CN207208198U - A kind of fire-fighting robot chassis based on Mecanum wheel - Google Patents
A kind of fire-fighting robot chassis based on Mecanum wheel Download PDFInfo
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- CN207208198U CN207208198U CN201720668482.7U CN201720668482U CN207208198U CN 207208198 U CN207208198 U CN 207208198U CN 201720668482 U CN201720668482 U CN 201720668482U CN 207208198 U CN207208198 U CN 207208198U
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Abstract
The utility model discloses a kind of fire-fighting robot chassis based on Mecanum wheel, including chassis overhang mechanism；Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；Drive the chassis axle mechanism of chassis overhang mechanism kinematic；Installed in chassis overhang mechanism rear, that is, it is used for the rear car body supporting mechanism for propping up rear car body；Chassis overhang mechanism includes bottom plate, shock-absorbing supporting plate, lip block, aluminium weldering truss, square steel reinforcement；The lip block is arranged between bottom plate and shock-absorbing supporting plate；The aluminium weldering truss is fixed on bottom plate；The square steel reinforcement is arranged on the side of aluminium weldering truss；Kept out in the middle part of the shock-absorbing supporting plate in the lower section of aluminium weldering truss.This fire-fighting robot chassis structure is simple, small, mobility strong, and traveling is flexible, is quick on the draw, also carries shock-proof effect, and manufacturing cost is relatively low, so being highly suitable for small business or densely populated residential quarter or the place such as small place that fire incident takes place frequently.
Description
Technical field
It the utility model is related to fire-fighting robot chassis, more particularly to a kind of fire-fighting robot bottom based on Mecanum wheel
Disk.
Background technology
With the fast development of social economy, the particularity of building and enterprise's production, cause Hazardous Chemical Substances and radioactivity
Content leaks and burning, the accident potential exploded, caved in increase, or for the how intensive old town of small business or people,
Electrical wiring entanglement and electric wire aging, the probability that accident occurs also accordingly improve.Once generation disaster accident, fireman face
When high temperature, dark, poisonous and dense smoke etc. endanger environment, if rushing in scene rashly without corresponding equipment, it can not only complete to appoint
Business, can also increase casualties on foot, this respect public security fire-fighting army is after many lessons written in blood.Especially when new fire service law is put into effect
Afterwards, rescue has turned into the legal task of public security fire-fighting army, the new situation new task faced in face of the new period, also for more
Solves foregoing problem well, the outfit of fire-fighting robot, which seems, to become more and more important.
Robot has undergone the development in more than 40 years, oneself makes great progress, social all trades and professions since the beginning of the sixties comes out
Its all visible figure.At present, fire-fighting robot also develops into the stage of comparative maturity, has formd various species,
As running on wheels fire-fighting robot, crawler-type traveling fire-fighting robot, Track-wheel type walking fire-fighting robot, sucked type walking disappear
Anti- robot etc., also, be also applied in actual life field.But current fire-fighting robot is usually technical grade,
Build is very big, also heavier, action it is dumb, for giant chemical blast, oil product combustion gas, toxic gas leakage blast, tunnel,
Subway such as caves at the occasion, and price is very expensive, is not suitable for being used in small business or densely populated residential quarter or fire
The small place of Frequent Accidents.
The content of the invention
The purpose of the utility model is bulky, expensive in order to solve current fire-fighting robot, is not suitable for small-sized
The problem of place such as small place that enterprise or densely populated residential quarter or fire incident take place frequently uses, there is provided one kind is based on Mike
The fire-fighting robot chassis of Na Mu wheels.The utility model fire-fighting robot chassis structure scheme, disclosure satisfy that small, mobility
By force, traveling is flexible, is quick on the draw, the requirement that cost is relatively low.
The utility model is achieved through the following technical solutions：
A kind of fire-fighting robot chassis based on Mecanum wheel, including following mechanism：Chassis overhang mechanism；
Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；Drive chassis overhang mechanism kinematic
Chassis axle mechanism；Installed in chassis overhang mechanism rear, that is, it is used for the rear car body supporting mechanism for propping up rear car body.
The chassis overhang mechanism includes：Bottom plate 17, shock-absorbing supporting plate 2, lip block 18, aluminium weldering truss 22, square steel add
Strengthening tendons 6；The lip block 18 is arranged between bottom plate 17 and shock-absorbing supporting plate 2；The aluminium weldering truss 22 is fixed on bottom plate 17
On；The square steel reinforcement 6 is arranged on the side of aluminium weldering truss 22；The middle part of the shock-absorbing supporting plate 2 is kept out welds truss in aluminium
22 lower section.
The shockproof mechanism includes：Shock-proof spring 4, lower spring connector 8, upper spring fastenings 3, suspension plate 9；
The both ends of the shock-proof spring 4 couple lower spring connector 8 and upper spring fastenings 3 respectively；Described supporting pad
Bottom plate 17 and shock-absorbing supporting plate 2 are connected by block 18 by screw and nut, and lower spring connector 8 is fixed in suspension plate 9；The hinge
Chain 20 couples suspension plate 9 and bottom plate 17 forms revolute pair, forms hitch, by the stretching and contraction of shock-proof spring 4, plays
The effect of buffering, and then form shockproof mechanism；In the front lower place of suspension plate 9, have one be fixed on by guide wheel fixture 15 it is outstanding
Guide wheel 14 on hanging plate 9.
The chassis axle mechanism includes Mecanum wheel 1, axletree 19, plum coupling 7, fixed motor cabinet 5, bearing
24th, wheel shaft jump ring 23, motor 16；
The other end of described one end of plum coupling 7 and axletree 19 is connected, and the other end of plum coupling 7 and motor 16
Motor shaft be connected；The motor 16 is connected by screw and the fixation motor cabinet 5 being fixed in suspension plate 9, forms wheel shaft；Electricity
Machine 16 rotates after being powered, so as to drive Mecanum wheel 1 to rotate；Bearing 24 is enclosed in fixed motor cabinet 5 close to the one end of axletree 19
Circular groove in, interference fit, wheel shaft jump ring 23 is arranged in the groove of axletree 19, and the hole as dead axle 19 is to motion.
The rear car body supporting mechanism includes：Sucker 10, sucker fixture 11, linear electric motors 12, linear electric motors are fixed
Truss 13, linear electric motors fixed plate 21；
The linear electric motors 12 are fixed in linear electric motors fixed plate 21, and linear electric motors fixed plate 21 is with being fixed on bottom plate
17 linear electric motors are fixed truss 13 and are connected；The sucker 10 is fixed on the motor shaft of linear electric motors 12 by sucker fixture 11
On, linear electric motors 12 extend after being powered so that sucker 10 contacts ground, until trailing wheel is hanging, reaches prop up rear car body
Purpose.
Diagonally distribute multiple cylindrical rollers on the wheel rim of Mecanum wheel 1, these cylinder rollings to diagonally distribute
Son is transformed into the steering force of a part above one wheel normal force, by four directions of Mecanum wheel 1 and speed, these
Power finally synthesizes one resultant force vector of generation on desired direction, so as to ensure that fire fighting truck can be in final resultant force vector
Direction on can move freely through, without change wheel itself steering.
The motor 16 uses 3510 motors.
The utility model is had the following advantages and effect relative to prior art：
The utility model is simple in construction, small, mobility strong, and traveling is flexible, is quick on the draw, also carries shock-proof effect,
Manufacturing cost is relatively low, so being highly suitable for small business or densely populated residential quarter or small field that fire incident takes place frequently
The places such as institute.
Brief description of the drawings
Fig. 1 is the chassis axonometric schematic diagram of embodiment of the present utility model.
Fig. 2 is the chassis axle section schematic diagram of embodiment of the present utility model.
Fig. 3 is the chassis suspension shock-absorbing partial schematic diagram of embodiment of the present utility model.
Fig. 4 is the chassis front view of embodiment of the present utility model.
Fig. 5 is the chassis left view of embodiment of the present utility model.
Fig. 6 is the chassis top view of embodiment of the present utility model.
Embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
As described in Fig. 1 to 6.Mecanum wheel 1 is connected by screw-nut and the one end of axletree 19, the one end of plum coupling 7
It is connected with the other end of axletree 19, and the motor shaft of the other end and 3510 motors 16 is connected, in addition, 3510 motors 16 are also by spiral shell
Silk is connected with the fixation motor cabinet 5 being fixed in suspension plate 9, so as to form wheel shaft.Its middle (center) bearing 24 is enclosed in fixed motor cabinet 5
In the circular groove of the one end of axletree 19, interference fit, wheel shaft jump ring 23 is arranged in the groove of axletree 19, as dead axle 19
Hole is to motion.3510 motors 16 rotate after being powered, by a series of connectors, so as to drive Mecanum wheel 1 to rotate.In addition,
Diagonally distribute many small rollers on the wheel rim of Mecanum wheel 1, and these angled periphery wheel shafts turn to the wheel of a part
Power is transformed into above a wheel normal force.By the direction of Mecanum wheel 1 described in 4 and speed, the final conjunction of these power
Into producing a resultant force vector on the direction of any requirement so as to ensure that fire fighting truck can be in the side of final resultant force vector
It can move freely through upwards, the steering without changing wheel itself.
The both ends of shock-proof spring 4 couple lower spring connector 8 and upper spring fastenings 3 respectively, and lip block 18 is by bottom plate
17 and shock-absorbing supporting plate 2 be connected by screw and nut, lower spring connector 8 is fixed in suspension plate 9, hinge 20 couple suspension plate
9 and bottom plate 17 form revolute pair, so as to form hitch, by the stretching and contraction of shock-proof spring 4, play the work of buffering
With.In addition, in the front lower place of suspension plate 9, there is a guide wheel 14 being fixed on by guide wheel fixture 15 in suspension plate, work as fire-fighting
When being walked on the very big wasteland of fluctuating, guide wheel 14 can first touch ground for robot, and now, the meeting of guide wheel 14 and ground produce cunning
It is dynamic, so as to which the ground fierceness for allowing fire-fighting robot chassis not risen and fallen is hit, and reduce obstruction, make car body smooth
Ground travels.
Linear electric motors 12 are fixed in linear electric motors fixed plate 21, and linear electric motors fixed plate 21 is with being fixed on bottom plate 17
Linear electric motors are fixed truss 13 and are connected, and sucker 10 is fixed on by sucker fixture 11 on the motor shaft of linear electric motors 12, straight line
Motor 12 extends after being powered so that sucker 10 contacts ground, until trailing wheel is hanging, so as to complete a fire fighting truck rear car body support
Get up.After fire-fighting robot adjustment good position aims at good fire extinguishing point, linear electric motors 12 are just worked, and Rear wheel support is got up, and are inhaled
Disk 10 allows car body steadily to fix on the ground, so as to allow fire-fighting robot put out a fire even if by some caused by back pressure
It is constant that a position can be maintained at.After fire extinguishing to be done, linear electric motors 12 shrink, and trailing wheel contacts to earth, and at this moment, fire-fighting robot is again
Can flexibly it travel on the ground.
As described above, it can preferably realize the utility model.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments, and other are any without departing from of the present utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (6)
1. a kind of fire-fighting robot chassis based on Mecanum wheel, it is characterised in that including following mechanism：
Chassis overhang mechanism；
Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；
Drive the chassis axle mechanism of chassis overhang mechanism kinematic；
Installed in chassis overhang mechanism rear, that is, it is used for the rear car body supporting mechanism for propping up rear car body；
The chassis overhang mechanism includes：Bottom plate (17), shock-absorbing supporting plate (2), lip block (18), aluminium weldering truss (22), side
Steel reinforcement (6)；The lip block (18) is arranged between bottom plate (17) and shock-absorbing supporting plate (2)；The aluminium welds truss
(22) it is fixed on bottom plate (17)；The square steel reinforcement (6) is arranged on the side of aluminium weldering truss (22)；The shock-absorbing supporting plate
(2) kept out in the middle part of in the lower section of aluminium weldering truss (22).
2. the fire-fighting robot chassis based on Mecanum wheel according to claim 1, it is characterised in that：The shockproof mechanism
Including：Shock-proof spring (4), lower spring connector (8), upper spring fastenings (3), suspension plate (9)；
The both ends of the shock-proof spring (4) couple lower spring connector (8) and upper spring fastenings (3) respectively；Described support
Bottom plate (17) and shock-absorbing supporting plate (2) are connected by cushion block (18) by screw and nut, and lower spring connector (8) is fixed on suspension plate
(9) on；Hinge (20) connection suspension plate (9) and bottom plate (17) form revolute pair, form hitch, pass through shock-proof spring (4)
Stretching and contraction, play a part of buffering, and then form shockproof mechanism；In the front lower place of suspension plate (9), there is one by leading
Wheel fixture (15) is fixed on the guide wheel (14) in suspension plate (9).
