CN207345964U - A kind of walking mechanism of fire-fighting robot - Google Patents
A kind of walking mechanism of fire-fighting robot Download PDFInfo
- Publication number
- CN207345964U CN207345964U CN201721114243.3U CN201721114243U CN207345964U CN 207345964 U CN207345964 U CN 207345964U CN 201721114243 U CN201721114243 U CN 201721114243U CN 207345964 U CN207345964 U CN 207345964U
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- China
- Prior art keywords
- rocker
- walking mechanism
- hinged
- wheel
- fire
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- Expired - Fee Related
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Abstract
The utility model discloses a kind of walking mechanism of fire-fighting robot, it includes the drive wheel assemblies being sequentially connected with output power part, the first rocker is hinged with the left of drive wheel assemblies, the second rocker is hinged with the left of first rocker, the 3rd rocker is hinged with the left of second rocker, 3rd rocker is Y type frame bodies, its one end is hinged with the second rocker, another both ends are respectively fixed with the first driven wheel and the second driven wheel, crawler belt bypasses drive wheel assemblies successively, first driven wheel and the second driven wheel, tensioning wheel is additionally provided between first driven wheel and drive wheel assemblies, tensioning wheel is located at the inner side of crawler belt；The first fixed seat is provided with second rocker, the second fixed seat is provided with the 3rd rocker, telescopic rod is connected between the first fixed seat and the second fixed seat, the outer sheath of telescopic rod is equipped with adjustable spring；First rocker and the second rocker are hinged by articulated shaft, and the first scissor and the second scissor are also hinged with articulated shaft, and the first scissor and the second scissor are arranged in a crossed manner.
Description
Technical field：
It the utility model is related to technical field of fire control, and in particular to a kind of walking mechanism of fire-fighting robot.
Background technology：
Fire-fighting robot as a kind of fire-fighting equipment, alternative fire fighter enter high temperature, inflammable and explosive, poisonous, anoxic,
The hazards such as dense smoke scene of the accident is put out a fire, decontamination, smoke evacuation, illumination, investigation and data sampling and processing, feedback etc., can
Effectively solve personal safety, the problems such as data information acquisition is insufficient that fire fighter faces in above-mentioned place.Floor manager personnel
It can in advance be suppressed using it, and according to its feedback result, science judgment made to the condition of a disaster in time, so as to disaster accident
Correct, reasonably decision-making is made in work on the spot.
The fire-fighting robot to come into operation both at home and abroad at present is generally by the full landform chassis of drive as traveling and load-carrying
Matrix, loads the various special types of progress such as fire-extinguishing apparatus, washing equipment, fume extractor, lighting apparatus, investigation equipment and rescues above
Operation, and loading data collection, processing, feedback device progress field data feedback are helped, and is supported equipped with water mist self protective function
High temperature resistance high-heat environment, the control and transmission of all devices are carried out by being wirelessly transferred, and the application of fire-fighting robot significantly carries
The high ability of processing serious accident simultaneously greatly reduces the injures and deaths of personnel.But the walking mechanism buffering of existing fire-fighting robot
Poor performance, can not effectively get around barrier, it is difficult to adapt to various road conditions.
Utility model content：
The purpose of this utility model is aiming at the deficiencies in the prior art, there is provided a kind of vehicle with walking machine of fire-fighting robot
Structure.
The technology solution of the utility model is as follows：
A kind of walking mechanism of fire-fighting robot, it includes the drive wheel assemblies being sequentially connected with output power part, driving
The first rocker is hinged with the left of wheel assembly, the second rocker is hinged with the left of the first rocker, is hinged with the left of the second rocker
3rd rocker, the 3rd rocker are Y type frame bodies, and its one end is hinged with the second rocker, another both ends be respectively fixed with the first driven wheel and
Second driven wheel, crawler belt bypass drive wheel assemblies, the first driven wheel and the second driven wheel, the first driven wheel and driving wheel successively
Tensioning wheel is additionally provided between component, tensioning wheel is located at the inner side of crawler belt；The first fixed seat, the 3rd pendulum are provided with second rocker
The second fixed seat is provided with frame, telescopic rod is connected between the first fixed seat and the second fixed seat, is arranged on the outside of telescopic rod
There is adjustable spring；First rocker and the second rocker are hinged by articulated shaft, and the first scissor and second is also hinged with articulated shaft and is cut
Fork, the first scissor and the second scissor are arranged in a crossed manner, both upper ends are connected with buffer bar, and the outer sheath of buffer bar is equipped with buffering elastic
Spring；The lower end of first scissor is hinged with first support, and two the first support wheels, the lower end of the second scissor are provided with first support
Second support is hinged with, is provided with two the second support wheels in second support, the first support wheel and the second support wheel are and crawler belt
Contact.
