CN206031544U - Wheel -track transform is removed chassis and is had its fire control detection robot - Google Patents
Wheel -track transform is removed chassis and is had its fire control detection robot Download PDFInfo
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- CN206031544U CN206031544U CN201620887583.9U CN201620887583U CN206031544U CN 206031544 U CN206031544 U CN 206031544U CN 201620887583 U CN201620887583 U CN 201620887583U CN 206031544 U CN206031544 U CN 206031544U
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims description 50
- 239000000725 suspension Substances 0.000 claims description 21
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 125000003003 spiro group Chemical group 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
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Abstract
The utility model provides a chassis is removed in the wheel -track transform, include: main frame, crawler portion, the wheeled walking portion of deformation, crawler portion is two sets of and locates the both sides of main frame, warp wheeled walking portion and be two, link to each other with main frame, just warp wheeled walking portion and include: the mount, mount and main frame fixed connection, the rocker, the rocker is two, but the upper end of rocker do not link to each other with mount pivot ground, and the upper end of rocker is equipped with gear, two gear intermeshing, wheeled walking assembly, wheeled walking assembly links to each other with the lower extreme of rocker, and wheeled walking assembly includes wheel, wheel driving member, the driving piece warp, the included angle change that the driving piece links to each other and drives two rockers warp with the rocker. Wheel -track alternaties the change of removing the chassis and passing through two rocker contained angles, realizes the transform of crawler -type walking mode and wheeled walking mode. The utility model also provides a have the fire control detection robot on chassis is removed in the wheel -track transform.
Description
Technical field
This utility model is related to a kind of wheel and carries out conversion mobile chassis and the fire-fighting sniffing robot with the chassis, belongs to
Mobile robot mechanism field.
Background technology
Some fire-fighting sniffing robots need to be rapidly introduced into detection scene, detect and pass out the ring at detection scene in time
Environment information, the landform faced by these robots are sufficiently complex, have the ground such as the artificial structural step built, stair, raceway groove
Shape, the in disorder landform formed after having calamity, some environment spaces are narrow.Fire-fighting sniffing robot lineament requirement machine to be overcome
Device people mobile chassis will have the locomotivity for overcoming above-mentioned landform.The crawler type running system of small-sized movable platform has preferable
Overcome the ability of structuring landform；Running gear system efficiency high, maneuverability, the wheel type traveling mechanism of some specific form is such as
Mecanum wheel can also realize that omnibearing movement is applied to the place of narrow space.Currently used for fire-fighting sniffing robot
The walking mechanism form of mobile chassis is single, landform bad adaptability.
Utility model content
In order to solve technical problem present in prior art, a purpose of the present utility model is to propose that a kind of wheel is carried out
Conversion mobile chassis, it is possible to achieve the conversion of crawler type walking mechanism and wheel type traveling mechanism, landform adaptability is good, and proposes
A kind of fire-fighting sniffing robot for carrying out conversion mobile chassis using the wheel.
Concrete technical scheme of the present utility model is：Wheel carries out conversion mobile chassis, including：Main car frame, crawler travel portion, change
Shape running on wheels portion.The crawler travel portion is two groups and located at the both sides of the main car frame, and the crawler travel portion includes：Carry out
Tape holder, the track frame are connected with the main car frame；Drive wheel assemblies, the drive wheel assemblies are connected with the track frame, institute
Stating drive wheel assemblies includes driving wheel and actuator；Bend wheel, the bend wheel are connected with the main car frame；Supporting part, it is described
Supporting part is connected below the track frame and with the track frame；Crawler belt, the crawler belt envelope is in the driving wheel, described
Outside bend wheel, the supporting part.It is described to deform wheeled running part for two, it is connected with the main car frame, and the deformation is wheeled
Running part includes：Fixed mount, the fixed mount are fixedly connected with the main car frame；Rocker, the rocker are two, and the pendulum
The upper end of frame is pivotly connected with the fixed mount, and the upper end of the rocker is provided with gear, two rockers it is described
Gear is intermeshed；Running on wheels component, the running on wheels component are connected with the lower end of the rocker, the running on wheels group
Part includes wheel, wheel actuator；Deformation actuator, the deformation actuator are connected with the rocker and drive two pendulum
The variable angle of frame.