3. the fire-fighting robot chassis based on Mecanum wheel according to claim 2, it is characterised in that：The chassis wheel shaft
Mechanism includes Mecanum wheel (1), axletree (19), plum coupling (7), fixed motor cabinet (5), bearing (24), wheel shaft jump ring
(23), motor (16)；
The other end of described plum coupling (7) one end and axletree (19) is connected, and the other end and electricity of plum coupling (7)
The motor shaft of machine (16) is connected；The motor (16) is solid by screw and the fixation motor cabinet (5) being fixed in suspension plate (9)
Even, wheel shaft is formed；Motor (16) rotates after being powered, so as to drive Mecanum wheel (1) to rotate；Bearing (24) is enclosed on fixed motor
In seat (5) in the circular groove of axletree (19) one end, interference fit, wheel shaft jump ring (23) is arranged in the groove of axletree (19), is used
Make the hole of dead axle (19) to motion.
4. the fire-fighting robot chassis based on Mecanum wheel according to claim 2, it is characterised in that：The rear car body
Supporting mechanism includes：Sucker (10), sucker fixture (11), linear electric motors (12), linear electric motors fix truss (13), straight-line electric
Machine fixed plate (21)；
The linear electric motors (12) are fixed in linear electric motors fixed plate (21), and linear electric motors fixed plate (21) is with being fixed on bottom
The linear electric motors of plate (17) are fixed truss (13) and are connected；The sucker (10) is fixed on linear electric motors by sucker fixture (11)
(12) on motor shaft, linear electric motors (12) extend after being powered so that sucker (10) contacts ground, until trailing wheel is hanging, reach by
The purpose that rear car body is propped up.
5. the fire-fighting robot chassis based on Mecanum wheel according to claim 3, it is characterised in that：The Mecanum
Diagonally distribute multiple cylindrical rollers on wheel (1) wheel rim, steering force of these cylindrical rollers to diagonally distribute a part
It is transformed into above a wheel normal force.
6. the fire-fighting robot chassis based on Mecanum wheel according to claim 3, it is characterised in that：The motor (16)
Using 3510 motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668482.7U CN207208198U (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668482.7U CN207208198U (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208198U true CN207208198U (en) | 2018-04-10 |
Family
ID=61811731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720668482.7U Expired - Fee Related CN207208198U (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208198U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140029A (en) * | 2017-06-09 | 2017-09-08 | 华南理工大学 | A kind of fire-fighting robot chassis based on Mecanum wheel |
| CN109568850A (en) * | 2018-11-08 | 2019-04-05 | 湖南新业态智慧消防科技有限公司 | A kind of auxiliary support apparatus of fire-fighting robot |
| CN111827639A (en) * | 2020-06-06 | 2020-10-27 | 南京威克希尔建设工程有限公司 | Automatic floor tile laying equipment based on BIM |
| CN112455203A (en) * | 2019-04-26 | 2021-03-09 | 杭州申昊科技股份有限公司 | Two-drive differential wheel driving unit structure for robot driving |
-
2017
- 2017-06-09 CN CN201720668482.7U patent/CN207208198U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140029A (en) * | 2017-06-09 | 2017-09-08 | 华南理工大学 | A kind of fire-fighting robot chassis based on Mecanum wheel |
| CN109568850A (en) * | 2018-11-08 | 2019-04-05 | 湖南新业态智慧消防科技有限公司 | A kind of auxiliary support apparatus of fire-fighting robot |
| CN112455203A (en) * | 2019-04-26 | 2021-03-09 | 杭州申昊科技股份有限公司 | Two-drive differential wheel driving unit structure for robot driving |
| CN111827639A (en) * | 2020-06-06 | 2020-10-27 | 南京威克希尔建设工程有限公司 | Automatic floor tile laying equipment based on BIM |
| CN111827639B (en) * | 2020-06-06 | 2021-04-09 | 南京威克希尔建设工程有限公司 | Automatic floor tile laying equipment based on BIM |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20190609 |