CN210310614U

CN210310614U - Fire-fighting robot chassis

Info

Publication number: CN210310614U
Application number: CN201921296952.7U
Authority: CN
Inventors: 向朝华; 常建; 王亚辉; 常善强; 金常伟
Original assignee: Beijing Lingtian Intelligent Equipment Group Co Ltd
Current assignee: Beijing Lingtian Intelligent Equipment Group Co Ltd
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2020-04-14
Anticipated expiration: 2029-08-09

Abstract

The utility model relates to a chassis of a fire-fighting robot, which comprises a frame, towing wheel groups arranged at the two sides of the frame, a driving wheel rotationally connected on the frame, and a track wound on the towing wheel groups and the driving wheel at the same side, wherein a driving device is arranged on the frame; the tire is arranged on one side, away from the frame, of the driving wheel, the quick-release structure is arranged between the tire and the driving wheel and comprises a driving shaft fixedly connected to the side wall of the driving wheel and a sleeve arranged on one side of the hub, the sleeve is hollow, two ends of the sleeve are open, a fixing ring is fixedly connected to the inner wall of the sleeve, a steel ring extending towards the hub direction is arranged in the fixing ring, a plurality of circumferentially distributed ball grooves are formed in the steel ring, steel balls are movably placed in the ball grooves, and an annular groove for clamping the steel balls is formed in the driving shaft; a switch component and a connecting component are also arranged in the sleeve. The utility model has the advantages that have two kinds of running gear of track and tire concurrently, make the staff can switch according to the different scene of topography or operating mode.

Description

Fire-fighting robot chassis

Technical Field

The utility model belongs to the technical field of the fire-fighting robot technique and specifically relates to a fire-fighting robot chassis is related to.

Background

The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites such as flammable and explosive, toxic, anoxic and dense smoke for data acquisition, processing and feedback, so the fire-fighting robot is widely applied to fires of various large petrochemical enterprises, tunnels, subways, oil gas, toxic gas leakage explosion, subway collapse and other places.

The existing firefighting robot comprises a crawler-type firefighting robot and a tire-type firefighting robot, wherein the crawler-type firefighting robot can refer to a Chinese patent with an authorization publication number of CN205659300U, and discloses the crawler-type firefighting robot which comprises a chassis, a left crawler, a right crawler, a driving assembly, a remote controller and a circuit part, wherein a top plate is arranged above the chassis, a switching pipe is arranged on the top plate, a firefighting hose butt joint is arranged at the rear end of the chassis, and a spray head is fixed on an upper port of the switching pipe; the top plate is fixed with a horizontal rotating motor which drives the switching tube to rotate in the horizontal plane, the switching tube is fixed with a pitching motion motor which drives the injection head to pitch and rotate, and the injection head is provided with a water spraying state selecting motor which adjusts the state of the water column.

However, the track is made of iron, and friction sparks can be generated during walking, so that the track is not suitable for flammable and explosive places such as gas stations and gas stations.

The tire type fire-fighting robot can refer to a Chinese patent with an authorization publication number of CN2780257, and discloses a walking chassis of a fire-fighting rescue robot.

Although the fire-resistant tire with a certain high temperature resistance function is adopted in the practical operation of the tire, if the fire-fighting rescue time is too long, the tire is still damaged when being close to a fire source for a long time, so that the fire-fighting robot cannot normally walk, and is limited to the terrain, such as sand or hilly ground.

Therefore, both of the above two traveling mechanisms have certain limitations.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a fire-fighting robot chassis, its advantage has two kinds of running gear of track and tire concurrently, makes the staff can switch according to the different scene of topography or operating mode.

The above technical purpose of the present invention can be achieved by the following technical solutions: a chassis of a fire-fighting robot comprises a frame, towing wheel groups respectively arranged at two sides of the frame along the length direction of the frame, driving wheels which are rotatably connected to the frame through rotating shafts and are respectively positioned at the front end and the rear end of each towing wheel group, and a crawler belt wound on the towing wheel groups and the driving wheels at the same side, wherein a driving device capable of driving the driving wheels to rotate so as to drive the crawler belt to rotate is arranged on the frame;

a tire is arranged on one side of the driving wheel far away from the frame, a quick-release structure for connecting the tire and the driving wheel is arranged between the tire and the driving wheel, the quick-release structure comprises a driving shaft connected with the side wall of the driving wheel through a flange and a sleeve vertically and fixedly connected with one side of a wheel hub of the tire, the sleeve is hollow and has two open ends, the inner wall of the sleeve is fixedly connected with a fixing ring which is convexly arranged towards the axial direction of the sleeve, the fixed ring divides the interior of the sleeve into a mounting hole and a working hole, the working hole is arranged close to the hub, a steel ring extending towards the working hole is arranged in the fixing ring, a plurality of ball grooves distributed circumferentially are arranged on the steel ring, a steel ball is movably placed in the ball groove, and an annular groove for clamping the steel ball when the sleeve is sleeved on the driving shaft in a sliding manner is formed in the driving shaft;

a switch assembly for ensuring that the steel ball is clamped in the annular groove or retreats from the annular groove is arranged in the working hole;

the mounting hole with be equipped with the assurance between the drive shaft the tire is along with the coupling assembling of drive shaft synchronous revolution.

Through the technical scheme, the chassis of the fire-fighting robot has two traveling mechanisms, namely the crawler and the tire, and according to different terrains or working conditions, workers can jack the chassis up through hydraulic equipment and then switch the traveling mode on site, so that the traveling efficiency is improved; meanwhile, a group of driving devices are shared between the tires and the crawler belt, so that the driving cost is reduced, and when the crawler belt is used for walking, the steel ball only needs to exit the annular groove through the switch assembly, and then the tires are moved away; during installation, the tire is only required to be moved, the sleeve is sleeved on the driving shaft in a sliding mode, then the steel ball is matched with the annular groove in a clamping mode through the switch assembly, the structure is simple, and disassembly and assembly can be completed quickly; and the connecting component is arranged for ensuring that the tire rotates synchronously with the driving shaft.

The utility model discloses further set up to: the driving devices are arranged in two groups, are respectively positioned at the front end and the rear end of the frame and correspond to the two tracks one by one, each driving device comprises a motor and a speed reducer which are fixed on the frame, an output shaft of the motor is connected with an input end of the speed reducer, and an output end of the speed reducer is connected with one of the rotating shafts.

Through above-mentioned technical scheme, when the starter motor, power is transmitted to the pivot that links to each other with it through the reduction gear on, makes the drive wheel drive track rotate, walk.

The utility model discloses further set up to: the switch assembly comprises a stop ring which is sleeved outside the steel ring in a sliding manner to press and hold the steel ball, a push ring which is integrally connected to the outer wall of the steel ring and extends towards the direction of the hub, and a spring which is sleeved outside the steel ring and two ends of which are respectively abutted against the fixed ring and the push ring;

an anti-drop ring for limiting one end of the retaining ring away from the fixing ring is fixedly connected to the outer wall of the steel ring;

the hub is provided with an operation hole which is convenient for a worker to press the push ring so as to drive the baffle ring to slide.

According to the technical scheme, during installation, the chassis is jacked up through hydraulic equipment, then the tire is lifted up, the key groove is aligned to the spline, and then the tire is pushed to enable the sleeve to be sleeved on the driving shaft in a sliding mode; when a thin shaft of the driving shaft extends into the steel ring and contacts with the steel ball, the steel ball can prevent the driving shaft from extending into the steel ring, at the moment, a worker presses the push ring towards the inside of the sleeve to enable the stop ring to be staggered with the ball groove, then the tire is continuously pushed to enable the steel ball to move along the direction far away from the axis of the steel ring under the influence of the pushing force until part of a ball body of the steel ball is extruded into a gap between the push ring and the steel ring, and the driving shaft is not influenced to be deep any more; when the end part of the sleeve is abutted against the shaft shoulder of the driving shaft, the push ring is loosened, at the moment, the baffle ring resets under the influence of the restoring force of the spring, and the second chamfer angle pushes the steel ball to return to the ball groove and is clamped with the annular groove in the resetting process, so that the fixed installation of the tire is realized;

during the dismantlement, jack-up the chassis through hydraulic equipment, then press the push ring, make fender ring and ball groove stagger, then towards the direction of keeping away from the drive shaft pull the tire can, very convenient, swift.

The utility model discloses further set up to: the gap between the inner wall of the push ring and the outer wall of the steel ring is larger than the depth of the steel ball extending into the annular groove and smaller than the diameter of the steel ball.

Through the technical scheme, the steel ball is prevented from being completely separated from the ball groove while the normal installation of the steel ball is ensured.

The utility model discloses further set up to: and a second chamfer which is convenient for the steel ball to return to the ball groove is arranged at one end of the baffle ring close to the anti-falling ring.

Through the technical scheme, when the second chamfer is in contact with the spherical surface of the steel ball, a downward force is applied to the steel ball, so that the steel ball can be better withdrawn into the ball groove.

The utility model discloses further set up to: the driving shaft is a stepped shaft, and the annular groove is formed in the thin shaft of the driving shaft;

coupling assembling includes integral connection and is in on the thick axle of drive shaft and along the spline that its axis direction extends and set up on the inner wall of mounting hole and with the keyway of spline looks adaptation.

Through above-mentioned technical scheme, guarantee that the tire can realize power transmission along with drive shaft synchronous revolution.

The utility model discloses further set up to: the steel ring is far away from be equipped with the ladder face on the outer wall of ball groove one end, the ladder face of steel ring with solid fixed ring's inner wall threaded connection.

Through above-mentioned technical scheme, during the installation, put into the working hole in proper order with spring and throw-out collar, then correspond the steel ball and install at every ball inslot, the in-process of installation can adopt the mode of gluing to carry out preliminary fixed, fixes the back, puts into the throw-out collar with the steel ring and threaded connection on solid fixed ring.

The utility model discloses further set up to: and a plurality of fixing holes for tools to be inserted and installed in a rotating manner are formed in the end face of the steel ring, which is close to one end of the hub.

Through above-mentioned technical scheme, during the operation, insert the shaft-like instrument to the fixed orifices, then rotate shaft-like instrument, make it drive steel ring threaded connection in the stationary ring, until flushing with the terminal surface of stationary ring.

The utility model discloses further set up to: one end of the driving shaft, which is close to the annular groove, is provided with a first chamfer which is convenient to install.

Through above-mentioned technical scheme, when the thin axle of drive shaft stretched into the steel ring and contacted with the steel ball, the steel ball received the influence of thrust to remove towards the direction of keeping away from the steel ring axis along first chamfer, and the setting of first chamfer makes things convenient for the partial spheroid of steel ball to withdraw from the ball groove to further installation.

The utility model discloses further set up to: the towing wheel set comprises a frame fixedly connected to the frame and supporting wheels rotatably connected to the frame, and the supporting wheels are in rolling contact with the inner side of the track.

Through above-mentioned technical scheme, the supporting wheel holds up the track to support it, so that the track can walk steadily.

To sum up, the utility model discloses a beneficial technological effect does:

1. the chassis of the fire-fighting robot has two traveling mechanisms, namely a crawler and a tire, and according to different terrains or working conditions, workers can jack the chassis up through hydraulic equipment and then switch traveling modes on site, so that the traveling efficiency is improved; meanwhile, a group of driving devices are shared between the tires and the crawler belt, so that the driving cost is reduced, and when the crawler belt is used for walking, the steel ball only needs to exit the annular groove through the switch assembly, and then the tires are moved away; during installation, the tire is only required to be moved, the sleeve is sleeved on the driving shaft in a sliding mode, then the steel ball is matched with the annular groove in a clamping mode through the switch assembly, the structure is simple, and disassembly and assembly can be completed quickly; the connecting component is used for ensuring that the tire synchronously rotates along with the driving shaft;

2. the gap between the inner wall of the push ring and the outer wall of the steel ring is larger than the depth of the steel ball extending into the annular groove and smaller than the diameter of the steel ball, so that the steel ball is prevented from completely separating from the ball groove while the steel ball is ensured to be normally installed;

3. the arrangement of the first chamfer angle facilitates the partial ball body of the steel ball to exit the ball groove, so that the steel ball can be further mounted.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view showing the structure of a towing wheel set and the positional relationship between a driving shaft and a sleeve;

FIG. 3 is a schematic structural view showing a connection positional relationship among a tire, a sleeve and a drive shaft;

FIG. 4 is a cross-sectional view showing the internal structure of the sleeve and the engagement of the switch assembly;

FIG. 5 is an enlarged schematic view taken at A in FIG. 5;

FIG. 6 is a schematic structural view showing a stepped surface;

FIG. 7 is a schematic view of a structure embodying a first chamfer;

fig. 8 is a schematic structural view showing the tire assembly.

In the figure, 1, a frame; 2. a towing wheel set; 21. a rotating shaft; 22. a drive wheel; 23. a crawler belt; 24. a frame; 25. a support wheel; 3. a drive device; 31. a motor; 32. a speed reducer; 4. a tire; 41. a hub; 411. an operation hole; 5. a drive shaft; 51. an annular groove; 52. a first chamfer; 53. a spline; 6. a sleeve; 61. a fixing ring; 62. mounting holes; 621. a keyway; 63. a working hole; 64. a flange plate; 7. a steel ring; 71. a step surface; 72. a fixing hole; 73. a ball groove; 74. the anti-drop ring; 8. a steel ball; 9. a switch assembly; 91. a baffle ring; 92. a push ring; 93. a spring; 94. and (7) second chamfering.

Detailed Description

Referring to fig. 1 and 2, in order to disclose the chassis of the fire-fighting robot of the present invention, the chassis comprises a frame 1, towing wheel sets 2 respectively installed on both sides of the frame 1 along the length direction thereof, driving wheels 22 rotatably connected to the frame 1 through a rotating shaft 21 and respectively located at the front and rear ends of the towing wheel sets 2, and a track 23 wound on the towing wheel sets 2 and the driving wheels 22 on the same side, wherein the frame 1 is formed by welding a square steel frame and a plurality of steel plates; the towing wheel set 2 comprises a frame 24 and a supporting wheel 25 rotatably connected to the frame 24, the frame 24 is fixed on the frame 1 through bolts, and the supporting wheel 25 is in rolling contact with the inner side of the crawler 23.

Referring to fig. 2, two sets of driving devices 3 are disposed on the frame 1, and are located at the front end and the rear end of the frame 1, and correspond to the two tracks on the frame 1 one by one, and are used for respectively providing driving force for the two tracks. The driving device 3 comprises a motor 31 and a speed reducer 32 fixed on the frame 1, an output shaft of the motor 31 is connected with an input end of the speed reducer 32, an output end of the speed reducer 32 is connected with one of the rotating shafts 21, when the motor 31 is started, power is transmitted to the rotating shaft 21 connected with the motor through the speed reducer 32, so that the driving wheel 22 drives the caterpillar tracks 23 to rotate and walk, and because one of the caterpillar tracks on the two sides is front driving and the other is rear driving, when a vehicle turns, only the rotating speed of the front and rear driving wheels needs to be adjusted, and the vehicle body can horizontally rotate along a central shaft vertical to the ground.