Alternatively, in the technical solution of the utility model, the wheel is Mike's nurse wheel；
Alternatively, in the technical solution of the utility model, the wheel is common wheel；
Alternatively, in the technical solution of the utility model, the supporting part in the crawler travel portion is wheeled load-bearing
Part, the wheeled supporting part include：Suspension, the suspension are connected with the track frame；BOGEY WHEEL, the BOGEY WHEEL are outstanding with described
Frame is connected.
Alternatively, in the technical solution of the utility model, the supporting part in the crawler travel portion is guide plate, institute
State guide plate to be connected with the track frame.
Alternatively, in the technical solution of the utility model, the deformation actuator of the wheeled running part of the deformation is
Electric pushrod, the two ends of the electric pushrod are mutually hinged with two rockers respectively, or described electric pushrod one end with it is described
Fixed mount is mutually hinged, and the other end of the electric pushrod is mutually hinged with rocker one of them described.
Alternatively, in the technical solution of the utility model, the deformation actuator for deforming wheeled running part is adopted
With spiro driving device, the spiro driving device includes：Nut block, the nut block are mutually hinged with a rocker；Axle
Saddle, the axle bed block are mutually hinged with rocker another described；Screw rod, the screw rod are constituted with the axle bed block and rotate secondary, institute
State screw rod screw thread pair is constituted with the nut block；Screw drive, the screw drive are connected with the screw rod and drive institute
State screw rod rotation.
When the wheel is Mike's nurse wheel, when the wheel carries out conversion mobile chassis under running on wheels pattern,
It is an all-around mobile chassis that the wheel carries out conversion mobile chassis, it is possible to achieve omnibearing movement, is all-around mobile mould
Formula.So, in the place of narrow space, the conversion mobile chassis of carrying out flexibly can be moved.Under some places, can be described
Robot location is adjusted under all-around mobile pattern, after position adjustment is good, then is transformed to crawler-type traveling pattern.Such as when the shoe
During conversion mobile chassis climbing step, azimuthal adjustment can be carried out again under all-around mobile pattern, described conversion is carried out when adjusting
When the longitudinal direction of mobile chassis is vertical with the step width direction, crawler-type traveling pattern is can be transformed into, using crawler type
Walking mode carries out step climbing.When the wheel for common wheel when, four common wheels carry out independent driving, can
To realize the glide steering of wheel chassis, under running on wheels pattern, the operational efficiency of the mobile platform will increase.
In the technical solution of the utility model, the fire-fighting sniffing robot includes that described wheel carries out the mobile bottom of conversion
Disk.Sampler, fire-fighting detection sensing device, the fire-fighting detection sensing dress is equipped with the fire-fighting sniffing robot
Put including gas-detecting device, vision sensing equipment.
Using above-mentioned technical proposal and structure, the wheel to be carried out and be connected to the shoe on the main car frame of conversion mobile chassis
Band running part and the wheeled running part of the deformation, the drive of the rocker of the wheeled running part of the deformation in the deformation actuator
Under dynamic, the angle of two rockers changes, and is so connected to the height of the running on wheels component of the rocker lower end
The position of the bottom in the relatively described crawler travel portion of degree changes.It is when the angle of described two rockers becomes big, described
Bottom of the running on wheels component higher than the crawler travel portion, the crawler travel portion are contacted with ground, and so described wheel is carried out and become
Mobile chassis are changed for crawler-type traveling pattern；When the angle of described two rockers becomes hour, the running on wheels component is low
In the bottom in the crawler travel portion, the running on wheels component touch ground, and the bottom in the crawler travel portion departs from ground
Face, it is running on wheels pattern that so described wheel carries out conversion mobile chassis.So by adjusting the wheeled running part of the deformation, can be with
Realize the conversion of crawler-type traveling pattern and running on wheels pattern.
