CN115350430B

CN115350430B - Fire control operation equipment of marcing

Info

Publication number: CN115350430B
Application number: CN202210985897.2A
Authority: CN
Inventors: 曹光客; 杜礼会
Original assignee: Hangzhou Shenhong Intelligent Technology Co ltd
Current assignee: Hangzhou Shenhong Intelligent Technology Co ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2023-04-25
Anticipated expiration: 2042-08-16
Also published as: CN115350430A

Abstract

The invention discloses fire-fighting operation traveling equipment, which comprises two automobile bodies; two connecting components are arranged in the vehicle body, and two wheels are rotatably connected to the lower end of the vehicle body; the connecting component comprises a connecting rod rotatably connected to the inside of the vehicle body and a rotating disc rotatably connected to the inside of the vehicle body; the inside of the vehicle body is fixedly connected with a switching motor; a switching component is arranged between the two rotating discs in the vehicle body; the switching assembly comprises a switching tube rotationally connected to the inside of the vehicle body, a plug rod slidingly connected to the inside of the switching tube, a movable toothed ring rotationally connected to the periphery of the switching tube, and a rebound device fixedly connected to the switching tube; the invention can separate two car bodies to pass through any angle bend.

Description

Fire control operation equipment of marcing

Technical Field

The invention belongs to the technical field of fire-fighting equipment, and particularly relates to fire-fighting operation traveling equipment.

Background

In the fire-fighting operation rescue process, places where people are difficult to enter are reserved, and environments with different conditions, such as roads with large bending angles and even corners with the turning angles approaching 180 degrees, soil or oil stains and the like, which are easy to cause equipment slipping, can be encountered in the small spaces.

The chinese patent document No. CN205978982U discloses a multifunctional ring for a pipeline robot and an anti-collision pipeline robot.

The chinese patent document No. CN216180481U discloses a vision pipeline robot.

In the using process of the patent, a curve with larger bending degree is usually arranged in the pipeline, so that the robot cannot pass through the curve, and the limitation is larger.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the defects in the prior art, the traveling equipment capable of enabling two car bodies to be separated and further capable of steering at any angle through a curve at any angle is provided.

The invention is realized by adopting the following technical scheme: a fire-fighting operation advancing device comprises two vehicle bodies; two longitudinally arranged connecting assemblies are arranged in each vehicle body, and two wheels which are symmetrically arranged left and right are rotationally connected to the lower end of each vehicle body.

The connecting assembly comprises a connecting rod which is rotatably connected with a rotating shaft in the vehicle body and is arranged along the up-down direction, and a rotating disc which is rotatably connected with the vehicle body and is in transmission connection with one end of the connecting rod; the rotating shaft of the connecting rod is parallel to and is not coincident with the rotating shaft of the rotating disc; one end of the connecting rod on one vehicle body, which is far away from the corresponding rotating disc, is rotationally connected with the corresponding connecting rod on the other vehicle body; the inside fixed connection of automobile body is used for driving one the switching motor that the rolling disc rotated.

A switching assembly is arranged between the two rotating discs in the vehicle body; the switching assembly comprises a switching tube which is rotationally connected with a rotating shaft in the automobile body and is arranged in a manner of overlapping with the rotating shaft of the rotating disc, a plugging rod which is slidingly connected in the switching tube along the horizontal direction and can be fixed relative to the automobile body, a movable toothed ring which is rotationally connected with the rotating shaft at the periphery of the switching tube and is arranged vertically to the rotating shaft of the switching tube, and a rebound device which is fixedly connected with the inside of one end of the switching tube far away from the rotating shaft and can drive the plugging rod to move; the plug-in rod can be fixed with the two rotating discs relatively.

When the plug-in rod is fixed relative to the vehicle body, the rotation directions of the two rotating discs are opposite, and the two vehicle bodies relatively move in the front-rear direction.

When the plug-in rod is fixed relative to the two rotating discs, the rotating directions of the two rotating discs are the same, and the two vehicle bodies rotate relative to each other, so that turning is realized.

As a preferable scheme: the output end of the rebound device is fixedly connected with a push plate, and a reset spring capable of pushing or pulling the plug rod is arranged between the push plate and one end, close to the rebound device, of the plug rod.

Synchronous inserting blocks which are symmetrically arranged are formed on the upper side and the lower side of the inserting connection rod respectively, a limit ring which is arranged along the circumferential direction and can be propped against the corresponding synchronous inserting blocks is formed at one end of the rotating disc, which is close to the switching tube, and a synchronous slot which can be inserted with the corresponding synchronous inserting block is formed on the inner wall of the limit ring.

The inside shaping of automobile body with the rolling disc rotate connect, with the spliced pole rotates the spliced pole and connects, the spliced pole jack is pegged graft to spliced pole outer wall shaping of spliced pole.

When two automobile bodies move to mutually close to the extreme position, the push plate is located the first position, and when two automobile bodies are mutually far away from each other in the front-back direction, the push plate pops out to the second position, the tensile power that holds of reset spring, synchronous inserted block with spacing collar inner wall offsets, and when two automobile bodies move to front-back just and mutually far away from the extreme position, two connecting rods in the automobile body are parallel to each other in the upper and lower direction, the inserted bar just faces with the jack, synchronous inserted block just faces with synchronous slot, synchronous inserted block with synchronous slot grafting, the inserted bar is followed shift out in the jack, at this moment, two rolling discs rotation direction is the same, and synchronous motion can turn.

When two car bodies turn and relatively rotate to a limit position, the push plate is located at a first position, when the two car bodies leave the limit position which relatively rotates and turn, the push plate is located at a third position, the reset spring contracts to store force, the plug rod is propped against the rotating column, when the two car bodies rotate to the front and back opposite directions and are mutually far away from the limit position, the plug rod is opposite to the jack, the synchronous plug block is opposite to the synchronous slot, the plug rod is plugged with the jack, the synchronous plug block moves out of the synchronous slot, at the moment, the rotation directions of the two rotating discs are opposite, and the two connecting rods in one car body can rotate from being parallel to each other to be mutually crossed and can linearly run.

As a preferable scheme: the lower end of the push plate is connected with a lower driven rod capable of driving the push plate to move; two second switching plates which are symmetrically arranged left and right are fixedly connected in the vehicle body; one end of the second switching plate, which is far away from the rotating shaft of the rotating disc, is provided with a second switching abutting surface which can abut against the lower driven rod; the side wall of the second switching abutting surface in the horizontal direction is provided with a second switching inclined surface which can abut against the lower driven rod and push the lower driven rod in a pressing mode.

When the lower driven rod is abutted against the second switching inclined plane, the rotating disc continuously rotates to enable the second switching inclined plane to push the lower driven rod towards the direction close to the rebound device, and when the lower driven rod is abutted against the second switching abutting plane, the push plate moves to a first position, and the two car bodies relatively rotate to an extreme position.

