CN207970375U - A kind of mobile chassis of fire-fighting robot - Google Patents

Abstract

The utility model is related to a kind of mobile chassis of fire-fighting robot, including substrate, substrate top surface is equipped with mechanical arm, substrate bottom surface is equipped with mobile mechanism, support pulley assembly includes the telescopic rod for the substrate bottom surface for being articulated with car body, telescopic rod includes level-one bar and two level bar, level-one bar is inserted into two level bar, it is provided with the 7th spring between level-one bar and two level bar inner bottom surface, it is hinged with support link on two level bar outer wall, support link and two level bar are mounted on third pulley close to one end of bottom surface, and the 6th spring is equipped between support link and two level bar；The mobile chassis of the utility model, cushioning effect can be played to car body, while car body being assisted to continue to move ahead in car body throwing over barrier by the support pulley assembly installed in substrate bottom surface, the case where being not in overturning, substantially increases the rescue efficiency of robot.

Description

A kind of mobile chassis of fire-fighting robot

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of mobile chassis of fire-fighting robot.

Background technology

Now in society, as urbanization promotes, high building construction speed is accelerated, but copes with the equipment development phase of tall-building fire fighting To lag, meanwhile, with the rapid development of chemical industry, all kinds of easy explosions are not suitable for the mankind and are in close to the fire-fighting event of processing Ascendant trend.This year, firefighters cause to hinder because tall-building fire fighting equipment lags, fire-fighting closely handles explosive case in the process The number of dying is on the increase, and the problem in this fire-fighting is not resolved always.Current means of fire is mostly to use aerial ladder fire-fighting Vehicle solves the problems, such as tall-building fire fighting, and the effective operation height of common hook and ladder is 30-50 meters, then high reachable 60-70 Rice.But fire fighting truck is usually spent limitation by street because volume is larger in responding fire-fighting, it is difficult to pass through in narrow street, usually Scene of fire cannot be being rushed at the first time, fire is caused further to deteriorate.

Fire once occurs for skyscraper, there are one being significantly characterized in " stack effect ", i.e.,：In the fire that bottom occurs The hot-air of formation is flowed because density is told somebody what one's real intentions are through lift trough or stair channel on the net, just as in a huge chimney Air-flow, make hot gas constantly channel obtain top accumulation, the result is that make the intensity of a fire through this air convection current in mansion Top layer manufactures another scene of a fire.And with the discharge of hot-air, fresh air is constantly sucked from bottom flow, cause the intensity of a fire into One step is aggravated.This fire is spread along lift trough or corridor channel, and fire fighter cannot be as handling common buildings fire It puts out a fire like that from outside, air respiratorresuscitator can only be worn and enter the scene of a fire, big fire of putting out a fire to save life and property is stormed by inside.But at this A little narrow zones, fire-extinguishing apparatus can not effective operation, once fire spread, to high-rise floor, fireman can not carry fire-extinguishing apparatus It puts out a fire to save life and property, prodigious difficulty is brought to rescue work.

Therefore, occur many fire-fighting equipments for solving the problems, such as this, such as fire-fighting robot in fire-fighting domain, still, The fire-fighting robot that the prior art uses is only capable of travelling in the good region of road conditions, for the devastated of road conditions complexity, fire-fighting Robot can not advance well, reduce the rescue efficiency of fire-fighting robot.

Utility model content

In order to solve the fire-fighting robot existing in the prior art low skill of the bad region rescue efficiency of road conditions at the scene Art problem, the utility model provide following technical scheme：

A kind of mobile chassis of fire-fighting robot, including substrate, the substrate top surface are equipped with mechanical arm, the substrate base Face is equipped with mobile mechanism and support pulley assembly, the support pulley assembly include be articulated with car body substrate bottom surface it is flexible Bar, the telescopic rod include level-one bar and two level bar, and the level-one bar is inserted into two level bar, inside the level-one bar and two level bar It is provided with the 7th spring between bottom surface, support link is hinged on the two level bar outer wall, the support link and two level bar lean on One end of nearly bottom surface is mounted on third pulley, and the 6th spring is equipped between the support link and two level bar；

The mobile mechanism includes rack, is installed on the driving wheel and driven wheel of the rack both sides, the driving wheel and It is provided with crawler belt on driven wheel, electro-motor is connected on the driving wheel.