Two rows of stepped tooths are provided with the inside of crawler belt, is provided with the outside of crawler belt and grabs ground convex block, grab ground convex block and crawler belt it
Between be detachably connected.
Drive wheel assemblies include the short axle being connected with output power part, are connected with mounting bracket and driving wheel in short axle, install
Follower and driving wheel are additionally provided with frame, is connected between driving wheel and follower by chain, follower and driving wheel are coaxial
Connection, the both sides of driving wheel are provided with poke rod, and poke rod is acted on stepped tooth.
The side of driving wheel is additionally provided with buffering strainer.
The front end of walking mechanism is provided with walking camera, and walking camera is used for the image for gathering walking road surface.
The rear end of walking mechanism has warning lamp, and the quantity of warning lamp is two, respectively positioned at the rear end two of walking mechanism
Side.
The front end of walking mechanism has two major lights, and major light is fixedly mounted in walking mechanism by lamp bracket, lamp bracket
Adjustment irradiating angle can be rotated around walking mechanism.
The beneficial effects of the utility model are：Walking mechanism in the utility model has multiple swings being hinged
Frame, since connection mode is hinged, swing span can carry out adaptability swing when running into barrier so that whole walking process
More stablize.
Brief description of the drawings：
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the structure diagram of drive wheel assemblies.
Embodiment：
It is right below in conjunction with the accompanying drawings in order to enable the above-mentioned purpose of the utility model, feature and advantage more obvious understandable
Specific embodiment of the present utility model is described in detail.
As shown in Figs. 1-2, a kind of walking mechanism of fire-fighting robot, it includes the driving being sequentially connected with output power part
Wheel assembly 11, the left side of drive wheel assemblies 11 are hinged with the first rocker 12, and the left side of the first rocker 12 is hinged with the second rocker 13,
The left side of second rocker 13 is hinged with the 3rd rocker 14, and the 3rd rocker 14 is Y type frame bodies, and its one end is hinged with the second rocker 13,
Another both ends are respectively fixed with the first driven wheel 141 and the second driven wheel 142, and crawler belt 10 bypasses drive wheel assemblies 11, first successively
141 and second driven wheel 142 of driven wheel, tensioning wheel 17 is additionally provided between the first driven wheel 141 and drive wheel assemblies 11,
Bearing up pulley 17 is located at the inner side of crawler belt 10；The first fixed seat is provided with second rocker 13, it is solid that second is provided with the 3rd rocker 14
Reservation, is connected with telescopic rod between the first fixed seat and the second fixed seat, the outer sheath of telescopic rod is equipped with adjustable spring 130；The
One rocker 12 and the second rocker 13 are hinged by articulated shaft, and the first scissor 15 and the second scissor 16 are also hinged with articulated shaft, the
One scissor 15 and the second scissor 16 are arranged in a crossed manner, both upper ends are connected with buffer bar, and the outer sheath of buffer bar is equipped with buffering elastic
Spring 150；The lower end of first scissor 15 is hinged with first support, two the first support wheels 151 is provided with first support, second cuts
The lower end of fork 16 is hinged with second support, is provided with two the second support wheels 161 in second support, the first support wheel 151 and the
Two support wheels 161 are contacted with crawler belt 10.
The inner side of crawler belt 10 is provided with two rows of stepped tooths 102, and the outside of crawler belt 10, which is provided with, grabs ground convex block 101, grabs convex
It is detachably connected between block 101 and crawler belt 10.
Drive wheel assemblies 11 include the short axle 111 being connected with output power part, and 110 He of mounting bracket is connected with short axle 111
Driving wheel 112, is additionally provided with follower 113 and driving wheel 114 on mounting bracket 110, leads between driving wheel 112 and follower 113
Chain connection is crossed, follower 113 and driving wheel 114 are coaxially connected, and the both sides of driving wheel 114 are provided with poke rod 115, poke rod
115 act on stepped tooth 102.
The side of driving wheel 114 is additionally provided with buffering strainer 48.
The front end of walking mechanism is provided with walking camera, and walking camera is used for the image for gathering walking road surface.
The rear end of walking mechanism has warning lamp, and the quantity of warning lamp is two, respectively positioned at the rear end two of walking mechanism
Side.
The front end of walking mechanism has two major lights, and major light is fixedly mounted in walking mechanism by lamp bracket, lamp bracket
Adjustment irradiating angle can be rotated around walking mechanism.
The embodiment rather than limits the present invention the utility model is illustrated.Any this area
Technical staff can modify the embodiment under the spirit and scope without prejudice to the utility model, therefore this practicality
New rights protection scope, should be as listed by the claim of the utility model.