If the supporting part in the crawler travel portion employs the technical scheme of the suspension and the BOGEY WHEEL, can be with
So that the crawler belt in the crawler travel portion is supported by the BOGEY WHEEL, the suspension can also using rigid suspension
Using compliance suspension.Compliance suspension can cause the wheel shoe conversion mobile chassis passively to fit dynamicly under crawler-type traveling pattern
Landform is answered, is weakened the impact that hypsography carries out conversion mobile chassis to the wheel, is reduced vibrations.It is according to rigid suspension, described
Crawler travel portion is relatively simple, more stable during climbing rule obstacle such as step.If the described of the crawler travel portion is held
Heavy mail can also adopt guide plate, and the guide plate makes certain shape as needed, and the bottom of the guide plate is smooth,
The inside of the crawler belt is contacted with the bottom of the guide plate, though under crawler travel pattern between the crawler belt and the guide plate
There is certain friction, but do not affect walking, and, simple structure few using the structural elements of the guide plate, low cost；Especially
The less occasion of probability is suitable for suitable for crawler-type traveling pattern.
The wheeled running part of deformation rocker as described in electric pushrod connects two using the deformation actuator, and because of two
The gear intermeshing at the individual rocker end；Using this technical scheme, when the electric pushrod changes length, the pendulum
The angle of frame member can change, because cogged presence, if number of gear teeth is identical, two rocker synchronous backward pendulum
Dynamic, the angle changing of two rockers is identical.The fixed mount and the rocker are changed using the deformation actuator equally
Between angle also function to adjust two rockers between angle effect.
Alternatively, in the technical solution of the utility model, the deformation actuator adopts spiro driving device, adopts this
Technical scheme, because the nut block is hinged with two rockers respectively with the axle bed block, the screw rod is respectively with screw thread
Pair is secondary with rotation to be connected with the nut block with the axle bed block, when the screw rod is rotated, then changes two rockers
Angle, realize the regulation of the rocker angle, that is, realize the deformation adjustment of the wheeled running part of the deformation.
The fire-fighting sniffing robot for employing the wheel shoe conversion mobile chassis provided by the utility model equally has
Crawler-type traveling pattern and running on wheels pattern, according to lineament, can carry out the conversion of two kinds of Move Modes, such landform
Adaptability is good, disclosure satisfy that the mobile needs of various landform.Further, it is in the technical solution of the utility model, described to disappear
Sampler, fire-fighting detection sensing device is equipped with anti-sniffing robot, can carry out environmental information to disaster field
The sampling operation of environment after detection and calamity.
Following beneficial effect has been reached by above-mentioned technical proposal：(1) can realize that described wheel carries out conversion mobile chassis
Crawler-type traveling pattern and running on wheels pattern conversion, landform strong adaptability；(2) the mobile bottom of conversion is carried out using described wheel
The fire-fighting sniffing robot landform adaptability of disk is good, can preferably meet the needs of the terrain trafficability of disaster field, improves
The travelling performance of robot；(3) sampler, fire-fighting detection sensing device is equipped with the fire-fighting sniffing robot,
Therefore the detection of environmental information and the sampling operation of environment after calamity can be carried out to disaster field.