When the lower driven rod and the second switching plate are not propped against each other, the two car bodies leave the limit position of relative rotation, and the push plate is ejected from the rebound device to a third position.

As a preferable scheme: the upper end of the push plate is fixedly connected with an upper driven rod which can drive the push plate to move; the upper side of the rotating disc is fixedly connected with two first switching plates which are symmetrically arranged along the radial direction of the rotating disc, one end of the rotating disc rotating shaft, which is far away from the first switching plates, is provided with a first switching abutting surface which can abut against the upper driven rod, and the side wall of the first switching abutting surface, which is positioned on the horizontal direction, is provided with a first switching inclined surface which can abut against the upper driven rod and push the upper driven rod.

When the upper driven rod is abutted against the first switching inclined plane, the rotating disc continuously rotates to enable the first switching inclined plane to push and push the upper driven rod in the direction approaching to the rebound device, and when the upper driven rod is abutted against the first switching abutting plane, the push plate moves to a first position, and the two car bodies move to the limit positions which are mutually approaching.

When the upper driven rod and the first switching plate are not propped against each other, the push plate is ejected from the rebound device to a second position.

When any one of the first switching plate and the second switching plate extrudes to push the push plate, the push plate is positioned at a first position; when the first switching plate is not in contact with the push plate, the rebound device enables the push plate to move to a second position; when the second switching plate is not in contact with the push plate, the rebound device enables the push plate to move to a third position; the second position is located between the first position and the third position.

As a preferable scheme: the lower part of the vehicle body is provided with two disengaging assemblies which are symmetrically arranged left and right; the separation assembly comprises a threaded pipe which is connected to the lower part of the vehicle body in a sliding manner and can be fixed relative to the ground, and a separation motor which is arranged on the lower part of the vehicle body and is used for driving the threaded pipe to extend out.

When the threaded pipe on the rear vehicle body is fixed relative to the ground, the switching motor operates in the forward direction, the included angle between the two connecting rods on the same vehicle body is reduced, and the front vehicle body is pushed forward.

When the threaded pipe on the front vehicle body is fixed relative to the ground, the switching motor runs reversely, the included angle between the two connecting rods on the same vehicle body is increased, and the rear vehicle body is pulled forwards to realize separation and slipping.

As a preferable scheme: an adjusting component for changing the orientation of the threaded pipe is arranged between each wheel and the corresponding disengaging component; the separation assembly further comprises a rotating rod which is rotatably connected with a rotating shaft in the vehicle body and is arranged along the horizontal direction; the threaded pipe is connected to the rotating rod in a sliding manner, and the sliding direction of the threaded pipe is perpendicular to the rotating shaft of the rotating rod; the adjusting component comprises a switching plate which is rotationally connected to the inside of the vehicle body and is in transmission connection with the corresponding wheel; the rotation of the switching plate drives the rotating rod to synchronously and reversely rotate.

When the wheels rotate, the vehicle body moves, the switching plate rotates to enable the rotating rod to rotate, when the switching plate rotates to the limit, the rotating rod stops rotating, and the lower end of the threaded pipe faces to the rear of the travelling direction of the vehicle body and inclines downwards.

As a preferable scheme: the adjusting component further comprises a switching rod which is rotationally connected to the inside of the automobile body and is in sliding connection with the switching plate; and a torsion spring for driving the switching plate to rotate to be vertical is arranged between the switching rod and the vehicle body.

When the switching plate is inclined, the torsion spring twists to store force, and the switching plate tightly props against the wheel under the action of the elasticity of the torsion spring.

As a preferable scheme: a threaded pipe ring which is in sliding connection with the threaded pipe is fixedly connected to the rotating rod; the outer wall of the threaded pipe is provided with a rotation limiting groove which is axially arranged, and the inner wall of the threaded pipe ring is provided with a rotation limiting block which is in sliding connection with the rotation limiting groove.

As a preferable scheme: the rotating disc is close to the center of one end of the switching tube, and a rotating disc gear ring meshed with the movable gear ring is formed in the circumferential direction.

As a preferable scheme: the outer wall of the vehicle body is fixedly connected with a camera used for observing the environment.

Compared with the prior art, the invention has the beneficial effects that: in the initial state, a certain distance is reserved between the two automobile bodies, the first switching plate is not propped against the upper driven rod, the push plate is positioned at the third position, the restoring spring contracts to store force, and the synchronous slot is not right opposite to the synchronous insert block.

When the invention is used, the invention is stably placed on the ground, then a start button on the controller is pressed, the controller controls each wheel motor to synchronously operate, and the two vehicle bodies move forwards at the same speed and enter the working area.

When the camera observes a curve needing to turn, a turning button on the controller is pressed and the turning direction is input, and the plugging rod is plugged into the jack at the moment, so that the switching tube cannot rotate around the rotating column, the rotating disc rotates to drive the rotating disc gear ring to rotate so as to enable the movable gear ring to rotate, and the rotating disc gear ring on the other side is driven to rotate by the rotating of the movable gear ring so as to enable the rotating disc on the other side to reversely rotate; the two rotating discs on the same vehicle body rotate to increase the included angles of the connecting rods connected with the two rotating discs respectively, and the two vehicle bodies are close to each other.

When a first switching inclined plane on a first switching plate on the upper rotating disc is propped against an upper driven rod on the push plate, the rotating disc continuously rotates to drive the push plate to move towards the direction approaching to the rebound device; when the two car bodies move to the limit positions, the upper driven rod is abutted against the first switching abutting surface, and the push plate moves to the first position.

Then, the controller controls the forward operation of the switching motor to drive the rotating disc to rotate until the first switching plate is not propped against the upper driven rod, the push plate is ejected from the rebound device to a second position, the reset spring stretches the power storage, and the synchronous inserting block is propped against the inner wall of the limit ring.

Then the controller controls the switching motor to continue to operate in the forward direction, and the switching motor drives the rotating disc to rotate so that the vehicle body moves in the direction away from the other vehicle body; when the two car bodies move to the limit positions far away from each other, the connecting rods are parallel to the car bodies in the front-rear direction, the synchronous inserting blocks and the corresponding synchronous inserting grooves are opposite to each other in the front-rear direction, at the moment, the inserting rods move away from the rotating column under the action of the elasticity of the reset springs, and the inserting rods move out of the inserting holes; when the plug rod moves out of the jack completely, the switching tube can rotate relative to the rotating column, the synchronous plug block is plugged with the corresponding synchronous slot, so that the two rotating discs on one car body are fixed relative to the switching tube and rotate synchronously, and the two car bodies can rotate relatively.

