CN113844559A - Crawler-type running gear and fire-fighting robot - Google Patents
Crawler-type running gear and fire-fighting robot Download PDFInfo
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- CN113844559A CN113844559A CN202111184440.3A CN202111184440A CN113844559A CN 113844559 A CN113844559 A CN 113844559A CN 202111184440 A CN202111184440 A CN 202111184440A CN 113844559 A CN113844559 A CN 113844559A
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- explosion
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- proof box
- box body
- crawler
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- 238000013016 damping Methods 0.000 claims abstract description 80
- 239000000725 suspension Substances 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 20
- 230000035939 shock Effects 0.000 claims description 15
- 239000000411 inducer Substances 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 239000006096 absorbing agent Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 55
- 239000007921 spray Substances 0.000 description 28
- 238000001514 detection method Methods 0.000 description 14
- 239000007789 gas Substances 0.000 description 11
- 241000876443 Varanus salvator Species 0.000 description 9
- 238000007789 sealing Methods 0.000 description 7
- 238000005507 spraying Methods 0.000 description 7
- 238000001816 cooling Methods 0.000 description 6
- 230000002265 prevention Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
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- 239000002360 explosive Substances 0.000 description 1
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Classifications
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- 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
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
Abstract
The invention discloses a crawler-type travelling mechanism and a fire-fighting robot, wherein the crawler-type travelling mechanism comprises a travelling crawler and a suspension damping system, the travelling crawler comprises two crawler components which are respectively arranged at two sides of a chassis explosion-proof box body along the left and right directions, each crawler component comprises a bearing wheel component which is arranged on the chassis explosion-proof box body along the left and right axes in a swinging manner, and the bearing wheel component comprises two first bearing wheels and bearing wheel groups which are respectively arranged corresponding to the front end and the rear end of the chassis explosion-proof box body and the middle part of the chassis explosion-proof box body; the suspension damping system comprises a first suspension damping set and a second suspension damping set, and the first suspension damping set is movably arranged between a wheel shaft of the corresponding first bearing wheel and the chassis explosion-proof box body; the second suspension damping set is movably arranged between the bearing wheel set and the chassis explosion-proof box body. In the technical scheme of the invention, the damping effect of the suspension damping system is enhanced by the first suspension damping group and the second suspension damping group together.
Description
Technical Field
The invention relates to the technical field of fire-fighting equipment, in particular to a crawler-type walking mechanism and a fire-fighting robot.
Background
The walking track is adopted by the existing fire-fighting robot, the walking track comprises a track, a driving wheel, an inducer, a tension wheel and a bearing wheel, and when the fire-fighting robot passes through an uneven road section or crosses over an obstacle, a damping device can be added between the bearing wheel and the robot body for reducing the vibration of the robot body, but the damping effect of the existing damping device is poor.
Disclosure of Invention
The invention mainly aims to provide a crawler-type travelling mechanism and a fire-fighting robot, and aims to solve the problem that the damping effect of a damping device on the existing travelling crawler is poor.
In order to achieve the purpose, the invention provides a crawler type traveling mechanism, which is used for a fire-fighting robot, wherein the fire-fighting robot comprises a chassis explosion-proof box body, and the crawler type traveling mechanism comprises:
the walking crawler belt comprises two crawler belt assemblies which are respectively arranged on two sides of the chassis explosion-proof box body along the left and right directions, each crawler belt assembly comprises a bearing wheel assembly which is arranged on the chassis explosion-proof box body in a swinging mode along the left and right axes, and each bearing wheel assembly comprises two first bearing wheels and bearing wheel sets which are respectively arranged corresponding to the front end and the rear end of the chassis explosion-proof box body and the middle of the chassis explosion-proof box body; and the number of the first and second groups,
the suspension damping system comprises a first suspension damping group and a second suspension damping group, and the first suspension damping group is movably arranged between a wheel shaft of the corresponding first bearing wheel and the chassis explosion-proof box body; and the second suspension damping group is movably arranged between the bearing wheel group and the chassis explosion-proof box body.
Optionally, the first suspension damping group comprises:
the first swing arm extends in the vertical direction, the upper end of the first swing arm is rotatably mounted on the chassis explosion-proof box body, and the lower end of the first swing arm is hinged with a wheel shaft of the first bearing wheel; and the number of the first and second groups,
and the first damping structure is arranged between the chassis explosion-proof box body and the first swing arm.
Optionally, the bearing wheel set comprises two second bearing wheels arranged at intervals in the front-back direction;
the second suspension damping group includes:
the connecting frame extends forwards and backwards, and two ends of the connecting frame are fixedly connected with two wheel shafts of the two second bearing wheels respectively;
the second swing arm extends in the vertical direction, the upper end of the second swing arm is rotatably mounted on the chassis explosion-proof box body, and the lower end of the second swing arm is hinged with the middle part of the connecting frame; and the number of the first and second groups,
and the second damping structure is arranged between the chassis explosion-proof box body and the second swing arm.
Optionally, the lower end of the second swing arm is provided with a mounting groove;
the middle part of the connecting frame is provided with an installation bulge, and the installation bulge is rotatably installed in the installation groove through a first pin shaft connecting structure; and/or, the second shock-absorbing structure comprises a shock absorber, and the lower end of the shock absorber is rotatably installed in the installation groove through a second pin shaft connecting structure.
Optionally, a plurality of bearing wheel sets are arranged, and the plurality of bearing wheel sets are arranged at intervals in the front-back direction;
correspondingly, the second suspension damping group is provided in plurality.
Optionally, the track assembly further comprises a tension wheel assembly rotatably mounted on the chassis explosion-proof box body, the tension wheel assembly comprises a plurality of tension wheels, and the plurality of tension wheels are arranged at intervals in the front-back direction;
and each tensioning wheel is provided with a tensioning adjusting structure for adjusting the position of the tensioning wheel up and down.
Optionally, the tension adjusting structure comprises:
the worm and gear assembly comprises a worm gear and a worm which are meshed with each other, the worm extends along the left and right directions, the worm gear can rotate along the vertical axis, and a nut is embedded in a shaft hole of the worm gear;
the screw rod extends along the vertical direction, the screw rod is arranged in the shaft hole and is in threaded fit with the nut, and the upper end of the screw rod is fixedly connected with the tensioning wheel.
Optionally, the tensioning adjusting structure further comprises a limiting structure arranged between the chassis explosion-proof box body and the tensioning wheel.
Optionally, the track assembly further comprises:
the driving wheel is rotatably arranged at the rear end of the chassis explosion-proof box body;
the inducer is rotatably arranged at the front end of the chassis explosion-proof box body;
the crawler belt is arranged outside the driving wheel and the inducer and comprises an upper crawler belt section and a lower crawler belt section; and the number of the first and second groups,
the tension wheel assembly is rotatably arranged on the chassis explosion-proof box body and is abutted and attached to the inner wall of the upper crawler belt section;
wherein, the bearing wheel subassembly supports to closely paste with the inner wall of lower track section and connects.
The invention also provides a fire-fighting robot, which comprises a crawler-type travelling mechanism, wherein the crawler-type travelling mechanism comprises:
the walking crawler belt comprises two crawler belt assemblies which are respectively arranged on two sides of the chassis explosion-proof box body along the left and right directions, each crawler belt assembly comprises a bearing wheel assembly which is arranged on the chassis explosion-proof box body in a swinging mode along the left and right axes, and each bearing wheel assembly comprises two first bearing wheels and bearing wheel sets which are respectively arranged corresponding to the front end and the rear end of the chassis explosion-proof box body and the middle of the chassis explosion-proof box body; and the number of the first and second groups,
the suspension damping system comprises a first suspension damping group and a second suspension damping group, and the first suspension damping group is movably arranged between a wheel shaft of the corresponding first bearing wheel and the chassis explosion-proof box body; and the second suspension damping group is movably arranged between the bearing wheel group and the chassis explosion-proof box body.
According to the technical scheme, crawler assemblies are arranged on two sides of a chassis explosion-proof box body and comprise two first bearing wheels and a bearing wheel set, the two first bearing wheels are respectively arranged at the front end and the rear end of the chassis explosion-proof box body, and the bearing wheel set is arranged in the middle of the chassis explosion-proof box body; all set up first suspension damping group between each first bearing wheel and the chassis flame proof box, all set up the second between bearing wheelset and the chassis flame proof box and hang damping group, through the combined action of first suspension damping group and second suspension damping group, strengthen suspension damping system's shock attenuation effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a crawler track assembly according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of detail A of FIG. 1;
FIG. 3 is an enlarged schematic view of detail B of FIG. 1;
FIG. 4 is a schematic side view of an embodiment of a fire fighting robot provided by the present invention;
FIG. 5 is a schematic perspective view of the fire fighting robot of FIG. 4;
FIG. 6 is a schematic view of an assembled three-dimensional structure of the chassis flameproof box in FIG. 5;
FIG. 7 is a schematic perspective view of the chassis flameproof box of FIG. 6;
fig. 8 is a schematic perspective view of the charging interface in fig. 6.
The embodiment of the invention is illustrated by reference numerals:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The walking track is adopted by the existing fire-fighting robot, the walking track comprises a track, a driving wheel, an inducer, a tension wheel and a bearing wheel, and when the fire-fighting robot passes through an uneven road section or crosses over an obstacle, a damping device can be added between the bearing wheel and the robot body for reducing the vibration of the robot body, but the damping effect of the existing damping device is poor.
In view of the above, the invention provides a crawler type traveling mechanism and a fire-fighting robot. Fig. 1 to 3 show an embodiment of a crawler type traveling mechanism according to the present invention; fig. 4 to 8 show an embodiment of a fire-fighting robot according to the present invention.