Description of the drawings
Fig. 1 is to carry out three-dimensional signal of the conversion mobile chassis in running on wheels pattern according to the wheel of this utility model embodiment
Figure；
Fig. 2 is that the wheel of embodiment illustrated in fig. 1 carries out conversion schematic front view of the mobile chassis in crawler-type traveling pattern；
Fig. 3 is the schematic perspective view of the main car body with crawler travel portion of embodiment illustrated in fig. 1；
Fig. 4 is the three-dimensional signal in crawler travel portion for carrying out conversion mobile chassis according to the wheel of another embodiment of this utility model
Figure；
Fig. 5 is the schematic perspective view of the wheeled running part of deformation of embodiment illustrated in fig. 1；
Fig. 6 is the schematic perspective view when rocker angle of the wheeled running part of deformation shown in Fig. 5 becomes big；
Fig. 7 is the wheeled running part schematic perspective view of deformation according to this utility model another embodiment；
Fig. 8 is the schematic perspective view when rocker angle of the wheeled running part of deformation shown in Fig. 7 becomes big；
Fig. 9 is the wheeled running part structural representation of deformation according to the another embodiment of this utility model；
Figure 10 is the schematic diagram when rocker angle of the wheeled running part of deformation shown in Fig. 9 becomes big；
Figure 11 is the structural representation of the fire-fighting sniffing robot for carrying out conversion mobile chassis with wheel shown in Fig. 1；
Reference：
1000 wheels carry out conversion mobile chassis；
1 main car frame；
2 crawler travel portions；
21 track frames；
22 drive wheel assemblies；
221 driving wheels；222 actuators；
23 bend wheels；
24 supporting parts；
2401 BOGEY WHEELs；2402 guide plates；
241 suspensions；242 BOGEY WHEELs；
25 crawler belts；
The wheeled running part of 3 deformations；
31 fixed mounts；
32 rockers；
321 gears；322 connection pins；
33 running on wheels components；
331 wheels；332 wheel actuators；
33101 Mike's nurse wheels；33102 common wheels；
34 deformation actuators；3401 electric pushrods；3402 spiro driving devices；
341 nut blocks；342 axle bed blocks；343 screw rods；344 screw drives；
4 vision sensing equipments；
5 gas-detecting devices；
Specific embodiment
Embodiment of the present utility model is described below in detail, by reference to the embodiment of Description of Drawings be it is exemplary, only
For explaining this utility model, and it is not intended that to restriction of the present utility model.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 5, Fig. 6, wheel carries out conversion mobile chassis 1000, including：Main car frame 1, crawler travel
Portion 2, deform wheeled running part 3.As shown in figure 3, crawler travel portion 2 is for two groups and located at the both sides of main car frame 1, crawler travel portion
2 include：Track frame 21, track frame 21 are connected with main car frame 1；Drive wheel assemblies 22, drive wheel assemblies 22 are connected with track frame 21,
Drive wheel assemblies 22 include driving wheel 221 and actuator 222；Bend wheel 23, bend wheel 23 are connected with main car frame 1；Supporting part 24,
Supporting part 24 is connected below track frame 21 and with track frame 21；Crawler belt 25,25 envelope of crawler belt is in driving wheel 221, bend wheel
23rd, outside supporting part 24.Deforming wheeled running part 3 for two, be connected with main car frame 1, and deform wheeled running part 3 is included：It is fixed
Frame 31, fixed mount 31 are fixedly connected with main car frame 1；Rocker 32, rocker 32 are two, and the upper end of rocker 32 can with fixed mount 31
Pivotally it is connected, and the upper end of rocker 32 is provided with gear 321, the gear 321 of two rockers 32 is intermeshed, as shown in Figure 5；Wheel
Formula walking component 33, running on wheels component 33 are connected with the lower end of rocker 32, and running on wheels component 33 includes wheel 331, wheel
Actuator 332；Deformation actuator 34, deformation actuator 34 are connected with rocker 32 and drive the variable angle of two rockers 32.
Alternatively, in some embodiments of the present utility model, as shown in Figure 1, Figure 3, the supporting part 24 in crawler travel portion 2
For wheeled supporting part 2401, wheeled supporting part 2401 includes：Suspension 241, suspension 241 are connected with track frame 21；BOGEY WHEEL 242,
BOGEY WHEEL 242 is connected with suspension 241.
Alternatively, in other embodiments of the present utility model, as shown in figure 4, the supporting part 24 in crawler travel portion 2
For guide plate 2402, guide plate 2402 is connected with track frame 21.
Alternatively, this utility model embodiment according to Fig. 1, Fig. 2, Fig. 5, Fig. 6, wheel 331 are Mike's nurse wheel
33101；Specifically, as shown in fig. 6, rocker 2 is tubular, wheel actuator 332 is arranged in rocker 2, and the car of the present embodiment
Wheel driving moving part 332 has vertical reversing arrangement, and the vertical reversing arrangement is connected with Mike's nurse wheel 33101, and drives Mike
Nurse wheel 33101 is rotated.In the present embodiment, wheel actuator 332 employs the motor by slowing down.
Alternatively, this utility model another embodiment according to Fig. 9, Figure 10, wheel 331 are common wheel 33102；
In some embodiments of the present utility model, alternatively, as shown in Figure 5, Figure 6, deform the deformation of wheeled running part 3
Actuator 34 is electric pushrod 3401, and 3401 one end of electric pushrod is mutually hinged with fixed mount 31, the other end of electric pushrod 3401
Mutually it is hinged with one of rocker 32.According to other embodiment of the present utility model, as shown in Figure 7, Figure 8, electric pushrod 3401
Two ends be mutually hinged with two rockers 32 respectively；Specifically, rocker 32 is provided with and connects pin 322, and the two of electric pushrod 3401
End is connected with pin 322 is connected.
In some embodiments of the present utility model, alternatively, as shown in Figure 9, Figure 10, deform the change of wheeled running part 3
Shape actuator 34 adopts spiro driving device 3402, spiro driving device 3402 to include：Nut block 341, nut block 341 and one
Rocker 32 is mutually hinged；Axle bed block 342, axle bed block 342 are mutually hinged with another rocker 32；Screw rod 343, screw rod 343 and axle bed block
342 constitute rotation pair, and screw rod 343 constitutes screw thread pair with nut block 341；Screw drive 344, screw drive 344 and screw rod
343 connected simultaneously drive screws 343 are rotated.In the present embodiment, screw drive 344 employs motor.The deformation wheel of the present embodiment
The wheel 331 of formula running part 3 employs common wheel 33102.
When wheel 331 is Mike's nurse wheel, conversion mobile chassis 1000 are carried out in the wheel and be under running on wheels pattern
When, it is an all-around mobile chassis that the wheel carries out conversion mobile chassis 1000, it is possible to achieve omnibearing movement, is comprehensive
Move Mode.So, in the place of narrow space, the conversion mobile chassis 1000 of carrying out flexibly can be moved.In some places
Under, robot location can be adjusted under the all-around mobile pattern, after position adjustment is good, then be transformed to crawler-type traveling mould
Formula.Such as when it is described carry out the conversion climbing step of mobile chassis 1000 when, azimuthal tune can be carried out again under all-around mobile pattern
It is whole, when adjusting the longitudinal direction for carrying out conversion mobile chassis 1000 and being vertical with the step width direction, can be transformed into shoe
Belt walking mode, carries out step climbing using crawler-type traveling pattern.When the wheel for common wheel when, described in four
Common wheel carries out independent driving, it is possible to achieve the glide steering of wheel chassis, under running on wheels pattern, the mobile platform
Operational efficiency will increase.
This utility model also proposes a kind of fire-fighting sniffing robot, and as shown in figure 11, the fire-fighting sniffing robot includes
Described wheel carries out conversion mobile chassis 1000.Sampler, fire-fighting detection sensing is equipped with the fire-fighting sniffing robot
Device, the fire-fighting detection sensing device include vision sensing equipment 4, gas-detecting device 5.
Using above-mentioned technical proposal and structure, the wheel to be carried out and be connected to crawler belt on the main car frame 1 of conversion mobile chassis 1000
Running part 2 and the wheeled running part 3 of deformation, deform the rocker 32 of wheeled running part 3 under the driving of deformation actuator 3434, two
The angle of rocker 32 changes, and is so connected to the relatively described crawler belt row of height of the running on wheels component 33 of 32 lower end of rocker
The position for walking the bottom in portion changes.When the angle of described two rockers 32 becomes big, running on wheels component 33 is higher than crawler belt
The bottom of running part 2, crawler travel portion 2 are contacted with ground, and it is crawler-type traveling that so described wheel carries out conversion mobile chassis 1000
Pattern；When the angle of described two rockers 32 becomes hour, bottom of the running on wheels component 33 less than crawler travel portion 2, wheeled row
The contact of component 33 ground is walked, and the bottom in crawler travel portion 2 departs from ground, so described wheel carries out conversion mobile chassis 1000 for wheel
Formula walking mode.So by adjusting the wheeled running part of deformation 3, it is possible to achieve crawler-type traveling pattern and running on wheels pattern
Conversion.
If the supporting part 24 in crawler travel portion 2 employs the technical scheme of the suspension and the BOGEY WHEEL, can cause
The crawler belt in crawler travel portion 2 is supported by the BOGEY WHEEL, and the suspension can also adopt soft using rigid suspension
Property suspension.Compliance suspension can cause the wheel shoe conversion mobile chassis 1000 passively to adapt to dynamicly under crawler-type traveling pattern
Landform, weakens the impact that hypsography carries out conversion mobile chassis 1000 to the wheel, reduces vibrations.According to rigid suspension, carry out
Band running part 2 is relatively simple, more stable during climbing rule obstacle such as step.If the supporting part 24 in crawler travel portion 2
Guide plate 2402 can be adopted, guide plate 2402 makes certain shape as needed, and the bottom of guide plate 2402 is smooth, institute
The inside for stating crawler belt is contacted with the bottom of guide plate 2402, though have between the crawler belt and guide plate 2402 under crawler travel pattern
Certain friction, but do not affect walking, and, simple structure few using the structural elements of guide plate 2402, low cost；Especially fit
The less occasion of probability is suitable for for crawler-type traveling pattern.
Deform wheeled running part 3 and two rockers 32 are connected using the such as electric pushrod 3401 of deformation actuator 34, and because of two
The gear 321 at 32 end of rocker is intermeshed；Using this technical scheme, when electric pushrod 3401 changes length, rocker 32
Angle can change, because cogged presence, if 321 number of teeth of gear is identical, two 32 synchronous backwards of rocker swing, and two
The angle changing of individual rocker 32 is identical.The same angle changed between the fixed mount and rocker 32 using deformation actuator 34 is also risen
To the effect for adjusting two rockers, 32 angles.
In some embodiments of the present utility model, deformation actuator 34 adopts spiro driving device 3402, using this skill
Art scheme, because nut block 341 is hinged with two rockers 32 respectively with axle bed block 342, screw rod 343 is respectively with screw thread pair and rotation
Pair is connected with nut block 341 with axle bed block 342, when screw rod 343 is rotated, is then changed the angle of two rockers 32, is realized
The regulation of 32 angle of rocker, that is, realize the deformation adjustment for deforming wheeled running part 3.
The fire-fighting sniffing robot for employing the wheel shoe conversion mobile chassis 1000 provided by the utility model is same
With crawler-type traveling pattern and running on wheels pattern, the conversion of two kinds of Move Modes according to lineament, can be carried out, so
Landform adaptability is good, disclosure satisfy that the mobile needs of various landform.According to embodiment of the present utility model, the fire-fighting explorer
Be equipped with sampler, fire-fighting detection sensing device on device people, disaster field can be carried out environmental information detection and
The sampling operation of environment after calamity.
For mobile platform, other compositions of robot, it has been prior art, and it is ripe for one of ordinary skill in the art
Know, therefore be not described in detail.
While there has been shown and described that embodiment of the present utility model, one of ordinary skill in the art can be to these
Embodiment carries out various changes, modification, replacement and modification, and scope of the present utility model is limited by claim and its equivalent.
Claims (9)
1. a kind of wheel carries out conversion mobile chassis, it is characterised in that include：
Main car frame；
Crawler travel portion, the crawler travel portion are two groups and located at the both sides of the main car frame, and the crawler travel portion includes：
Track frame, the track frame are connected with the main car frame；
Drive wheel assemblies, the drive wheel assemblies are connected with the track frame, and the drive wheel assemblies include driving wheel and driving
Part；
Bend wheel, the bend wheel are connected with the main car frame；
Supporting part, the supporting part are connected below the track frame and with the track frame；
Crawler belt, the crawler belt envelope is outside the driving wheel, the bend wheel, the supporting part；
Deform wheeled running part, the wheeled running part of the deformation is two, is connected with the main car frame, and described deform wheeled row
Walking portion includes：
Fixed mount, the fixed mount are fixedly connected with the main car frame；
Rocker, the rocker are two, and the upper end of the rocker is pivotly connected with the fixed mount, and the rocker
Upper end is provided with gear, the gear intermeshing of two rockers；
Running on wheels component, the running on wheels component are connected with the lower end of the rocker, and the running on wheels component includes car
Wheel, wheel actuator；
Deformation actuator, the deformation actuator are connected with the rocker and drive the variable angle of two rockers.
2. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the wheel is Mike's nurse wheel.
3. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the wheel is common wheel.
4. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the supporting part includes：
Suspension, the suspension are connected with the track frame；
BOGEY WHEEL, the BOGEY WHEEL are connected with the suspension.
5. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the supporting part is guide plate, described
Guide plate is connected with the track frame.
6. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the deformation actuator is pushed away for electronic
Bar, the two ends of the electric pushrod are mutually hinged with two rockers respectively, or described electric pushrod one end and the fixed seat
Mutually it is hinged, the other end of the electric pushrod is mutually hinged with rocker one of them described.
7. wheel according to claim 1 carries out conversion mobile chassis, it is characterised in that the deformation actuator is driven using screw rod
Dynamic device, the spiro driving device include：
Nut block, the nut block are mutually hinged with a rocker；
Axle bed block, the axle bed block are mutually hinged with rocker another described；
Screw rod, the screw rod are constituted with the axle bed block and rotate secondary, and the screw rod constitutes screw thread pair with the nut block；
Screw drive, the screw drive are connected with the screw rod and drive the screw rod to rotate.
8. a kind of fire-fighting sniffing robot, it is characterised in that carry out the mobile bottom of conversion including the arbitrary described wheel of claim 1-7
Disk.
9. fire-fighting sniffing robot according to claim 8, it is characterised in that be equipped with the fire-fighting sniffing robot
Sampler, fire-fighting detection sensing device, the fire-fighting detection sensing device include gas-detecting device, visual sensing dress
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620887583.9U CN206031544U (en) | 2016-08-16 | 2016-08-16 | Wheel -track transform is removed chassis and is had its fire control detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620887583.9U CN206031544U (en) | 2016-08-16 | 2016-08-16 | Wheel -track transform is removed chassis and is had its fire control detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206031544U true CN206031544U (en) | 2017-03-22 |
Family
ID=58306674
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620887583.9U Active CN206031544U (en) | 2016-08-16 | 2016-08-16 | Wheel -track transform is removed chassis and is had its fire control detection robot |
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| CN (1) | CN206031544U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN112666308A (en) * | 2020-12-16 | 2021-04-16 | 神华北电胜利能源有限公司 | Monitoring equipment and monitoring method for monitoring spontaneous combustion of coal on coal bench |
| CN115071856A (en) * | 2022-05-31 | 2022-09-20 | 中国矿业大学(北京) | Wheel-leg type mobile platform and detection inspection robot with same |
-
2016
- 2016-08-16 CN CN201620887583.9U patent/CN206031544U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN112666308A (en) * | 2020-12-16 | 2021-04-16 | 神华北电胜利能源有限公司 | Monitoring equipment and monitoring method for monitoring spontaneous combustion of coal on coal bench |
| CN112666308B (en) * | 2020-12-16 | 2022-11-08 | 神华北电胜利能源有限公司 | Monitoring device and monitoring method for monitoring spontaneous combustion of coal on coal bench |
| CN115071856A (en) * | 2022-05-31 | 2022-09-20 | 中国矿业大学(北京) | Wheel-leg type mobile platform and detection inspection robot with same |
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