Then, the two wheel motors on the front vehicle body operate with different powers, so that the rotation speeds of the two wheels are different, and the front vehicle body turns; similarly, two wheel motors on the rear vehicle body operate with different powers to turn, so that integral turning is realized.

In the turning process, a lower driven rod on the push plate abuts against a second switching inclined plane on a second switching plate, the rotary disc continuously rotates to drive the push plate to move towards the direction approaching to the rebound device, and when the lower driven rod abuts against the second switching abutting plane, the push plate moves to the first position again; when the turning is finished, the switching motor reversely operates to drive the rotating disc to reversely rotate, the driven rod is driven by the reverse rotation of the rotating disc to move to be not propped against the second switching plate, the push plate is ejected from the rebound device to a third position, the reset spring contracts to store the force, and the inserting connection rod is tightly propped against the rotating column under the elastic action of the reset spring.

When the two car bodies move to be aligned in the front-rear direction again, the inserting rod moves to be aligned with the inserting hole, the inserting rod moves to be inserted with the inserting hole under the action of the elastic force of the reset spring, so that the switching tube and the rotating column are relatively fixed, and meanwhile, the synchronous inserting block and the synchronous inserting slot are not inserted any more, so that the two rotating discs and the switching tube are not synchronously rotated any more, and the two rotating discs on the same car body synchronously rotate in opposite directions; the controller controls the switching motor to continue to reversely operate, the two vehicle bodies are close to each other, and when the two vehicle bodies move to the distance between the initial positions, the controller controls the switching motor to stop operating.

In the moving process of the vehicle body, the rotation of the wheels drives the switching plate to rotate through friction force, the rotation of the switching plate drives the switching sliding chute to rotate so that the switching shaft rotates, then the switching rod rotates, the rotation of the switching rod can drive the switching gear to rotate, the rotation of the switching gear drives the driven gear to rotate so that the rotating rod rotates, and then the threaded pipe inclines and the lower end faces the rear of the advancing direction.

When the camera observes that the wheel slip cannot continue to move, the controller controls the disengaging motor on the vehicle body behind the advancing direction to operate positively by pressing a disengaging button, the disengaging motor drives the screw rod to rotate, and the screw rod rotates to drive the screw rod to slide obliquely downwards due to the fact that the screw rod and the screw rod are fixed relatively in the circumferential direction and axially can slide relatively, so that the screw rod rotates to drive the screw rod to slide obliquely downwards, and the screw rod is propped against the ground and fixed relatively; then the controller controls the forward operation of the switching motor, so that the two vehicle bodies are relatively far away, the vehicle body positioned in front of the advancing direction is pushed forward, and then the controller controls the reverse operation of the disengaging motor positioned on the vehicle body positioned behind the advancing direction, so that the threaded pipe is retracted; similarly, the controller controls the forward operation of the separating motor positioned in front of the advancing direction, the front vehicle body is fixed relative to the ground, then the controller controls the direction of the switching motor to rotate, the two vehicle bodies are close to each other, the vehicle body positioned behind the advancing direction is pulled forwards, then the controller controls the reverse operation of the separating motor positioned on the vehicle body positioned in front of the advancing direction, and the threaded pipe is retracted; the above operation is repeated a plurality of times so that the whole can be separated from the slip region.

When the use is finished, the end button is pressed, the controller controls the wheel motors to reversely operate, the vehicle body returns to the starting point, and then the controller controls the wheel motors to stop operating and restore the initial state.

According to the invention, the rotating disc is arranged, so that the push plate can be driven to move, the rebound device can operate, the position of the push plate is changed, the function switching is realized, the connecting rod can be driven to rotate, the included angle between the connecting rods is changed, and the change of the distance between two vehicle bodies is realized.

According to the invention, the plug-in rod is arranged, so that the plug-in rod can be plugged into the jack, the switching tube is relatively fixed with the rotating column, only the movable toothed ring is driven to rotate when the rotating disc rotates, and then the rotating disc at the other side reversely rotates, so that the two rotating discs rotate in opposite directions, the distance between two car bodies is changed, and the two rotating discs are relatively fixed with the switching tube through the synchronous plug-in block and the synchronous slot, and further the two rotating discs rotate in the same direction, so that the two car bodies rotate in opposite directions, and turn.

According to the invention, the wheels are arranged, so that the vehicle body can be driven to move, and the switching plate can be driven to rotate in the running process, so that the direction of the threaded pipe is changed, and the threaded pipe can be separated from slipping in the running direction.

According to the invention, the vehicle body can be separated and then turned in the working area, so that a larger turning angle is realized; the invention can be disengaged when the wheels slip, thereby avoiding loss caused by incapability of moving in an operation area; the invention can automatically change the direction of the threaded pipe when changing the moving direction, so that the direction of disengaging from slipping always faces to the front of the advancing direction.

Drawings

Fig. 1 is a schematic view of the structure of the present invention when turning in a curve.

Fig. 2 is a schematic exploded view of the present invention.

Fig. 3 is a schematic exploded view of the connection assembly of the present invention.

Fig. 4 is a schematic cross-sectional exploded view of the switching assembly of the present invention.

Fig. 5 is a schematic cross-sectional structure of the vehicle body of the present invention.

Figure 6 is a schematic cross-sectional exploded view of the disengaging assembly of the present invention.

Fig. 7 is a schematic view of the structure of the adjusting assembly of the present invention.

Fig. 8 is a schematic cross-sectional view of the present invention when traveling straight.

Figure 9 is a schematic cross-sectional view of the push plate of the present invention as it moves to a first position.

Fig. 10 is a schematic cross-sectional view of the synchronous plug and the synchronous slot of the present invention.

Figure 11 is a schematic cross-sectional view of the push plate of the present invention as it is being moved back to the first position.

Fig. 12 is a schematic cross-sectional view of the present invention at the end of a turn.

FIG. 13 is a schematic cross-sectional view of the invention with a plug rod inserted into a receptacle.

Fig. 14 is a schematic cross-sectional view of the threaded tube of the present invention as it changes in synchronism with the direction of travel of the wheel.

FIG. 15 is a schematic cross-sectional view of the threaded pipe of the present invention secured to the ground.