As the further explanation of the utility model, the mechanical arm includes the rotary electric machine being fixed on the substrate, The turntable being fixedly connected with the rotary electric machine output shaft, the large arm being articulated on the turntable, with hinged small of the large arm Arm, is set in the forearm and slidable telescopic arm, the manipulator being connect with the telescopic arm by electric rotating machine；

The first electric pushrod is hinged between the turntable and large arm, it is electronic to be hinged with second between the large arm and forearm Push rod is provided with third electric pushrod between the forearm and telescopic arm

As the further explanation of the utility model, the manipulator includes being fixedly connected with the electric rotating machine output shaft Shell, be fixedly installed the 4th electric pushrod in the shell, the 4th electric pushrod top stretch out the shell it is outer and It is fixedly connected with an articulated shaft, the housing top surface is fixedly installed two pieces of articulated slabs arranged in parallel, the electric pushrod The part and the articulated shaft stretched out outside shell are respectively positioned between two pieces of articulated slabs；

The articulated shaft both ends have been respectively articulated with the first linking arm, and articulated slab top both sides have been respectively articulated with the second company Arm is connect, first linking arm and the second linking arm are hinged；

Second linking arm top is fixedly connected with Buffer Unit, and two Buffer Units are provided on opposite face Claw.

As the further explanation of the utility model, the Buffer Unit includes shell, on the shell with the claw Be provided with the second through-hole that enclosure is inserted into for connecting rod on adjacent and parallel side, connecting rod setting there are two and It is symmetrically set；

One end that the connecting rod is in shell exterior is fixedly connected with the claw, and the connecting rod is inserted into the shell Second pulley there are two being symmetrical arranged on two opposite flanks of internal one end；

In the shell the 4th spring is fixedly installed between the inner wall opposite with second through-hole and the connecting rod；

There are two buffer stoppers, the buffer stopper to be slidably connected with outer casing inner wall for setting in the shell, two bufferings Third spring is fixedly connected between block；

Two second pulleys in the connecting rod are contacted with the side of outer casing inner wall and buffer stopper respectively；

The side that the buffer stopper is contacted with second pulley is third inclined-plane.

Compared with prior art, what the utility model obtained has the beneficial effect that：

The mobile chassis of the utility model can cross barrier by the support pulley assembly installed in substrate bottom surface in car body When hindering object, the case where playing cushioning effect to car body, while car body being assisted to continue to move ahead, be not in overturning, substantially increase The rescue efficiency of robot.

The utility model is described in further details below with reference to accompanying drawings and embodiments.

Description of the drawings

Fig. 1 is robot overall structure diagram.

Fig. 2 is bindiny mechanism's sectional view.

Fig. 3 is robot manipulator structure schematic diagram.

Fig. 4 is Buffer Unit structural schematic diagram.

Fig. 5 sleeve inner structural schematic diagrams.

Fig. 6 is support pulley block structure schematic diagram.

Fig. 7 is telescopic rod sectional view.

In figure：1, plug division；2, receptacle portion；3, pedestal；4, interconnecting piece；5, cavity；6, the first iron core；7, left side；8、 Right side；9, the first spring；10, the first inclined-plane；11, first pulley；12, the first electromagnet；13, link block；14, first through hole 14；15, the second inclined-plane；16, second spring；17, the first groove；18, the second groove；19, substrate；20, rotary electric machine；21, turn Disk；22, large arm；23, forearm；24, telescopic arm；25, electric rotating machine；26, manipulator；27, the first electric pushrod；28, the second electricity Dynamic push rod；29, third electric pushrod；30, shell；31, the 4th electric pushrod；32, articulated shaft；33, articulated slab；34, first connects Connect arm；35, the second linking arm；36, Buffer Unit；37, claw；38, shell；39, the second through-hole；40, second pulley；41, Four springs；42, buffer stopper；43, third spring；44, rack；45, driving wheel；46, driven wheel；47, crawler belt；48, electro-motor； 49, pedestal；50, idler wheel；51, rotating seat；52, strut；53, support plate；54, internal gear；55, sleeve；56, driving motor；57、 Second electromagnet；58, the second iron core；59, the 5th spring；60, intermediate gear；61, driving gear；62, worm screw；63, the first tooth Wheel；64, second gear；65, connecting rod；66, spherical shell；67, supporting rod；68, riser；69, nozzle；70, rack；71, solid Determine portion；72, connecting rod；73, bearing；74, clip；75, upper plate；76, lower plate；77, pulley assembly is supported；78, telescopic rod；79, it props up Supporting rod；80, the 6th spring；81, third pulley；82, the 7th spring；83, level-one bar；84, two level bar.

Specific implementation mode

Reach the technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with attached drawing And embodiment, to specific embodiment of the present utility model, structure feature and its effect, detailed description are as follows.

In the description of the invention, it is to be understood that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies to describe, rather than indicate Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot understand For the limitation to the invention.

In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply Relative importance or the quantity for implicitly indicating indicated technical characteristic.The feature of " first ", " second " etc. is defined as a result, It can explicitly or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, The meaning of " plurality " is two or more.

Term " installation ", " connected ", " connection " shall be understood in a broad sense, and can also be removable for example, it may be being fixedly connected Connection is unloaded, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be in Between medium be indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, can pass through Concrete condition understands concrete meaning of the above-mentioned term in the invention.

Mobile chassis provided in this embodiment for fire-fighting robot can be applied to the fire tower of a variety of different structures Device people, the present embodiment only provide one kind, as shown in Figure 1, including active car body and from motor vehicles bodies, active car body and from motor vehicles bodies it Between connected by bindiny mechanism, wherein bindiny mechanism includes the plug division 1 being set on active car body and being set to from motor vehicles bodies On receptacle portion 2；Plug division is fixedly connected with connection as shown in Fig. 2, including being fixed on pedestal 3 on active car body on pedestal 3 Portion 4, interconnecting piece 4 are internally provided with cavity 5, and one first iron core 6 is provided in cavity 5, is slided between the first iron core 6 and cavity 5 Connection；The left side 7 vertical with 6 glide direction of the first iron core and right side 8 on first iron core 6, it is adjacent and parallel with left side 7 5 inner wall of cavity and left side 7 between connected by two the first springs 9,8 upper/lower terminal of right side is respectively arranged with first Inclined-plane 10 is fixedly installed first pulley 11 on first inclined-plane 10；On 5 inner wall of cavity adjacent and parallel with left side 7, it is located at It is fixedly installed one first electromagnet 12 between two the first springs 9, cavity 5 inner wall adjacent and parallel with right side 8 and the right side Between end face 8 setting is there are two link block 13, and two link blocks 13 in 4 upper and lower two side walls of interconnecting piece respectively by being arranged First through hole 14 stretches out 4 external world of interconnecting piece, and link block 13 is slidably connected with the sliding block being fixedly installed on 14 inner wall of first through hole；Two A link block 13 is both provided with the second inclined-plane 15 on the left of opposite end face, and the second inclined-plane 15 is parallel with the first inclined-plane 10, and first slides Wheel 11 is contacted with the second inclined-plane 15 and is slided along the second inclined-plane 15, and two link blocks 13 are provided with second between opposite end face Spring 16；The first groove 17 being inserted into for interconnecting piece 4 is provided in receptacle portion 2,17 upper and lower both sides of the first groove are both provided with confession The second groove 18 that link block 13 is inserted into, active car body and is connected to the second groove 18 between motor vehicles bodies by link block 13 It is interior, to realize active car body and from the connection of motor vehicles bodies.

Robot provided in this embodiment connects active car body by above-mentioned bindiny mechanism and from motor vehicles bodies, makes active car body Drive is sailed from motor vehicles bodies common row, from without installing individual mobile mechanism from motor vehicles bodies, can reduce robot Cost.