On the side of the drive wheel 22 remote from the frame 1, a tyre 4 is provided, which has a larger diameter than the drive wheel 22 and is supported on the ground so that the track 23 is lifted off the ground. Be equipped with the quick detach structure who is used for connecting both between tire 4 and drive wheel 22, under the general condition, tire 4 installs on the lateral wall of drive wheel 22 and can rotate along with drive wheel 22 is synchronous, according to the difference of topography or operating mode, the staff accessible hydraulic means with chassis jack-up, then on-the-spot switching walking mode to improve walking efficiency.

Referring to fig. 3 and 4, the quick release structure includes a driving shaft 5 flanged to a sidewall of the driving wheel 22, and a sleeve 6 vertically fixed to one side of the hub 41 of the tire 4, the sleeve 6 is hollow and has two open ends, a flange 64 is integrally connected to an outer wall of the sleeve 6 near one end, and the sleeve 6 is fixed to the hub 41 through the flange 64. A fixing ring 61 protruding toward the axial direction of the sleeve 6 is fixed to the inner wall of the sleeve 6, and divides the interior of the sleeve 6 into a mounting hole 62 and a working hole 63 which are communicated with each other, wherein the working hole 63 is disposed near the hub 41.

Referring to fig. 4 and 6, a steel ring 7 extending towards the working hole 63 is arranged in the fixing ring 61, a stepped surface 71 having the same width as that of the fixing ring 61 is arranged on the outer wall of one end of the steel ring 7, and the steel ring 7 is in threaded connection with the inner wall of the fixing ring 61 through the stepped surface 71.

In order to avoid the situation that the steel ring 7 cannot be normally installed due to the fact that the steel ring is held everywhere after extending into the sleeve 6, a plurality of fixing holes 72 are formed in the end face, close to one end of the hub 41, of the steel ring 7, during operation, the rod-shaped tool is inserted into the fixing holes 72, and then the rod-shaped tool is rotated to drive the steel ring 7 to be connected into the fixing ring 61 in a threaded mode until the rod-shaped tool is flush with the end face of the fixing ring 61.

The outer wall of the steel ring 7 in the working hole 63 is provided with a plurality of ball grooves 73 distributed circumferentially, the ball grooves penetrate through the steel ring 7, a steel ball 8 is movably placed in each ball groove 73, the diameter of each steel ball 8 is larger than the opening of the ball groove 73 close to one side of the inner wall of the steel ring 7 and smaller than the opening of the ball groove 73 close to one side of the outer wall of the steel ring 7, and the steel ball 8 is prevented from falling into the steel ring 7 during normal installation.

Referring to fig. 4 and 7, the driving shaft 5 is a stepped shaft, the inner diameter of the sleeve 6 is adapted to the outer diameter of the thick shaft of the driving shaft 5, the inner diameter of the steel ring 7 is adapted to the outer diameter of the thin shaft of the driving shaft 5, an annular groove 51 is formed in the thin shaft of the driving shaft 5, and when the sleeve 6 is slidably sleeved on the driving shaft 5, the steel ball 8 is clamped in the annular groove, so that the tire 4 is mounted. A first chamfer 52 is provided at the end of the drive shaft 5 adjacent the annular recess 51 to facilitate mounting.

A coupling assembly is provided between the mounting hole 62 and the drive shaft 5 for ensuring that the tyre 4 rotates synchronously with the drive shaft 5. The connecting assembly comprises a spline 53 integrally connected to the thick shaft of the driving shaft 5 and extending along the axial direction of the thick shaft, and a key groove 621 formed in the inner wall of the mounting hole 62 and matched with the spline 53, wherein the spline 53 and the key groove are matched with each other to realize power transmission.