Claims (7)
- A kind of 1. walking mechanism of fire-fighting robot, it is characterised in that：It includes the driving wheel being sequentially connected with output power part Component (11), is hinged with the first rocker (12) on the left of drive wheel assemblies (11), the first rocker is hinged with second on the left of (12) Rocker (13), is hinged with the 3rd rocker (14) on the left of the second rocker (13), and the 3rd rocker (14) is Y type frame bodies, its one end with Second rocker (13) is hinged, and another both ends are respectively fixed with the first driven wheel (141) and the second driven wheel (142), crawler belt (10) according to It is secondary to bypass drive wheel assemblies (11), the first driven wheel (141) and the second driven wheel (142), the first driven wheel (141) and driving Tensioning wheel (17) is additionally provided between wheel assembly (11), tensioning wheel (17) is located at the inner side of crawler belt (10)；On second rocker (13) The first fixed seat is provided with, the second fixed seat is provided with the 3rd rocker (14), is connected between the first fixed seat and the second fixed seat Telescopic rod is connected to, the outer sheath of telescopic rod is equipped with adjustable spring (130)；First rocker (12) and the second rocker (13) pass through hinged Axis is hinged, and the first scissor (15) and the second scissor (16), the first scissor (15) and the second scissor (16) are also hinged with articulated shaft Arranged in a crossed manner, both upper ends are connected with buffer bar, and the outer sheath of buffer bar is equipped with buffer spring (150)；First scissor (15) Lower end be hinged with first support, be provided with two the first support wheels (151) in first support, the lower end hinge of the second scissor (16) Second support is connected to, two the second support wheels (161), the first support wheel (151) and the second support wheel are provided with second support (161) contacted with crawler belt (10).
- A kind of 2. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：Crawler belt is set on the inside of (10) Two rows of stepped tooths (102) are equipped with, is provided with the outside of crawler belt (10) and grabs ground convex block (101), grab ground convex block (101) and crawler belt (10) Between be detachably connected.
- A kind of 3. walking mechanism of fire-fighting robot according to claim 2, it is characterised in that：Drive wheel assemblies (11) are wrapped The short axle (111) being connected with output power part is included, mounting bracket (110) and driving wheel (112) is connected with short axle (111), installs Follower (113) and driving wheel (114) are additionally provided with frame (110), passes through chain between driving wheel (112) and follower (113) Bar connects, and follower (113) and driving wheel (114) are coaxially connected, and the both sides of driving wheel (114) are provided with poke rod (115), dials Lever (115) is acted on stepped tooth (102).
- A kind of 4. walking mechanism of fire-fighting robot according to claim 3, it is characterised in that：The side of driving wheel (114) Face is additionally provided with buffering strainer (48).
- A kind of 5. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The front end of walking mechanism is set Walking camera is equipped with, walking camera is used for the image for gathering walking road surface.
- A kind of 6. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The rear end tool of walking mechanism There is warning lamp, the quantity of warning lamp is two, respectively positioned at the rear end both sides of walking mechanism.
- A kind of 7. walking mechanism of fire-fighting robot according to claim 1, it is characterised in that：The front end tool of walking mechanism There are two major lights, major light is fixedly mounted in walking mechanism by lamp bracket, and lamp bracket can be rotated around walking mechanism to be adjusted Irradiating angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721114243.3U CN207345964U (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721114243.3U CN207345964U (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345964U true CN207345964U (en) | 2018-05-11 |
Family
ID=62413222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721114243.3U Expired - Fee Related CN207345964U (en) | 2017-09-01 | 2017-09-01 | A kind of walking mechanism of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345964U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432658A (en) * | 2018-10-31 | 2019-03-08 | 安徽工程大学 | A kind of crawler type firefighting robot |
| CN114568052A (en) * | 2022-03-18 | 2022-06-03 | 南漳县华胜机械制造有限公司 | Crawler-type mini-tiller applicable to multiple terrains |
-
2017
- 2017-09-01 CN CN201721114243.3U patent/CN207345964U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432658A (en) * | 2018-10-31 | 2019-03-08 | 安徽工程大学 | A kind of crawler type firefighting robot |
| CN109432658B (en) * | 2018-10-31 | 2021-04-23 | 安徽工程大学 | Crawler-type fire-extinguishing robot |
| CN114568052A (en) * | 2022-03-18 | 2022-06-03 | 南漳县华胜机械制造有限公司 | Crawler-type mini-tiller applicable to multiple terrains |
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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 |
Granted publication date: 20180511 Termination date: 20180901 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |