel omni-directional mobile platform according to claim 1, characterized in that the two ends of the hose (25) are respectively connected with the vertical plate (262) and the water pipe outlet (14) through screws and flanges.
6. A fire fighting robot for a crawler-type Mecanum wheel omni-directional mobile platform according to claim 1, characterized in that the yaw shaft rotating base (22) is fixed on the chassis body (11) by screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110180008.0A CN112896350B (en) | 2021-02-08 | 2021-02-08 | Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110180008.0A CN112896350B (en) | 2021-02-08 | 2021-02-08 | Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112896350A CN112896350A (en) | 2021-06-04 |
| CN112896350B true CN112896350B (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110180008.0A Active CN112896350B (en) | 2021-02-08 | 2021-02-08 | Fire-fighting robot with crawler-type Mecanum wheel omni-directional mobile platform |
Country Status (1)
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| CN (1) | CN112896350B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973029A (en) * | 2010-10-21 | 2011-02-16 | 哈尔滨工程大学 | Small-sized variable crawler type search and rescue robot |
| CN102826135A (en) * | 2012-09-19 | 2012-12-19 | 张豫南 | Track type omnibearing moving platform |
| CN107140029A (en) * | 2017-06-09 | 2017-09-08 | 华南理工大学 | A kind of fire-fighting robot chassis based on Mecanum wheel |
| CN108163065A (en) * | 2017-11-22 | 2018-06-15 | 北京理工华汇智能科技有限公司 | Crawler belt universal wheel |
| CN108275211A (en) * | 2018-03-27 | 2018-07-13 | 安徽理工大学 | A kind of crawler type omni-directional mobile robots |
| CN109107068A (en) * | 2018-07-12 | 2019-01-01 | 上海医修哥网络科技股份有限公司 | A kind of automatic obstacle-avoiding fire-fighting robot based on Mecanum wheel |
| CN215155104U (en) * | 2021-02-08 | 2021-12-14 | 华南理工大学 | Fire-fighting robot based on crawler-type Mecanum wheels |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8381826B2 (en) * | 2010-03-29 | 2013-02-26 | Hadi A. Al-Azemi | Fire fighting robot |
-
2021
- 2021-02-08 CN CN202110180008.0A patent/CN112896350B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973029A (en) * | 2010-10-21 | 2011-02-16 | 哈尔滨工程大学 | Small-sized variable crawler type search and rescue robot |
| CN102826135A (en) * | 2012-09-19 | 2012-12-19 | 张豫南 | Track type omnibearing moving platform |
| CN107140029A (en) * | 2017-06-09 | 2017-09-08 | 华南理工大学 | A kind of fire-fighting robot chassis based on Mecanum wheel |
| CN108163065A (en) * | 2017-11-22 | 2018-06-15 | 北京理工华汇智能科技有限公司 | Crawler belt universal wheel |
| CN108275211A (en) * | 2018-03-27 | 2018-07-13 | 安徽理工大学 | A kind of crawler type omni-directional mobile robots |
| CN109107068A (en) * | 2018-07-12 | 2019-01-01 | 上海医修哥网络科技股份有限公司 | A kind of automatic obstacle-avoiding fire-fighting robot based on Mecanum wheel |
| CN215155104U (en) * | 2021-02-08 | 2021-12-14 | 华南理工大学 | Fire-fighting robot based on crawler-type Mecanum wheels |
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| Publication number | Publication date |
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| CN112896350A (en) | 2021-06-04 |
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