The bindiny mechanism when in use, a left side for the first iron core 6 of control is realized by the energization of the first electromagnet 12 with power-off Right movement gives the first electromagnet 12 to power off first, under the elastic force effect of the first spring 9, when the first iron core 6 being made to move right, First pulley 11 is slided along the second inclined-plane 15, to make two link blocks 13 be located remotely from each other, that is, is stretched out outside interconnecting piece 4, to make Link block 13 is inserted into the second groove 18 in receptacle portion 2, realizes active car body and the docking from motor vehicles bodies, when active car body and It when needing separation from motor vehicles bodies, is powered for the first electromagnet 12, so that the first electromagnet 12 is adsorbed the first iron core 6 and move downward, this When two link blocks 13 under the elastic force effect of second spring 16, while to 4 internal motion of interconnecting piece, to make interconnecting piece 4 move Go out the second groove 18, realizes active car body and the separation from motor vehicles bodies.

It should be pointed out that when active car body and after detached from motor vehicles bodies, the first electromagnet 12 can be powered off directly, make the One spring 9 and second spring 16 are in drift, and the position of the first iron core 6 and link block 13 is also not required to limit, so both Electric energy can be saved, and can ensure that spring is in drift, extends the service life of spring.

Above-mentioned active car body includes mobile mechanism, substrate 19, mechanical arm and multigroup support pulley assembly 77, and substrate 19 is fixed In in mobile mechanism, mechanical arm is installed on 19 top surface of substrate, and support pulley assembly is installed on 19 bottom surface of substrate, and pedestal 3 is fixed In on substrate 19；

Support pulley assembly 77 is as shown in fig. 6, including being articulated with 19 bottom surface of substrate and positioned at neighbouring from motor vehicles bodies side Telescopic rod 78, telescopic rod 78 is as shown in fig. 7, comprises level-one bar 83 and two level bar 84, and level-one bar 83 is inserted into two level bar 84, level-one It is provided with the 7th spring 82 between bar 83 and 84 two level bar inner bottom surfaces, support link 79 is hinged on 84 outer wall of two level bar, props up Supporting rod 79 and two level bar 84 are mounted on third pulley 81 close to one end of bottom surface, pacify between support link 79 and two level bar 84 Equipped with the 6th spring 80.

Above-mentioned support pulley assembly 77 can ensure that car body does not overturn, in car body advance side in car body throwing over barrier To rear play the role of an Auxiliary support, keep car body entirety axial line elongated, increase car body stability, the support pulley blocks Part 77 can be multigroup according to body dimensions setting, to achieve the purpose that car body whole machine balancing, in car body throwing over barrier, before vehicle body When end moves upwards, moved after vehicle body center of gravity, at this point, support pulley assembly 77 can play a supporting role, when car body continues movement, Two third pulleys 81 installing can assist car body to continue to travel on support pulley assembly 77, and level-one bar 83 is to two level bar 84 internal motions compress the 7th spring 82, simultaneously as entirely support 77 decentralization of pulley assembly, so two thirds are slided The distance between wheel 81 increases, and stretching the 6th spring 80 can be played by the restoring force of the 6th spring 80 and the 7th spring 82 Cushioning effect offsets car body and supports the gravity of 77 decentralization of pulley assembly, that is, forms two level damping, enable car body more Firm breaks the barriers.

Mechanical arm includes the rotary electric machine 20 being fixed on substrate 19, the turntable being fixedly connected with 20 output shaft of rotary electric machine 21, the large arm 22 being articulated on turntable 21, the forearm 23 hinged with large arm 22 is set in forearm 23 and slidable flexible Arm 24, the manipulator 26 being connect with telescopic arm 24 by electric rotating machine 25；It is electronic it to be hinged with first between turntable 21 and large arm 22 Push rod 27 is hinged with the second electric pushrod 28, third is provided between forearm 23 and telescopic arm 24 between large arm 22 and forearm 23 Electric pushrod 29.

Above-mentioned manipulator 26 is as shown in figure 3, include the shell 30 being fixedly connected with 25 output shaft of electric rotating machine, in shell 30 It is fixedly installed the 4th electric pushrod 31, an articulated shaft 32 is stretched out outside shell 30 and is fixedly connected on 31 top of the 4th electric pushrod, 30 top surface of shell is fixedly installed two pieces of articulated slabs 33 arranged in parallel, and electric pushrod stretches out part and hinge outside shell 30 Spindle 32 is respectively positioned between two pieces of articulated slabs 33；32 both ends of articulated shaft have been respectively articulated with the first linking arm 34,33 top of articulated slab Both sides have been respectively articulated with the second linking arm 35, and the first linking arm 34 and the second linking arm 35 are hinged；Second linking arm, 35 top is solid Surely it is connected with Buffer Unit 36, two Buffer Units 36 are provided with claw 37 on opposite face.

Above-mentioned Buffer Unit is as shown in figure 4,36 include shell 38, on shell 38 on the side adjacent and parallel with claw 37 It is provided with for the second through-hole 39 inside the insertion shell 38 of connecting rod 65, there are two the settings of connecting rod 65 and is symmetrically set； One end that connecting rod 65 is in outside shell 38 is fixedly connected with claw 37, and connecting rod 65 is inserted into two of one end inside shell 38 Second pulley 40 there are two being symmetrical arranged on a opposite flank；The inner wall and connecting rod 65 opposite with the second through-hole 39 in shell 38 Between be fixedly installed the 4th spring 41；There are two buffer stoppers 42, buffer stopper 42 to be slided with 38 inner wall of shell for setting in shell 38 It connects, third spring 43 is fixedly connected between two buffer stoppers 42；Two second pulleys 40 in connecting rod 65 respectively with outside The side of 38 inner wall of shell and buffer stopper 42 contacts；The side that buffer stopper 42 is contacted with second pulley 40 is third inclined-plane.

Mechanical arm provided in this embodiment, each joint is directly hinged, keeps mechanical arm activity more flexible, and uses city The electric pushrod sold on face is equipped with Buffer Unit 36 as dynamical element, easy maintenance and replacement on claw 37, is formed Flexible manipulator 26 can increase the chucking power of claw 37 by the effect of spring, crawl is more when irregular object is clamped Add reliably, effectively improves the working efficiency of mechanical arm.

Above-mentioned mobile mechanism includes rack 44, is installed on the driving wheel 45 and driven wheel 46 of 44 both sides of rack, driving wheel 45 With crawler belt 47 is provided on driven wheel 46, electro-motor 48 is connected on driving wheel 45.Active car body provided in this embodiment is logical Cross the driving traveling of electro-motor 48, in the process of moving, need to only adjust electro-motor 48 on two driving wheels 45 rotating speed and The actions such as traveling, turning and the u-turn of active car body can be realized in direction.

Above-mentioned from motor vehicles bodies includes pedestal 49, and 49 bottom surface of pedestal is provided with idler wheel 50, and the fixed setting of 49 top surface of pedestal is with teeth Wheel assembly and plug division are equipped with water cannon on gear assembly；Gear assembly includes being installed on pedestal 49 by shaft Rotating seat 51,51 top of rotating seat are fixedly connected with support plate 53 by multiple struts 52, and 52 middle part of strut is fixedly installed interior Gear 54；Rotating seat is fixedly installed sleeve 55 and driving motor 56 on 51 top surface；Bottom is fixedly installed second in sleeve 55 Electromagnet 57, as shown in figure 5, the top of the second electromagnet 57 is provided with the second iron core 58, the second iron core 58 and 55 side wall of sleeve it Between be slidably connected, the 5th spring 59 is fixedly installed between 55 bottom wall of the second iron core 58 and sleeve, during 55 top of sleeve is provided with Between gear 60, intermediate gear 60 is rotatablely connected with the second iron core 58 by shaft；56 output shaft of driving motor is fixedly connected with master Moving gear 61；Intermediate gear 60 is engaged with internal gear 54 and driving gear 61 respectively；53 top surface of support plate is provided with a worm screw 62 With first gear 63,62 axial line of worm screw is arranged in parallel with 53 top surface of support plate, and first gear 63 is installed on support by shaft On plate 53,62 end of worm screw is fixedly installed second gear 64, and second gear 64 is engaged with first gear 63；It is set in support plate 53 It is equipped with third through-hole（Attached drawing is not shown）, intermediate gear 60 may pass through third through-hole and engaged with first gear 63.

Above-mentioned water cannon includes spherical shell 66, between spherical shell 66 and the supporting rod 67 being fixed in support plate 53 It is rotatably connected by bearing realization；It is provided with water pipe in spherical shell 66（It is attached to be not shown in figure）, water pipe water outlet and fixation Nozzle 69 on spherical shell 66 is connected to, and water pipe water inlet is connected to water supply line；66 outer wall bottom of spherical shell is provided with One rack 70, rack 70 is arranged in parallel with worm screw 62 and is engaged with worm screw 62.

It is provided in this embodiment to adjust the injection direction of water cannon by gear assembly from motor vehicles bodies, and using When, interior the second electromagnet 57, the second iron core 58 and the 5th spring 59 being arranged of sleeve 55 is used to adjust the height of intermediate gear 60 Degree is powered and powers off by controlling the second electromagnet 57, and when the second electromagnet 57 is powered, the second iron core of absorption 58 is downwards Movement, intermediate gear 60 engage with internal gear 54 at this time, to make the rotation of internal gear 54, due to internal gear 54 and rotating seat 51 and Support plate 53 is fixedly connected with, so rotating seat 51 and support plate 53 is driven to rotate simultaneously, i.e., water cannon turns in the horizontal direction It is dynamic；When the second electromagnet 57 powers off, adsorption capacity disappears, and under the elastic force effect of the 5th spring 59, intermediate gear 60 is transported upwards It is dynamic, and engaged with first gear 63, while being detached from internal gear 54, when driving gear 61 drives intermediate gear 60 to rotate, the One gear 63 is driven, and second gear 64 is driven to rotate, since second gear 64 is fixedly connected with worm screw 62, so, worm screw 62 rotate therewith, and are rotated with carry-over bar 70, i.e., water cannon vertically rotates.

Two parts movement that water cannon can be realized in a driving motor 56 is only arranged in said gear component, can be less Multiple parts make water cannon overall volume reduce, and can save larger cost.

51 side of above-mentioned rotating seat is fixedly installed an auxiliary support mechanism, and auxiliary support mechanism includes fixed part 71, connects Bar 72, bearing 73 and clip 74；Fixed part 71 includes upper plate 75, lower plate 76 and riser 68, between upper plate 75 and lower plate 76 mutually It is arranged in parallel, upper plate 75 and lower plate 76 are arranged in a mutually vertical manner with riser 68 and are individually fixed in 68 top and bottom of riser, stand Plate 68 is fixedly connected with rotating seat 51；72 one end of connecting rod is inserted between upper plate 75 and lower plate 76 and passes through axis pin and fixed part 71 It is rotatably connected, 72 other end of connecting rod is fixedly connected with bearing 73, and clip 74 is fixed on bearing 73.

Auxiliary support mechanism provided in this embodiment can fix fire hose, make water cannon and the linear position of water band, when When rotating disk 21 rotates, auxiliary support mechanism rotates together, and fire hose will not be caused to bend, and influences high pressure water flow flow, and And it is hinged between fixed part 71 and connecting rod 72, keep integrated model more flexible, ensures that water cannon adjusts spray angle in rotation When, water flow will not be caused to reduce because fire hose is bent, influence to spray hydraulic pressure.

Rescuing robot for fire control provided in this embodiment cooperates, work compound by active car body and from motor vehicles bodies, Under the premise of ensureing rescuing robot for fire control basic function, parts are maximumlly reduced, reduce robot cost, Er Qiezhu Motor vehicles bodies and the injection direction adjusting from connection, water cannon between motor vehicles bodies and the control of mechanical arm, by existing Technology remote control makes the more convenient to use of robot, and in active car body and after motor vehicles bodies separation, active car body can To carry out patrol rescue work, obstacle can be understood by mechanical arm, suitable position need to be only parked in from motor vehicles bodies can carry out water The fire-fighting work of rifle injection, substantially increases the rescue efficiency of fire-fighting robot, and fire-fighting work personnel only need remote control , when danger coefficient is reduced in controlled range, enters back into scene and carry out round-off work, ensure that the person of fire fighter Safety.