1. A vehicle body; 10. a camera; 11. a fixing plate; 111. a second switching plate; 112. a second switching ramp; 113. a second switching abutment; 12. rotating the column; 121. a jack; 13. wheel frame; 14. a mounting plate; 15. a connecting rod swivel post; 2. a connection assembly; 21. a rotating disc; 211. a turntable driving column; 212. a first switching plate; 213. a turntable gear ring; 214. synchronizing the slots; 215. a first switching ramp; 216. a first switching abutment; 217. a limit ring; 22. a connecting rod; 221. rotating the driven groove; 222. a connecting rod rotating hole; 223. a connecting rod connecting hole; 3. a switching assembly; 31. switching the tube; 311. a mounting sleeve; 312. a driven chute; 314. a plunger chute; 315. a toothed ring flange; 32. a rebound device; 321. a push plate; 322. an upper driven rod; 323. a lower driven rod; 325. a return spring; 33. inserting a connecting rod; 331. a synchronous inserting block; 34. a movable toothed ring; 4. switching the motor; 5. a disengagement assembly; 51. a rotating lever; 511. a fixing frame; 512. a driven gear; 513. a threaded pipe ring; 514. a rotation limiting block; 52. separating from the motor; 521. a screw rod; 53. a threaded tube; 531. a rotation limiting groove; 6. an adjustment assembly; 61. a switching board; 611. switching the sliding chute; 62. a switching lever; 621. a switching shaft; 622. a switching gear; 63. a torsion spring; 7. a wheel; 71. wheel motor.

Detailed Description

Example 1

According to fig. 1 to 15, a fire-fighting operation traveling device according to the present embodiment includes two vehicle bodies 1; two longitudinally arranged connecting assemblies 2 are arranged in each vehicle body 1, and two wheels 7 which are symmetrically arranged left and right are rotationally connected to the lower end of each vehicle body 1; the lower end of the vehicle body 1 is provided with a wheel frame 13 which is rotationally connected with the wheels 7; a wheel motor 71 for driving the wheel 7 to rotate is fixedly connected to the bottom in the vehicle body 1.

The connecting assembly 2 comprises a connecting rod 22 which is rotatably connected with a rotating shaft in the vehicle body 1 and is arranged along the up-down direction, and a rotating disc 21 which is rotatably connected with one end of the connecting rod 22 in the vehicle body 1 and is in transmission connection with the connecting rod; a rotary driven groove 221 is formed on one side of the connecting rod 22, which is close to the rotary disc 21, and a rotary disc driving column 211 which is in sliding connection with the rotary driven groove 221 is formed on one end of the rotary disc 21, which is close to the connecting rod 22; the axis of the turntable driving column 211 is parallel to the rotation axis of the rotating disk 21 and is not overlapped with the rotation axis of the rotating disk.

The rotation axis of the connecting rod 22 is parallel to and is not coincident with the rotation axis of the rotating disc 21; the middle part of the connecting rod 22 is formed with a connecting rod rotating hole 222 which penetrates up and down, and the inside of the vehicle body 1 is formed with a connecting rod rotating column 15 which is rotationally connected with the connecting rod rotating holes 222 on the corresponding two connecting rods 22.

One end of the connecting rod 22 on one of the vehicle bodies 1, which is far away from the corresponding rotating disc 21, is rotatably connected with the corresponding connecting rod 22 on the other vehicle body 1; one end of the connecting rod 22, which is far away from the corresponding rotating disc 21, is formed with a connecting rod connecting hole 223 which is penetrated up and down, and the connecting rod connecting holes 223 on the connecting rods 22 on the two vehicle bodies 1 are rotationally connected through bolts; the inside of the car body 1 is fixedly connected with a switching motor 4 for driving one rotating disc 21 to rotate.

A switching assembly 3 is arranged between the two rotating discs 21 in the vehicle body 1; the switching assembly 3 comprises a switching tube 31 rotatably connected to the inside of the vehicle body 1 and arranged in a manner of overlapping with the rotating shaft of the rotating disc 21, a plugging rod 33 which is slidably connected to the inside of the switching tube 31 along the horizontal direction and can be fixed relative to the vehicle body 1, a movable toothed ring 34 rotatably connected to the rotating shaft at the periphery of the switching tube 31 and arranged vertically to the rotating shaft of the switching tube 31, and a rebound device 32 fixedly connected to the inside of one end of the switching tube 31 far away from the rotating shaft and capable of driving the plugging rod 33 to move; the plug-in rod 33 can be fixed relative to the two rotary disks 21; the outer wall of the switching tube 31 is formed with toothed ring flanges 315 on two sides of the movable toothed ring 34 for preventing the movable toothed ring 34 from sliding along the axial direction of the switching tube 31.

When the plug-in rod 33 is fixed relative to the vehicle body 1, the switch motor 4 operates, one rotating disc 21 rotates forward, the rotating disc 21 drives the movable toothed ring 34 to rotate around the rotating shaft thereof, so that the other rotating disc 21 rotates reversely, the rotating directions of the two rotating discs 21 are opposite, the two vehicle bodies 1 move relatively in the front-rear direction, and when the two vehicle bodies 1 move to a mutually close limit position and then move away from each other, the rebound device 32 drives the plug-in rod 33 to move to be fixed relative to the two rotating discs 21.

When the plug-in rod 33 is fixed relative to the two rotating discs 21, the switch motor 4 operates, one rotating disc 21 rotates forward, the rotating disc 21 drives the movable toothed ring 34 to rotate around the rotating shaft of the rotating disc 21 so that the other rotating disc 21 rotates synchronously forward, the rotating directions of the two rotating discs 21 are the same, the two vehicle bodies 1 rotate relatively to realize turning, and when the turning is finished, the two vehicle bodies 1 rotate relatively to the front-back direction, the rebound device 32 drives the plug-in rod 33 to move to be fixed relative to the vehicle bodies 1.

The output end of the rebound device 32 is fixedly connected with a push plate 321, and a reset spring 325 capable of pushing or pulling the plug rod 33 is arranged between the push plate 321 and one end of the plug rod 33, which is close to the rebound device 32.

The upper and lower sides of the insertion rod 33 are respectively formed with symmetrically arranged synchronous insertion blocks 331, one end of the rotating disc 21, which is close to the switching tube 31, is formed with a limit ring 217 which is arranged along the circumferential direction and can be abutted against the corresponding synchronous insertion block 331, and the inner wall of the limit ring 217 is formed with a synchronous slot 214 which can be inserted into the corresponding synchronous insertion block 331.

The inside of the vehicle body 1 is formed with a rotating column 12 which is rotationally connected with the rotating disc 21 and is rotationally connected with the switching tube 31, and the outer wall of the rotating column 12 is formed with an inserting hole 121 which can be inserted with the inserting rod 33.

A mounting sleeve 311 which is rotationally connected with the rotating column 12 is formed at one end of the switching tube 31, which is close to the rotating shaft of the rotating disc 21; the inside of the switching tube 31 is formed with a plug rod chute 314 which is slidably connected with the plug rod 33 and is communicated with the inside of the mounting sleeve 311.

When the two vehicle bodies 1 move to the limit positions, the push plate 321 is located at the first position, when the two vehicle bodies 1 move away from each other in the front-rear direction, the push plate 321 pops up to the second position, the restoring spring 325 stretches to store the force, the synchronous inserting block 331 abuts against the inner wall of the limit ring 217, when the two vehicle bodies 1 move to the limit positions where the two vehicle bodies are opposite to each other in the front-rear direction, the two connecting rods in one vehicle body are parallel to each other in the vertical direction, the inserting rod 33 faces the inserting hole 121, the synchronous inserting block 331 faces the synchronous inserting groove 214, the synchronous inserting block 331 is inserted into the synchronous inserting groove 214, the inserting rod 33 moves out of the inserting hole 121, and at the moment, the rotating directions of the two rotating discs are the same, and the two rotating discs synchronously move, so that turning can be performed.

When two car bodies 1 turn and relatively rotate to a limit position, the push plate 321 is located at a first position, when the two car bodies leave the limit position of the relative rotation and turn, the push plate 321 is located at a third position, the return spring 325 contracts to store force, the inserting rod 33 abuts against the rotating column 12, when the two car bodies 1 rotate to front and back opposite to each other and are far away from the limit position, the inserting rod 33 abuts against the inserting hole 121, the synchronous inserting block 331 abuts against the synchronous inserting hole 214, the inserting rod 33 is inserted into the inserting hole 121, the synchronous inserting block 331 moves out of the synchronous inserting hole 214, at the moment, the rotation directions of the two rotating discs are opposite, and the two connecting rods in one car body can rotate from parallel to cross each other and can linearly travel.

The lower end of the push plate 321 is connected with a lower driven rod 323 which can drive the push plate 321 to move; the middle part inside the vehicle body 1 is fixedly connected with a fixed plate 11, and the upper end of the fixed plate 11 is fixedly connected with two second switching plates 111 which are symmetrically arranged left and right; a second switching contact surface 113 capable of being contacted with the lower driven rod 323 is formed at one end of the second switching plate 111 away from the rotating shaft of the rotating disc 21; the side wall of the second switching abutment surface 113 located in the horizontal direction is formed with a second switching inclined surface 112 capable of abutting against the lower driven rod 323 and pushing the lower driven rod 323 in a pressing manner.

When the lower driven rod 323 abuts against the second switching inclined surface 112, the rotating disc 21 continues to rotate, so that the second switching inclined surface 112 pushes the lower driven rod 323 towards the direction approaching to the rebound device 32, when the lower driven rod 323 abuts against the second switching abutting surface 113, the push plate 321 moves to the first position, and the two vehicle bodies 1 relatively rotate to the limit position.

When the lower follower bar 323 no longer abuts against the second switching plate 111, the two vehicle bodies are moved away from the relative-rotation limit position, and the push plate 321 is ejected from the inside of the rebound device 32 to the third position.

An upper driven rod 322 capable of driving the push plate 321 to move is connected to the upper end of the push plate 321; the outer wall of the rotating disc 21 positioned above is fixedly connected with two first switching plates 212 which are symmetrically arranged along the radial direction of the rotating disc 21, one end of the first switching plate 212, which is far away from the rotating shaft of the rotating disc 21, is formed with a first switching abutting surface 216 which can abut against the upper driven rod 322, and the side wall of the first switching abutting surface 216 positioned in the horizontal direction is formed with a first switching inclined surface 215 which can abut against the upper driven rod 322 and push the upper driven rod 322; the upper end of the switching tube 31 is formed with a driven chute 312 slidably connected with the upper driven rod 322.

When the upper driven rod 322 abuts against the first switching inclined plane 215, the rotating disc 21 continues to rotate, so that the first switching inclined plane 215 pushes and pushes the upper driven rod 322 towards the direction approaching to the rebound device 32, when the upper driven rod 322 abuts against the first switching abutting plane 216, the push plate 321 moves to the first position, and the two vehicle bodies 1 move to the limit positions mutually.

When the upper follower rod 322 no longer abuts the first switch plate 212, the push plate 321 is ejected from the rebound apparatus 32 to a second position.

When any one of the first switching plate 212 and the second switching plate 111 presses and pushes the push plate 321, the push plate 321 is located at a first position; when the first switching plate 212 is not in contact with the push plate 321, the rebound device 32 moves the push plate 321 to a second position; when the second switching plate 111 is not in contact with the push plate 321, the rebound device 32 moves the push plate 321 to a third position; the second position is located between the first position and the third position.

When the push plate 321 is located at the third position, the first switching plate 212 presses and pushes the push plate 321, the push plate 321 moves to the first position, when the first switching plate 212 no longer presses and pushes the push plate 321, the push plate 321 pops up to the second position, when the second switching plate 111 presses and pushes the push plate 321, the push plate 321 moves to the first position again, and when the second switching plate 111 does not press and pushes the push plate 321, the push plate 321 pops up to the third position, and thus reciprocates.

The rebound device is a standardized part, and the specific structure of the rebound device is not repeated.

The lower part of the vehicle body 1 is provided with two disengaging assemblies 5 which are symmetrically arranged left and right; the lower part of the vehicle body 1 is provided with two mounting plates 14 which are symmetrically arranged left and right and are used for mounting the corresponding disengaging assemblies 5; the disengaging assembly 5 comprises a threaded pipe 53 which is connected to the lower part of the vehicle body 1 in a sliding way and can be fixed relative to the ground, and a disengaging motor 52 which is arranged on the lower part of the vehicle body 1 and is used for driving the threaded pipe 53 to extend out; the output shaft of the separation motor 52 is fixedly connected with a screw rod 521 which is in threaded connection with the threaded pipe 53.

When the threaded pipe 53 of the rear vehicle body 1 is fixed relative to the ground, the switching motor 4 is operated in the forward direction, the angle between the two links 22 of the same vehicle body 1 is reduced, and the front vehicle body 1 is pushed forward.

When the threaded pipe 53 on the front vehicle body 1 is fixed relative to the ground, the switching motor 4 operates reversely, the included angle between the two connecting rods 22 on the same vehicle body 1 increases, and the rear vehicle body 1 is pulled forward to realize the separation and slipping.

An adjusting assembly 6 for changing the orientation of the threaded pipe 53 is arranged between each wheel 7 and the corresponding disengaging assembly 5; the adjustment assemblies 6 are mounted on the corresponding mounting plates 14.

The disengaging assembly 5 further comprises a rotating rod 51 which is rotatably connected with the rotating shaft inside the vehicle body 1 and is arranged along the horizontal direction; the threaded pipe 53 is slidably connected to the rotating rod 51, and the sliding direction is perpendicular to the rotating shaft of the rotating rod 51; the rotating rod 51 is fixedly connected with a fixing frame 511 fixedly connected with the disengaging motor 52.

The adjusting assembly 6 comprises a switching plate 61 which is rotatably connected to the inside of the vehicle body 1 and is in transmission connection with the corresponding wheel 7; rotation of the switching plate 61 drives the rotation lever 51 to rotate reversely in synchronization.