Referring to fig. 4, a switch assembly 9 is disposed in the working hole 63, and is used for ensuring that the steel ball 8 is clamped in the annular groove 51 or withdrawn from the annular groove 51 (see fig. 3), namely, in an installation state or a disassembly state. The switch assembly 9 comprises a blocking ring 91 which is slidably sleeved outside the steel ring 7 and is used for pressing and holding the steel ball 8, a push ring 92 which is integrally connected to the outer wall of the steel ring 7 and extends towards the direction of the hub 41, and a spring 93 which is sleeved outside the steel ring 7 and is respectively abutted against the fixed ring 61 and the push ring 92 at two ends, wherein the push ring 92 extends out of the working hole 63 to the outside, the outer diameter of the push ring is matched with the inner diameter of the working hole 63, and under the normal condition, the blocking ring 91 is shielded at the ball groove 73 under the action of the spring 93. The clearance between the inner wall of the push ring 92 and the outer wall of the steel ring 7 is larger than the depth of the steel ball 8 extending into the annular groove 51 and smaller than the diameter of the steel ball 8, and the steel ball 8 is prevented from completely separating from the ball groove 73 while the steel ball 8 is ensured to be normally installed under the above conditions.

Referring to fig. 4 and 5, a drop-proof ring 74 is fixedly connected to a position of the outer wall of the steel ring 7 corresponding to one end of the baffle ring 91 away from the fixing ring 61, and is used for limiting the baffle ring 91 and preventing the baffle ring 91 from dropping off from the steel ring 7. One end of the retainer ring 91 close to the anti-drop ring 74 is provided with a second chamfer 94 for facilitating the steel ball 8 to return to the ball groove 73.

An operation hole 411 is formed in the hub 41 corresponding to the position where the push ring 92 extends out of the sleeve 6, so that a worker can press the push ring 92 to drive the stop ring 91 to slide along the outer wall of the steel ring 7.

Referring to fig. 3 and 8, during installation, the chassis is jacked up by hydraulic equipment, then the tire 4 is lifted up, the key slot 621 is aligned with the spline 53, and then the tire 4 is pushed to slidably sleeve the sleeve 6 on the driving shaft 5; when the thin shaft of the driving shaft 5 extends into the steel ring 7 and contacts with the steel ball 8, the steel ball 8 can prevent the driving shaft 5 from extending into the steel ring, at this time, a worker presses the push ring 92 towards the inside of the sleeve 6 to make the baffle ring 91 staggered with the ball groove 73 (see fig. 6), and then continues to push the tire 4 to make the steel ball 8 move along the direction away from the axis of the steel ring 7 along the first chamfer 52 under the influence of the thrust until part of the ball body of the steel ball 8 is extruded into the gap between the push ring 92 and the steel ring 7 and the penetration of the driving shaft 5 is not influenced any more; when the end of the sleeve 6 abuts against the shoulder of the driving shaft 5, the push ring 92 is released, at this time, the stop ring 91 is reset under the influence of the restoring force of the spring 93, and the second chamfer 94 (see fig. 5) pushes the steel ball 8 to return to the ball groove 73 and be clamped with the annular groove 51 in the resetting process, so that the fixed installation of the tire 4 is realized.

Referring to fig. 6 and 8, during disassembly, the chassis is jacked up by hydraulic equipment, the push ring 92 is pressed, the stop ring 91 is staggered with the ball groove 73, and the tire 4 is pulled in a direction away from the driving shaft 5, so that the disassembly is very convenient and quick.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a fire-fighting robot chassis which characterized in that: the automatic tractor comprises a frame (1), towing wheel groups (2) respectively arranged on two sides of the frame (1) along the length direction, driving wheels (22) which are rotatably connected to the frame (1) through rotating shafts (21) and are respectively positioned at the front end and the rear end of each towing wheel group (2), and a crawler belt (23) wound on the towing wheel groups (2) and the driving wheels (22) on the same side, wherein a driving device (3) capable of driving the driving wheels (22) to rotate so as to drive the crawler belt (23) to rotate is arranged on the frame (1);