Further, rescuing robot for fire control provided in this embodiment can pacify in active car body and from motor vehicles bodies High-definition camera is filled, keeps remote control more convenient.

The components such as the electric pushrod, electromagnet, motor, the motor that are used in the present embodiment use market to sell general Logical product, application method, circuit connection etc. are the prior art, and when production need to only select to match with robot size Model, this is the production stage depending on actual production demand, so, do not elaborate above-mentioned first device herein The particular circuit configurations and application method of part.

It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard To belong to the scope of protection of the utility model.

Claims (4)

1. a kind of mobile chassis of fire-fighting robot, including substrate, the substrate top surface is equipped with mechanical arm, the substrate bottom surface Mobile mechanism and support pulley assembly are installed, it is characterised in that：The support pulley assembly includes the substrate for being articulated with car body The telescopic rod of bottom surface, the telescopic rod include level-one bar and two level bar, and the level-one bar is inserted into two level bar, the level-one bar with It is provided with the 7th spring between two level bar inner bottom surface, support link, the support link are hinged on the two level bar outer wall It is mounted on third pulley close to one end of bottom surface with two level bar, the 6th bullet is installed between the support link and two level bar Spring；

The mobile mechanism includes rack, is installed on the driving wheel and driven wheel of the rack both sides, the driving wheel and driven It is provided with crawler belt on wheel, electro-motor is connected on the driving wheel.

2. mobile chassis according to claim 1, it is characterised in that：The mechanical arm includes being fixed on the substrate Rotary electric machine, the turntable being fixedly connected with the rotary electric machine output shaft, the large arm being articulated on the turntable, with the large arm Hinged forearm, is set in the forearm and slidable telescopic arm, the machine being connect with the telescopic arm by electric rotating machine Tool hand；

It is hinged with the first electric pushrod between the turntable and large arm, second is hinged between the large arm and forearm and electronic is pushed away Bar is provided with third electric pushrod between the forearm and telescopic arm.

3. mobile chassis according to claim 2, it is characterised in that：The manipulator includes being exported with the electric rotating machine The shell that axis is fixedly connected, the 4th electric pushrod is fixedly installed in the shell, and institute is stretched out on the 4th electric pushrod top It states outside shell and is fixedly connected with an articulated shaft, the housing top surface is fixedly installed two pieces of articulated slabs arranged in parallel, institute The part and the articulated shaft stated outside electric pushrod stretching shell are respectively positioned between two pieces of articulated slabs；

The articulated shaft both ends have been respectively articulated with the first linking arm, and articulated slab top both sides have been respectively articulated with the second connection Arm, first linking arm and the second linking arm are hinged；

Second linking arm top is fixedly connected with Buffer Unit, and two Buffer Units are provided with card on opposite face Pawl.

4. mobile chassis according to claim 3, it is characterised in that：The Buffer Unit includes shell, on the shell The second through-hole that enclosure is inserted into for connecting rod is provided on adjacent and parallel side with the claw, the connecting rod is set It sets there are two and is symmetrically set；

One end that the connecting rod is in shell exterior is fixedly connected with the claw, and the connecting rod is inserted into the enclosure One end two opposite flanks on be symmetrical arranged there are two second pulley；

In the shell the 4th spring is fixedly installed between the inner wall opposite with second through-hole and the connecting rod；

There are two buffer stoppers, the buffer stopper to be slidably connected with outer casing inner wall for setting in the shell, two buffer stoppers it Between be fixedly connected with third spring；

Two second pulleys in the connecting rod are contacted with the side of outer casing inner wall and buffer stopper respectively；

The side that the buffer stopper is contacted with second pulley is third inclined-plane.