The invention provides a fire-fighting robot 100, wherein the fire-fighting robot 100 comprises a robot main body 1, a driver and a crawler-type travelling mechanism 5, the robot main body 1 comprises a chassis explosion-proof box body 111, and the crawler-type travelling mechanism 5 is arranged on the chassis explosion-proof box body 111; the driver is in driving connection with the crawler-type travelling mechanism 5 so as to drive the robot main body 1 to move.
Referring to fig. 1, the crawler type traveling mechanism 5 includes a traveling crawler 51 and a suspension damping system 52, the traveling crawler 51 includes two crawler assemblies respectively disposed on two sides of the chassis explosion-proof box 111 along the left-right direction, each of the crawler assemblies includes a driving wheel 511, an inducer 512 and a crawler 513, the driving wheel 511 is disposed corresponding to the rear end of the chassis explosion-proof box 111, the inducer 512 is disposed corresponding to the front end of the chassis explosion-proof box 111, the crawler 513 is sleeved outside the driving wheel 511 and the inducer 512, the crawler 513 includes an upper crawler 513 section and a lower crawler 513 section, the crawler assemblies further include a tensioning wheel assembly 515 disposed corresponding to the upper crawler 513 section and a bearing wheel assembly 514 disposed corresponding to the lower crawler 513 section, the bearing wheel assembly 514 is abutted against the inner wall of the lower crawler section and is installed on the chassis explosion-proof box 111 along the left-right direction axis in a swinging manner, bearing wheel subassembly 514 is including corresponding two first bearing wheels 5141 that front end and rear end of chassis explosion-proof box 111 set up and corresponding bearing wheel group 5142 that chassis explosion-proof box 111 middle part set up, take-up pulley subassembly 515 rotate install in chassis explosion-proof box 111, and with the inner wall of going up track 513 section supports and closely contacts, take-up pulley subassembly 515 includes a plurality of take-up pulleys, and is a plurality of take-up pulley sets up along the forward or backward interval, wherein, the driver drive is connected two of track subassembly drive wheel 511, in order to realize the activity of robot main part 1.
In the present invention, the suspension damping system 52 includes a first suspension damping group 521 and a second suspension damping group 522; the first suspension damping group 521 is movably arranged between the wheel shaft of each first bearing wheel 5141 and the chassis explosion-proof box body 111; the second suspension damping group 522 is movably arranged between the bearing wheel group 5142 and the chassis explosion-proof box body 111; by providing the first suspension damping group 521 and the second suspension damping group 522, the damping effect of the suspension damping system 52 is enhanced.
The crawler assemblies are arranged on two sides of the chassis explosion-proof box body 111 and comprise two first bearing wheels 5141 and two bearing wheel sets 5142, the two first bearing wheels 5141 are respectively arranged at the front end and the rear end of the chassis explosion-proof box body 111, and the bearing wheel sets 5142 are arranged in the middle of the chassis explosion-proof box body 111; each first bearing wheel 5141 and the first suspension damping group 521 are arranged between the chassis explosion-proof box body 111, the second suspension damping group 522 is arranged between the bearing wheel set 5142 and the chassis explosion-proof box body 111, and the damping effect of the suspension damping system 52 is enhanced through the combined action of the first suspension damping group 521 and the second suspension damping group 522.
Referring to fig. 2, the first suspension damping group 521 includes a first swing arm 5211 and a first damping structure 5212, the first swing arm 5211 extends in the vertical direction, the upper end of the first swing arm 5211 is rotatably mounted on the chassis explosion-proof box 111, and the lower end of the first swing arm 5211 is hinged to the axle of the first bearing wheel 5141; the first damping structure 5212 is movably arranged between the chassis explosion-proof box body 111 and the middle part of the first swing arm 5211, and the first suspension damping group 521 is used for damping the two first bearing wheels 5141.
Referring to fig. 3, the bearing wheel group 5142 includes two second bearing wheels 5142a spaced apart from each other in the front-to-rear direction; the second suspension damping group 522 comprises a connecting frame 5221, a second swing arm 5222 and a second damping structure 5223, the connecting frame 5221 extends in the front-back direction, and two ends of the connecting frame 5221 are fixedly connected with two wheel shafts of the two second bearing wheels 5142a respectively; the second swing arm 5222 extends vertically, the upper end of the second swing arm 5222 is rotatably mounted on the chassis explosion-proof box 111, and the lower end of the second swing arm 5222 is hinged to the middle of the connecting frame 5221; the second shock absorption structure 5223 is movably arranged between the chassis explosion-proof box body 111 and the second swing arm 5222, a bearing wheel set 5142 is arranged in the middle of the chassis explosion-proof box body 111, the bearing wheel set 5142 comprises two second bearing wheels 5142a, the two second bearing wheels 5142a are connected through the connecting frame 5221, the second swing arm 5222 is hinged to the connecting frame 5221 and between the chassis explosion-proof box body 111, and the shock absorption effect of the suspension shock absorption system 52 is enhanced through the combined action of the connecting frame 5221, the second swing arm 5222 and the second shock absorption structure 5223.
It should be noted that, each of the first damping structure 5212 and the second damping structure 5223 includes a damper and a damping spring, and when the vehicle passes through an uneven road section or crosses an obstacle, the damping spring can filter the vibration of the road surface to play a role in damping the impact, so as to change the "large energy one-time impact" into the "small energy multiple impact", but the damping spring itself still has a reciprocating motion, and the damper can suppress the jump of the damping spring, thereby suppressing the vibration when the damping spring rebounds after absorbing the vibration and the impact from the road surface, and further gradually reducing the "small energy multiple impact", thereby achieving the damping function.
In order to facilitate the installation of the second swing arm 5222 and the second damping structure 5223, an installation protrusion is provided at the middle of the connecting frame 5221; the lower end of the second swing arm 5222 is provided with a mounting groove; the installation is protruding to rotate through first round pin axle connection structure install in the mounting groove, so, can guarantee the stability of second swing arm 5222 with the installation of second shock-absorbing structure 5223, also can save installation space.
The lower end of the shock absorber is rotatably mounted in the mounting groove through a second pin shaft connecting structure, so that the shock absorber is hinged to the lower end of the second swing arm 5222.
In this embodiment, a plurality of the bearing wheel sets 5142 are provided, and a plurality of the bearing wheel sets 5142 are provided at intervals in the front-back direction; correspondingly, the second hangs shock attenuation group 522 and sets up a plurality ofly the middle part of chassis explosion suppression box 111 sets up a plurality ofly bearing wheel group 5142 can not only improve walking track 51's bearing capacity, thereby improves fire-fighting robot's stability corresponds a plurality ofly moreover the second hangs shock attenuation group 522, can further strengthen hang shock attenuation system 52's shock attenuation effect.
In the invention, the track assembly further comprises a tension wheel assembly 515 rotatably mounted on the chassis explosion-proof box 111, the tension wheel assembly 515 comprises a plurality of tension wheels, the plurality of tension wheels are arranged at intervals in the front-back direction, and the tightness of the track 513 is adjusted through the plurality of tension wheels.
Each tensioning wheel is provided with a tensioning adjusting structure 53 for adjusting the position of the tensioning wheel in an up-down direction, and the tensioning adjusting structure 53 adjusts the position of the tensioning wheel in the up-down direction, so as to adjust the tightness of the track 513 through the tensioning wheel.
Specifically, the tensioning adjusting structure 53 comprises a worm gear assembly and a screw rod, the worm gear assembly comprises a worm gear and a worm which are meshed with each other, the worm extends along the left-right direction, the worm gear can rotate along the vertical axis, and a nut is embedded in a shaft hole of the worm gear; the screw rod extends along the vertical direction, the screw rod is arranged in the shaft hole and is in threaded fit with the nut, the upper end of the screw rod is fixedly connected with the tensioning wheel, when the worm rotates along the axis in the left-right direction, the worm wheel is driven to rotate along the axis in the vertical direction, the nut embedded in the shaft hole of the worm wheel rotates along with the worm wheel, and therefore the screw rod in threaded fit with the nut can linearly move along the vertical direction, the tensioning wheel arranged at the upper end of the screw rod can move along the vertical direction, and the position of the tensioning wheel in the vertical direction is adjusted.
More specifically, in this embodiment, tensioning adjustment structure 53 is including being fixed in installation casing on the chassis explosion-proof box 111, the installation casing has the installation cavity, the worm gear subassembly is located in the installation cavity, the screw rod is located at least partially in the installation cavity, tensioning adjustment structure 53 still includes the connecting rod, the connecting rod is along controlling to extend the setting, and upwards about, the connecting rod has relative square tip and circular tip, circular tip passes installation casing to the transmission is connected the worm, wherein, the setting square tip is convenient for the rescuer rotates along the axis of left right side the connecting rod, and then drives the worm rotates, sets up installation casing not only makes tensioning adjustment structure 53's structure is arranged inseparabler, has also strengthened the aesthetic property.
In order to avoid the too large adjustment stroke of the tension wheel, the tension adjusting structure 53 further includes a limiting structure disposed between the chassis explosion-proof box 111 and the tension wheel, so as to limit the adjustment stroke of the tension wheel.
Specifically, limit structure includes stopper and butt piece, the butt piece is located the shaft of take-up pulley, and follows the setting of extending from top to bottom, and is corresponding, stopper fixed mounting in chassis explosion-proof box 111, the stopper corresponds the lower extreme setting of butt piece to the restriction the down stroke of take-up pulley.
It should be noted that the fire fighting robot 100 provided by the present invention includes the above-mentioned crawler type traveling mechanism 5, and the fire fighting robot 100 includes all the technical features of the above-mentioned crawler type traveling mechanism 5, so that the fire fighting robot also has the technical effects brought by all the technical features, and the details are not repeated herein.
Referring to fig. 4 and 5, the fire-fighting robot 100 further includes a robot main body 1, a detection device 2, a fire-extinguishing device 3, and a water-cooling device 4, wherein the robot main body 1 includes an explosion-proof box body 11, a cavity is formed in the explosion-proof box body 11, a water inlet pipe 12 is disposed at the rear side of the explosion-proof box body 11, and one end of the water inlet pipe 12 is used for connecting an external water source; the detection device 2 is movably arranged on the explosion-proof box body 11 and is used for detecting a fire area; the fire extinguishing device 3 comprises a large-flow fire water monitor 31 and a pipeline (not shown in the figure), at least part of the pipeline is arranged in the cavity and is connected with the large-flow fire water monitor 31 and the other end of the water inlet pipe 12, the large-flow fire water monitor 31 comprises a monitor body movably arranged at the top of the explosion-proof box body 11 and is used for enabling a monitor opening to face a fire point when the detection device 2 detects the fire point; the water cooling device 4 is arranged on the explosion-proof box body 11 and used for cooling the fire-fighting robot 100.
In the technical scheme of the invention, the explosion-proof box body 11 is arranged, the detection device 2 is arranged on the explosion-proof box body 11 to detect a fire area, the large-flow fire water monitor 31 is arranged on the explosion-proof box body 11 to extinguish a fire detected by the fire, and the water cooling device 4 is arranged to cool the fire-fighting robot 100, so that the fire-fighting robot 100 integrates the functions of explosion prevention, reconnaissance, fire extinguishment and the like.
Specifically, referring to fig. 6 and 7, the explosion-proof box 11 includes a chassis explosion-proof box 111 and an end cover, the chassis explosion-proof box 111 has a front cavity 1111 and a rear cavity 1112 whose openings are both upward, and the front cavity 1111 and the rear cavity 1112 are arranged at intervals in the front-back upward direction; the end covers comprise a front end cover 112 and a rear end cover 113, which cover the opening of the front cavity 1111 and the opening of the rear cavity 1112 respectively; sealing structures 114 are arranged between the front end cover 112 and the periphery of the opening of the front cavity 1111 and between the rear end cover 113 and the periphery of the opening of the rear cavity 1112; wherein the cavity comprises the front cavity 1111 and the rear cavity 1112, and the water inlet pipe 12 is at least partially arranged in the rear cavity 1112; the pipeline is at least partially arranged in the front cavity 1111, and it should be noted that the sealing structure 114 is arranged to improve the waterproof and dustproof performance of the fire-fighting robot 100, so that the fire-fighting robot 100 can enter a dust explosion-proof place to work.
It should be noted that the chassis explosion-proof box 111 is divided into two relatively independent front cavity 1111 and rear cavity 1112 by a middle partition plate, and the rechargeable battery is separately arranged in the front cavity 1111; driver, switch and charging unit 6 locate back chamber 1112, a small amount of cables pass through the flame proof line mouth and get into in the explosion-proof box 11, so, improve the explosion-proof performance of fire-fighting robot 100.
Specifically, referring to fig. 8, the charging component 6 includes a charging interface 61, an explosion-proof elbow 62, an explosion-proof sealing joint 63, a charging interface explosion-proof cover 64, an explosion-proof surface 65, an explosion-proof thread 66 and a fastening bolt 67, and the charging interface 61 is arranged on the chassis explosion-proof box 111 and is communicated with the rear cavity 1112; the explosion-proof elbow 62 is arranged inside the chassis explosion-proof box body 111, one end of the explosion-proof elbow 62 is communicated with the charging interface 61, and the other end of the explosion-proof elbow 62 is connected with the explosion-proof sealing joint 63; the explosion-proof surface 65 covers the charging interface 61 through the fastening bolt 67, a through hole communicated with the explosion-proof elbow 62 is formed in the explosion-proof surface 61, and the explosion-proof cover 64 of the charging interface covers the through hole through the explosion-proof thread 66; the flame-proof elbow 62 can fasten and seal the cable, and the structural arrangement in the chassis flame-proof box body 111 is more reasonable; the explosion-proof sealing joint 63 compresses the sealing cable to ensure the protection and explosion-proof performance of the charging component 6; the explosion-proof thread 66 not only can play a better role in sealing and protection, but also is convenient to disassemble and assemble and convenient for rescue workers to use; therefore, the charging component 6 not only ensures the explosion-proof performance of the chassis explosion-proof box body 111, but also improves the waterproof performance of the chassis explosion-proof box body 111.
In the invention, the driver is set as a water-cooled motor, and it should be noted that the water-cooled motor is suitable for a high-temperature environment and a variable-frequency speed control system; the robot has the characteristics of wide speed regulation range, stable operation, high reliability, high operation efficiency and novel and attractive appearance design, so that the fire-fighting robot 100 can operate more stably; meanwhile, the water-cooled motor is arranged in the rear cavity 1112, and due to the blocking effect of the intermediate partition plate, heat generated in the rear cavity 1112 by the water-cooled motor cannot be transferred to the front cavity 1111, and cannot affect electrical elements which are sensitive to heating.
Further referring to fig. 5, in the present invention, besides the water-cooled motor being disposed in the rear cavity 1112, the water-cooled device 4 further includes a double-layer water curtain spraying mechanism 41, where the double-layer water curtain spraying mechanism 41 includes a nozzle assembly and a spraying pipe assembly, and the nozzle assembly includes a first water curtain water spraying outlet and a second water curtain water spraying outlet which are formed at an interval from top to bottom; the spray pipe assembly comprises a spray pipe which extends up and down, the lower end of the spray pipe is arranged in the cavity and communicated with the pipeline, and the upper end of the spray pipe penetrates through the inner wall of the explosion-proof box body 11 and is exposed from the outer side of the explosion-proof box body 11; wherein, the shower nozzle subassembly is connected the upper end of shower, and at the scene of a fire, it is right to pass through double-deck water curtain spraying mechanism 41 the outside of fire control fire-fighting robot 100 is cooled down.
The spray head assembly comprises a first water curtain spray head and a second water curtain spray head, the first water curtain spray head is fixedly mounted on the spray pipe, the second water curtain spray head is rotatably mounted on the spray pipe along the axial direction of the spray pipe, and the first water curtain spray head is positioned below the second water curtain spray head, wherein a first water curtain spray outlet is formed in the first water curtain spray head, and a second water curtain spray outlet is formed in the second water curtain spray head; the water source certainly the pipeline gets into behind the shower, at first pass through first water curtain shower nozzle, and certainly first water curtain water spray outlet goes out water, reachs at the water source behind the second water curtain shower nozzle, the water source certainly second water curtain water spray outlet goes out water, because second water curtain shower nozzle winds the axis of shower is rotatory, and the water source becomes the form blowout of rotatory water smoke, through first water curtain shower nozzle with second water curtain shower nozzle can be according to the condition at the scene of a fire, and reasonable water spray not only can be right the outside of fire control and fire extinguishing robot 100 is cooled down, can also reduce the water consumption.
It should be noted that the double-layer water curtain spraying mechanism 41 is provided with a detection device and an adjustment device, and the detection device is arranged on the explosion-proof box body 11 and is used for detecting the outside temperature of the fire-fighting robot 100; the adjusting device comprises a first adjusting valve and a second adjusting valve, the first adjusting valve is arranged between the pipeline and the spray pipe, and the second adjusting valve is arranged between the spray pipe and the second water curtain spray head; work as when the outside temperature of fire-fighting robot 100 reaches first default, certain aperture is opened to first governing valve, the water source can certainly the pipeline gets into the shower, and reachs first water curtain shower nozzle, first water curtain water spray outlet water spray, it is right fire-fighting robot 100 cools down, works as when the outside temperature of fire-fighting robot 100 reaches the second default, certain aperture is opened to the second governing valve, and the water source can reach second water curtain shower nozzle, second water curtain water spray outlet water spray, it is further right fire-fighting robot 100 cools down, so realize right the second grade cooling of fire-fighting robot 100 can accomplish cooling work, can also reduce the water consumption.
In the present invention, referring to fig. 4 and 5 again, the explosion-proof box 11 is provided with a lifting platform 13, and the lifting platform 13 can move up and down; the detection device 2 comprises a gas detector, the gas detector is arranged on the lifting platform 13 and comprises a plurality of gas sensors, so that various gases, particularly toxic, harmful, flammable and explosive gases, can be detected simultaneously, and the environmental parameters of a fire area can be accurately acquired.
In the invention, the explosion-proof box body 11 is provided with a lifting platform 13, and the lifting platform 13 can move up and down; the detection device 2 comprises an audio and video detector 21, the audio and video detector 21 is arranged on the lifting platform 13 and comprises an audio detector and a video detector so as to monitor the disaster of the fire area.
In the invention, the explosion-proof box body 11 is provided with a lifting platform 13, and the lifting platform 13 can move up and down; the detection device 2 comprises a distance meter 22, the distance meter 22 is arranged on the lifting platform 13, a trigger port of the distance meter 22 is arranged in a forward direction to detect the distance between the robot main body 1 and a fire point, and it should be noted here that because the range of the large-flow fire monitor 31 is limited, if the distance between the robot main body 1 and the fire point is greater than the range of the large-flow fire monitor 31, the monitor emitted by the large-flow fire monitor 31 cannot be accurately emitted to the fire point, so that not only can the fire be quickly extinguished, but also a large amount of resources are wasted; through setting up distancer 22 for the rescue personnel can accurately know the concrete position of robot main part 1, and can in time make the adjustment to the action of robot main part 1, so that robot main part 1 can be in within the range of large-traffic fire water monitor 31, with this, large-traffic fire water monitor 31 can accurately put out a fire.
It should be noted that, the gas detector, the audio/video detector 21, and the range finder 22 are disposed on the lifting table 13, and one or two of the gas detector, the audio/video detector and the range finder 13 can be disposed on the lifting table 13, specifically, in this embodiment, the three technical features are disposed at the same time, that is, the lifting table 13 is disposed on the explosion-proof box 11, and the lifting table 13 can move up and down; the detection device 2 comprises a gas detector, an audio and video detector 21 and a range finder 22 which are arranged on the lifting platform 13, wherein the gas detector comprises a plurality of gas sensors so as to be capable of detecting a plurality of gases simultaneously; the audio and video detector 21 comprises an audio detector and a video detector to monitor the disaster of the fire area; the trigger port of the distance meter 22 is disposed facing forward to detect the distance between the robot body 1 and the fire, so that the detecting device 2 can detect the environmental condition of the fire area.
Specifically, the lifting platform 13 can be lifted to 2.4-3.6 m at most to detect the environmental conditions at a high position, so that rescuers can accurately grasp the environmental conditions of a fire area, and it should be noted that, because the fire environment is complicated, the lifting platform 13 is arranged to be movable in the vertical direction to adapt to different places.
In order to guarantee the environment that fire prevention robot 100 self was located is safe, detecting device 2 still includes safety inspection mechanism 23, safety inspection mechanism 23 is located including the activity a plurality of cameras of week side of explosion-proof box 11, in order to monitor the environment that fire prevention robot 100 was located for the rescuer can in time be right the adjustment is made in fire prevention robot 100's action, avoids fire prevention robot 100 receives the injury from the environment.
Specifically, the safety detection mechanism 23 further comprises a safety detection cradle head 24 movably mounted on the explosion-proof box body 11; the camera is installed on the safety detection pan-tilt 24 to the environment that fire prevention robot 100 is located is monitored to the all-round.
The number of the cameras is not limited, and two cameras can be arranged, and two cameras are arranged on two opposite sides of the explosion-proof box body 11, in this embodiment, four cameras are arranged, and the four cameras are respectively arranged on four sides of the explosion-proof box body 11 to monitor the conditions around the fire-fighting robot 100, so that a rescuer can master the environmental conditions around the fire-fighting robot 100 in real time.
It should be noted that in another embodiment, six cameras are provided, wherein one camera is respectively provided on each of the front and back sides of the explosion-proof box body 11, two cameras are respectively provided on each of the left and right sides of the explosion-proof box body 11, and six cameras are provided, so that the situation of incomplete environment monitoring caused by the size of the view angle of each camera is avoided.
In order to enable the muzzle of the fire water monitor to accurately align with the fire point, the detection device 2 further comprises a cradle head 24 and an infrared thermal imaging and visible light camera 25, wherein the cradle head 24 is movably arranged at the front end of the explosion-proof box body 11 and is linked with the body of the large-flow fire water monitor 31; the infrared thermal imaging and visible light camera 25 is mounted on the cradle head 24 to obtain the highest temperature point of the fire scene; it should be noted that the infrared thermal imaging and visible light camera 25 includes a thermal infrared imager and an optical camera, and the thermal infrared imager is a video camera for displaying by receiving infrared rays emitted from an object; any object with temperature can emit infrared rays, the thermal imager receives the infrared rays emitted by the object, the temperature distribution of the surface of the measured object is displayed through colored pictures, and abnormal points of the temperature are found out according to the tiny difference of the temperature, so that the thermal imager plays a role in maintenance; the working waveband of the optical camera is from near purple light, visible light to near infrared (0.32 um-1.3 um), and is mainly limited by the spectral stress of the lens group of the optical convergence unit and the photosensitive film. The infrared thermal imaging and visible light camera 25 can track the highest temperature point in the sight range, and at the moment, the gun body of the large-flow fire water monitor 31 linked with the holder 24 can move to make the gun mouth aim at the highest temperature point to extinguish fire, so that the fire extinguishing force of the fire-fighting robot 100 is from strong to weak, and the fire extinguishing effect is more obvious.
In the invention, a plurality of enclosing plates 7 are detachably mounted on the peripheral side of the explosion-proof box body 11, a carrying area is formed by enclosing the plurality of enclosing plates 7 and the top of the explosion-proof box body 11, and the carrying area is used for rescue workers to place rescue auxiliary equipment, so that the structure is simple, and the rescue auxiliary equipment is convenient to transport.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a crawler-type running gear for fire-fighting robot, fire-fighting robot includes chassis flame proof box, its characterized in that, crawler-type running gear includes:
the walking crawler belt comprises two crawler belt assemblies which are respectively arranged on two sides of the chassis explosion-proof box body along the left and right directions, each crawler belt assembly comprises a bearing wheel assembly which is arranged on the chassis explosion-proof box body in a swinging mode along the left and right axes, and each bearing wheel assembly comprises two first bearing wheels and bearing wheel sets which are respectively arranged corresponding to the front end and the rear end of the chassis explosion-proof box body and the middle of the chassis explosion-proof box body; and the number of the first and second groups,
the suspension damping system comprises a first suspension damping group and a second suspension damping group, and the first suspension damping group is movably arranged between a wheel shaft of the corresponding first bearing wheel and the chassis explosion-proof box body; and the second suspension damping group is movably arranged between the bearing wheel group and the chassis explosion-proof box body.
2. The crawler track of claim 1, wherein said first suspension damper group comprises:
the first swing arm extends in the vertical direction, the upper end of the first swing arm is rotatably mounted on the chassis explosion-proof box body, and the lower end of the first swing arm is hinged with a wheel shaft of the first bearing wheel; and the number of the first and second groups,
and the first damping structure is arranged between the chassis explosion-proof box body and the first swing arm.
3. The crawler-type traveling mechanism according to claim 1, wherein the bearing wheel set includes two second bearing wheels spaced apart in a front-rear direction;
the second suspension damping group includes:
the connecting frame extends forwards and backwards, and two ends of the connecting frame are fixedly connected with two wheel shafts of the two second bearing wheels respectively;
the second swing arm extends in the vertical direction, the upper end of the second swing arm is rotatably mounted on the chassis explosion-proof box body, and the lower end of the second swing arm is hinged with the middle part of the connecting frame; and the number of the first and second groups,
and the second damping structure is arranged between the chassis explosion-proof box body and the second swing arm.
4. The crawler-type traveling mechanism according to claim 3, wherein a mounting groove is formed at the lower end of the second swing arm;
the middle part of the connecting frame is provided with an installation bulge, and the installation bulge is rotatably installed in the installation groove through a first pin shaft connecting structure; and/or, the second shock-absorbing structure comprises a shock absorber, and the lower end of the shock absorber is rotatably installed in the installation groove through a second pin shaft connecting structure.
5. The crawler-type traveling mechanism according to claim 1, wherein a plurality of the bearing wheel sets are provided, and the plurality of the bearing wheel sets are provided at intervals in a front-rear direction;
correspondingly, the second suspension damping group is provided in plurality.
6. The crawler-type traveling mechanism according to claim 1, wherein the crawler assembly further comprises a tension wheel assembly rotatably mounted on the chassis explosion-proof box body, the tension wheel assembly comprises a plurality of tension wheels, and the plurality of tension wheels are arranged at intervals in the front-back direction;
and each tensioning wheel is provided with a tensioning adjusting structure for adjusting the position of the tensioning wheel up and down.
7. The crawler track of claim 6, wherein said tension adjustment structure comprises:
the worm and gear assembly comprises a worm gear and a worm which are meshed with each other, the worm extends along the left and right directions, the worm gear can rotate along the vertical axis, and a nut is embedded in a shaft hole of the worm gear;
the screw rod extends along the vertical direction, the screw rod is arranged in the shaft hole and is in threaded fit with the nut, and the upper end of the screw rod is fixedly connected with the tensioning wheel.
8. The crawler-type traveling mechanism according to claim 7, wherein the tension adjusting structure further comprises a limiting structure arranged between the chassis explosion-proof box body and the tension wheel.
9. The tracked undercarriage of claim 1, wherein said track assembly further comprises:
the driving wheel is rotatably arranged at the rear end of the chassis explosion-proof box body;
the inducer is rotatably arranged at the front end of the chassis explosion-proof box body;
the crawler belt is arranged outside the driving wheel and the inducer and comprises an upper crawler belt section and a lower crawler belt section; and the number of the first and second groups,
the tension wheel assembly is rotatably arranged on the chassis explosion-proof box body and is abutted and attached to the inner wall of the upper crawler belt section;
wherein, the bearing wheel subassembly supports to closely paste with the inner wall of lower track section and connects.
10. A fire fighting robot comprising a crawler type traveling mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111184440.3A CN113844559A (en) | 2021-10-11 | 2021-10-11 | Crawler-type running gear and fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111184440.3A CN113844559A (en) | 2021-10-11 | 2021-10-11 | Crawler-type running gear and fire-fighting robot |
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| Publication Number | Publication Date |
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| CN113844559A true CN113844559A (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111184440.3A Pending CN113844559A (en) | 2021-10-11 | 2021-10-11 | Crawler-type running gear and fire-fighting robot |
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| CN114426067A (en) * | 2022-04-07 | 2022-05-03 | 河北石安特智能科技有限公司 | All-terrain shock-absorbing suspension type composite tracked robot moving platform |
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Application publication date: 20211228 |
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