When the wheel 7 rotates, the vehicle body 1 moves, the wheel 7 drives the switching plate 61 to rotate so that the rotating rod 51 rotates, when the switching plate 61 rotates to a limit, the rotating rod 51 stops rotating, and the lower end of the threaded pipe 53 faces to the rear of the traveling direction of the vehicle body 1 and is inclined downward.

The adjusting assembly 6 further comprises a switching lever 62 which is rotatably connected to the inside of the vehicle body 1 and is slidably connected to the switching plate 61; a torsion spring 63 for driving the switching plate 61 to rotate to a vertical direction is arranged between the switching lever 62 and the vehicle body 1.

A driven gear 512 is fixedly connected to one end of the rotating rod 51 close to the adjusting assembly 6, and a switching gear 622 meshed with the driven gear 512 is fixedly connected to one end of the switching rod 62 close to the disengaging assembly 5; the two sides of the switching plate 61 are formed with switching sliding grooves 611 arranged along the radial direction, and the outer wall of the switching rod 62 is formed with a switching shaft 621 with a non-circular section and slidingly connected with the switching sliding grooves 611.

When the switching plate 61 is inclined, the torsion spring 63 twists the accumulated force, and the switching plate 61 tightly abuts against the wheel 7 under the action of the elasticity of the torsion spring 63; when the switch plate 61 is vertical, the torsion spring 63 is in a natural state, and the switch plate 61 is tightly abutted against the wheel 7 under the action of self gravity, so that the switch plate 61 is always tightly abutted against the wheel 7 no matter where the switch plate 61 is located.

A threaded pipe ring 513 slidably connected with the threaded pipe 53 is fixedly connected to the rotating rod 51; the outer wall of the threaded pipe 53 is formed with a rotation limiting groove 531 arranged along the axial direction, and the inner wall of the threaded pipe ring 513 is formed with a rotation limiting block 514 slidably connected with the rotation limiting groove 531.

The rotating disc 21 is formed with a rotating disc gear ring 213 which is meshed with the movable gear ring 34 and is arranged along the circumferential direction near the center of one end of the switching tube 31.

The camera 10 for observing the environment is fixedly connected to the outer wall of the vehicle body 1.

The controller is fixedly connected to the inside of the vehicle body 1, the receiver for receiving signals of an operator is fixedly connected to the inside of the vehicle body 1, and the operator is provided with a start button, a turning button, a separation button and an end button; the manipulator is connected with the controller by wireless, and the receiver, the camera 10, the switch motor 4, the disengagement motor 52, and the wheel motor 71 are electrically connected with the controller.

In the initial state, a certain distance is reserved between the two vehicle bodies 1, the first switching plate 212 is not abutted against the upper driven rod 322, the push plate 321 is positioned at the third position, the return spring 325 contracts to store force, and the synchronous slot 214 is not opposite to the synchronous insert block 331.

When the invention is used, the invention is stably placed on the ground, then a start button on a controller is pressed, the controller controls each wheel motor 71 to synchronously operate, and two vehicle bodies 1 move forwards at the same speed and enter a working area.

When the camera observes the curve needing to turn, the turning button on the controller is pressed and the turning direction is input, and the plugging rod 33 is plugged with the plug hole 121 at the moment, so that the switching tube 31 cannot rotate around the rotating column 12, the rotating disc 21 rotates to drive the rotating disc gear ring 213 to rotate so as to enable the movable gear ring 34 to rotate, and the rotating of the movable gear ring 34 drives the rotating disc gear ring 213 on the other side to rotate so as to enable the rotating disc 21 on the other side to reversely rotate; the two rotating discs 21 on the same vehicle body 1 rotate so that the included angles of the connecting rods 22 respectively connected with the two rotating discs 21 are increased, and the two vehicle bodies 1 are close to each other.

When the first switching inclined plane 215 on the first switching plate 212 on the upper rotating disc 21 is propped against the upper driven rod 322 on the push plate 321, the rotating disc 21 continues to rotate to drive the push plate 321 to move towards the direction approaching to the rebound device 32; when the two vehicle bodies 1 are moved to the mutually approaching limit positions, the upper driven rod 322 abuts against the first switching abutment surface 216, and at this time, the push plate 321 is moved to the first position.

Then, the controller controls the switching motor 4 to operate forward to drive the rotating disc 21 to rotate until the first switching plate 212 and the upper driven rod 322 are not propped against each other, at this time, the push plate 321 is ejected from the rebound device 32 to the second position, the return spring 325 stretches the power, and the synchronous insert 331 is propped against the inner wall of the limit ring 217.

Then the controller controls the switching motor 4 to continue to operate in the forward direction, and the switching motor 4 drives the rotating disc 21 to rotate so that the vehicle body 1 moves in the direction away from the other vehicle body 1; when the two vehicle bodies 1 move to the mutually far-away limit positions, the connecting rods 22 are parallel to the vehicle bodies 1 in the front-rear direction, the synchronous inserting blocks 331 are opposite to the corresponding synchronous inserting grooves 214 in the front-rear direction, at the moment, the inserting rods 33 move away from the rotating column 12 under the action of the elasticity of the reset springs 325, and the inserting rods 33 move out of the inserting holes 121; when the plugging rod 33 is completely removed from the jack 121, the switching tube 31 can rotate relative to the rotating column 12, and the synchronous plugging block 331 is plugged into the corresponding synchronous slot 214, so that the two rotating discs 21 on one vehicle body 1 are fixed relative to the switching tube 31 and rotate synchronously, and at the moment, the two vehicle bodies 1 can rotate relatively.

Then, the two wheel motors 71 on the front vehicle body 1 operate with different powers, so that the rotation speeds of the two wheels 7 are different, and the front vehicle body 1 turns; similarly, the two wheel motors 71 on the rear vehicle body 1 operate at different powers to make a turn, thereby realizing an overall turn.

In the turning process, the lower driven rod 323 on the push plate 321 abuts against the second switching inclined plane 112 on one second switching plate 111, the rotating disc 21 continues to rotate to drive the push plate 321 to move towards the direction approaching to the rebound device 32, and when the lower driven rod 323 abuts against the second switching abutting plane 113, the push plate 321 moves to the first position again; when the turning is finished, the switching motor 4 is operated reversely to drive the rotating disc 21 to rotate reversely, the driven rod 323 is driven by the reverse rotation of the rotating disc 21 to move to be not propped against the second switching plate 111, the push plate 321 is popped up from the rebound device 32 to a third position, the return spring 325 is contracted to store force, and the inserting connection rod 33 is tightly propped against the rotating column 12 under the elastic force of the return spring 325.

When the two vehicle bodies 1 are moved to be aligned in the front-rear direction again, the inserting rod 33 is moved to be aligned with the inserting hole 121, the inserting rod 33 is moved to be inserted with the inserting hole 121 under the elastic force of the return spring 325, so that the switching tube 31 and the rotating column 12 are relatively fixed, and meanwhile, the synchronous inserting block 331 and the synchronous inserting slot 214 are not inserted any more, so that the two rotating discs 21 and the switching tube 31 are not synchronously rotated any more, and the two rotating discs 21 on the same vehicle body 1 synchronously rotate in opposite directions; the controller controls the switching motor 4 to continue to operate in the reverse direction, the two vehicle bodies 1 approach each other, and when the two vehicle bodies 1 move to the interval of the initial position, the controller controls the switching motor 4 to stop operating.

During the movement of the vehicle body 1, the rotation of the wheels 7 drives the switching plate 61 to rotate through friction, the rotation of the switching plate 61 drives the switching chute 611 to rotate so that the switching shaft 621 rotates, and thus the switching lever 62 rotates, the rotation of the switching lever 62 can drive the switching gear 622 to rotate, the rotation of the switching gear 622 drives the driven gear 512 to rotate so that the rotating lever 51 rotates, and thus the threaded pipe 53 is inclined and the lower end faces to the rear in the traveling direction.

When the camera 10 observes that the wheel 7 slips and cannot move continuously, the controller controls the disengaging motor 52 on the vehicle body positioned at the rear of the advancing direction to operate positively by pressing the disengaging button, the disengaging motor 52 drives the screw rod 521 to rotate, and the screw rod 53 and the screw rod ring 513 are fixed relatively in the circumferential direction and can slide relatively in the axial direction, so that the screw rod 521 rotates to drive the screw rod 53 to slide obliquely downwards, and the screw rod 53 is propped against the ground and fixed relatively; then the controller controls the switching motor 4 to operate in the forward direction so that the two vehicle bodies 1 are relatively far apart and the vehicle body 1 positioned in front of the traveling direction is pushed forward, and then the controller controls the disengaging motor 52 positioned on the vehicle body 1 positioned behind the traveling direction to operate in the reverse direction and the threaded pipe 53 is retracted; similarly, the controller controls the forward operation of the escape motor 52 located in front of the traveling direction, the front vehicle body 1 is fixed relative to the ground, then the controller controls the direction rotation of the switch motor 4, the two vehicle bodies 1 are close to each other, the vehicle body 1 located behind the traveling direction is pulled forward, then the controller controls the backward operation of the escape motor 52 located on the vehicle body 1 located in front of the traveling direction, and the threaded pipe 53 is retracted; the above operation is repeated a plurality of times so that the whole can be separated from the slip region.

Under normal conditions, the vehicle body is driven to move by controlling the wheel motor to work, and people search and rescue or article inspection work is performed by observing through the camera.

When the use is finished, the end button is pressed, the controller controls the respective wheel motors 71 to reversely operate, the vehicle body 1 returns to the starting point, and then the controller controls the wheel motors 71 to stop operating, and the initial state is restored.

The invention can drive the push plate 321 to move by arranging the rotating disc 21, so that the rebound device 32 operates, the position of the push plate 321 is changed, the function switching is realized, the connecting rod 22 can be driven to rotate, the included angle between the connecting rods 22 is changed, and the change of the distance between the two vehicle bodies 1 is realized.

The invention can be inserted into the insertion hole 121 by arranging the insertion rod 33, the switching tube 31 is relatively fixed with the rotating column 12, so that the rotating disc 21 only drives the movable toothed ring 34 to rotate when rotating, and further the rotating disc 21 at the other side reversely rotates, thereby realizing the opposite rotation of the two rotating discs 21, changing the distance between the two vehicle bodies 1, and also can be inserted into the synchronous inserting slot 214 by the synchronous inserting block 331, so that the two rotating discs 21 are relatively fixed with the switching tube 31, and further the two rotating discs 21 rotate in the same direction, thereby realizing the opposite rotation of the two vehicle bodies 1 and turning.

The invention can drive the vehicle body 1 to move and drive the switching plate 61 to rotate in the running process by arranging the wheels 7, so that the direction of the threaded pipe 53 is changed, and the sliding can be separated from the running direction.

The invention can separate the vehicle body 1 and turn in the working area, thereby realizing larger turning angle; the invention can be disengaged when the wheels 7 skid, thereby avoiding loss caused by incapability of moving in an operation area; the present invention can automatically change the orientation of the threaded pipe 53 when changing the moving direction so that the direction of the disengaging slip always faces forward in the traveling direction.

Claims

1. A fire-fighting operation advancing device, characterized in that: comprises two vehicle bodies; two longitudinally arranged connecting assemblies are arranged in each vehicle body, and two wheels which are symmetrically arranged left and right are rotationally connected to the lower end of each vehicle body; the connecting assembly comprises a connecting rod which is rotatably connected with a rotating shaft in the vehicle body and is arranged along the up-down direction, and a rotating disc which is rotatably connected with the vehicle body and is in transmission connection with one end of the connecting rod; the rotating shaft of the connecting rod is parallel to and is not coincident with the rotating shaft of the rotating disc; one end of the connecting rod on one vehicle body, which is far away from the corresponding rotating disc, is rotationally connected with the corresponding connecting rod on the other vehicle body; the inside of the vehicle body is fixedly connected with a switching motor for driving one rotating disc to rotate; a switching assembly is arranged between the two rotating discs in the vehicle body; the switching assembly comprises a switching tube which is rotationally connected with a rotating shaft in the automobile body and is arranged in a manner of overlapping with the rotating shaft of the rotating disc, a plugging rod which is slidingly connected in the switching tube along the horizontal direction and can be fixed relative to the automobile body, a movable toothed ring which is rotationally connected with the rotating shaft at the periphery of the switching tube and is arranged vertically to the rotating shaft of the switching tube, and a rebound device which is fixedly connected with the inside of one end of the switching tube far away from the rotating shaft and can drive the plugging rod to move; the plug-in rod can be fixed relative to the two rotating discs; when the plug-in rod is fixed relative to the vehicle body, the rotation directions of the two rotating discs are opposite, and the two vehicle bodies relatively move in the front-rear direction; when the plug-in rod is fixed relative to the two rotating discs, the rotating directions of the two rotating discs are the same, and the two vehicle bodies rotate relative to each other, so that turning is realized;

The output end of the rebound device is fixedly connected with a push plate, and a reset spring capable of pushing or pulling the plug rod is arranged between the push plate and one end of the plug rod, which is close to the rebound device; synchronous inserting blocks which are symmetrically arranged are respectively formed on the upper side and the lower side of the inserting connection rod, a limit ring which is arranged along the circumferential direction and can prop against the corresponding synchronous inserting blocks is formed at one end of the rotating disc, which is close to the switching tube, and a synchronous slot which can be inserted with the corresponding synchronous inserting block is formed on the inner wall of the limit ring; a rotating column which is rotationally connected with the rotating disc and is rotationally connected with the switching tube is formed in the vehicle body, and an inserting hole which can be inserted with the inserting rod is formed in the outer wall of the rotating column; when the two car bodies move to the limit position, the push plate is positioned at a first position, when the two car bodies are far away from each other in the front-rear direction, the push plate pops up to a second position, the restoring spring stretches and holds the force, the synchronous inserting block is propped against the inner wall of the limit ring, when the two car bodies move to the limit position, the two connecting rods in one car body are parallel to each other in the up-down direction, the inserting connection rod is opposite to the inserting hole, the synchronous inserting block is opposite to the synchronous inserting slot, the synchronous inserting block is inserted into the synchronous inserting slot, the inserting connection rod is moved out of the inserting hole, and at the moment, the rotation directions of the two rotating discs are the same, and the two rotating discs synchronously move to turn; when two car bodies turn and relatively rotate to a limit position, the push plate is positioned at a first position, when the two car bodies leave the limit position of the relative rotation and finish turning, the push plate is positioned at a third position, the reset spring contracts to store force, the plug rod is propped against the rotating column, when the two car bodies rotate to the front and back opposite directions and are mutually far away from the limit position, the plug rod is opposite to the jack, the synchronous plug block is opposite to the synchronous slot, the plug rod is plugged with the jack, the synchronous plug block is moved out of the synchronous slot, at the moment, the rotation directions of the two rotating discs are opposite, and the two connecting rods in one car body can rotate from being parallel to being mutually intersected and can linearly run;

The lower end of the push plate is connected with a lower driven rod capable of driving the push plate to move; two second switching plates which are symmetrically arranged left and right are fixedly connected in the vehicle body; one end of the second switching plate, which is far away from the rotating shaft of the rotating disc, is provided with a second switching abutting surface which can abut against the lower driven rod; the side wall of the second switching abutting surface in the horizontal direction is formed with a second switching inclined surface which can abut against the lower driven rod and push the lower driven rod in a pressing mode; when the lower driven rod is propped against the second switching inclined plane, the rotating disc continuously rotates to enable the second switching inclined plane to push the lower driven rod towards the direction close to the rebound device, and when the lower driven rod is propped against the second switching propping plane, the push plate moves to a first position, and the two vehicle bodies relatively rotate to an extreme position; when the lower driven rod and the second switching plate are not propped against each other, the two vehicle bodies leave the limit position of relative rotation, and the push plate is popped up from the rebound device to a third position;

the upper end of the push plate is fixedly connected with an upper driven rod which can drive the push plate to move; the outer wall of the rotating disc positioned above is fixedly connected with two first switching plates which are symmetrically arranged along the radial direction of the rotating disc, one end of the first switching plate, which is far away from the rotating shaft of the rotating disc, is formed with a first switching abutting surface which can abut against the upper driven rod, and the side wall of the first switching abutting surface positioned in the horizontal direction is formed with a first switching inclined surface which can abut against the upper driven rod and push the upper driven rod; when the upper driven rod is abutted against the first switching inclined plane, the rotating disc continuously rotates to enable the first switching inclined plane to push and push the upper driven rod in the direction approaching to the rebound device, and when the upper driven rod is abutted against the first switching abutting plane, the push plate moves to a first position, and the two car bodies move to a limit position; when the upper driven rod and the first switching plate are not propped against each other, the push plate is ejected from the rebound device to a second position; when any one of the first switching plate and the second switching plate extrudes to push the push plate, the push plate is positioned at a first position; when the first switching plate is not in contact with the push plate, the rebound device enables the push plate to move to a second position; when the second switching plate is not in contact with the push plate, the rebound device enables the push plate to move to a third position; the second position is located between the first position and the third position;

The rotating disc is close to the center of one end of the switching tube, and a rotating disc gear ring meshed with the movable gear ring is formed in the circumferential direction.

2. A fire work travel apparatus as claimed in claim 1, wherein: the lower part of the vehicle body is provided with two disengaging assemblies which are symmetrically arranged left and right; the separation assembly comprises a threaded pipe which is connected to the lower part of the vehicle body in a sliding way and can be fixed relative to the ground, and a separation motor which is arranged on the lower part of the vehicle body and is used for driving the threaded pipe to extend out; when the threaded pipe on the rear vehicle body is fixed relative to the ground, the switching motor operates positively, the included angle between the two connecting rods on the same vehicle body is reduced, and the front vehicle body is pushed forward; when the threaded pipe on the front vehicle body is fixed relative to the ground, the switching motor runs reversely, the included angle between the two connecting rods on the same vehicle body is increased, and the rear vehicle body is pulled forwards to realize separation and slipping.

3. A fire work travel apparatus as claimed in claim 2, wherein: an adjusting component for changing the orientation of the threaded pipe is arranged between each wheel and the corresponding disengaging component; the separation assembly further comprises a rotating rod which is rotatably connected with a rotating shaft in the vehicle body and is arranged along the horizontal direction; the threaded pipe is connected to the rotating rod in a sliding manner, and the sliding direction of the threaded pipe is perpendicular to the rotating shaft of the rotating rod; the adjusting component comprises a switching plate which is rotationally connected to the inside of the vehicle body and is in transmission connection with the corresponding wheel; the rotation of the switching plate drives the rotating rod to synchronously and reversely rotate; when the wheels rotate, the vehicle body moves, the switching plate rotates to enable the rotating rod to rotate, when the switching plate rotates to the limit, the rotating rod stops rotating, and the lower end of the threaded pipe faces to the rear of the travelling direction of the vehicle body and inclines downwards.

4. A fire work travel apparatus as claimed in claim 3, wherein: the adjusting component further comprises a switching rod which is rotationally connected to the inside of the automobile body and is in sliding connection with the switching plate; a torsion spring for driving the switching plate to rotate to be vertical is arranged between the switching rod and the vehicle body; when the switching plate is inclined, the torsion spring twists to store force, and the switching plate tightly props against the wheel under the action of the elasticity of the torsion spring.

5. A fire work travel apparatus as claimed in claim 3, wherein: a threaded pipe ring which is in sliding connection with the threaded pipe is fixedly connected to the rotating rod; the outer wall of the threaded pipe is provided with a rotation limiting groove which is axially arranged, and the inner wall of the threaded pipe ring is provided with a rotation limiting block which is in sliding connection with the rotation limiting groove.

6. A fire work travel apparatus as claimed in claim 1, wherein: the outer wall of the vehicle body is fixedly connected with a camera used for observing the environment.