keep away from drive wheel (22) one side of frame (1) is equipped with tire (4), tire (4) with be equipped with between drive wheel (22) and connect quick detach structure between them, quick detach structure includes flange joint drive shaft (5) on drive wheel (22) lateral wall and perpendicular rigid coupling are in sleeve (6) of wheel hub (41) one side of tire (4), the inside cavity and both ends of sleeve (6) are uncovered, the rigid coupling has court on the inner wall of sleeve (6) fixed ring (61) of sleeve (6) the protruding establishment of axis direction, fixed ring (61) will sleeve (6) internal partitioning becomes mounting hole (62) and working hole (63), working hole (63) are close to wheel hub (41) and set up, be equipped with in fixed ring (61) and court steel ring (7) that working hole (63) direction extends, the steel ring (7) is provided with a plurality of ball grooves (73) which are distributed in the circumferential direction, steel balls (8) are movably placed in the ball grooves (73), and the driving shaft (5) is provided with an annular groove (51) for clamping the steel balls (8) when the sleeve (6) is sleeved on the driving shaft (5) in a sliding manner;

a switch assembly (9) which ensures that the steel ball (8) is clamped in the annular groove (51) or exits from the annular groove (51) is arranged in the working hole (63);

the mounting hole (62) with be equipped with between drive shaft (5) and guarantee tire (4) are along with drive shaft (5) synchronous rotation's coupling assembling.

2. A fire fighting robot chassis according to claim 1, characterized in that: the two sets of driving devices (3) are respectively arranged at the front end and the rear end of the frame (1) and correspond to the two tracks (23) one by one, each driving device (3) comprises a motor (31) and a speed reducer (32) which are fixed on the frame (1), an output shaft of the motor (31) is connected with an input end of the speed reducer (32), and an output end of the speed reducer (32) is connected with one of the rotating shafts (21).

3. A fire fighting robot chassis according to claim 1, characterized in that: the switch assembly (9) comprises a baffle ring (91) which is sleeved outside the steel ring (7) in a sliding manner to press and hold the steel ball (8), a push ring (92) which is integrally connected to the outer wall of the steel ring (7) and extends towards the direction of the hub (41), and a spring (93) which is sleeved outside the steel ring (7) and two ends of which are respectively abutted against the fixed ring (61) and the push ring (92);

an anti-drop ring (74) for limiting one end of the baffle ring (91) far away from the fixing ring (61) is fixedly connected to the outer wall of the steel ring (7);

the hub (41) is provided with an operation hole (411) which is convenient for a worker to press the push ring (92) to drive the baffle ring (91) to slide.

4. A fire fighting robot chassis according to claim 3, characterized in that: the gap between the inner wall of the push ring (92) and the outer wall of the steel ring (7) is larger than the depth of the steel ball (8) extending into the annular groove (51) and smaller than the diameter of the steel ball (8).

5. A fire fighting robot chassis according to claim 3, characterized in that: one end of the baffle ring (91) close to the anti-falling ring (74) is provided with a second chamfer (94) which is convenient for the steel ball (8) to return to the ball groove (73).

6. A fire fighting robot chassis according to claim 1, characterized in that: the driving shaft (5) is a stepped shaft, and the annular groove (51) is formed in a thin shaft of the driving shaft (5);

coupling assembling including integral connection just along spline (53) that its axial direction extends on the thick axle of drive shaft (5) and set up on the inner wall of mounting hole (62) and with keyway (621) of spline (53) looks adaptation.

7. A fire fighting robot chassis according to claim 1, characterized in that: keep away from steel ring (7) be equipped with ladder face (71) on the outer wall of ball groove (73) one end, the ladder face (71) of steel ring (7) with the inner wall threaded connection of solid fixed ring (61).

8. A fire fighting robot chassis according to claim 7, characterized in that: and a plurality of fixing holes (72) for tools to be inserted and installed in a driving and rotating manner on the end face of one end, close to the hub (41), of the steel ring (7) are formed.

9. A fire fighting robot chassis according to claim 1, characterized in that: one end of the driving shaft (5) close to the annular groove (51) is provided with a first chamfer (52) which is convenient to mount.

10. A fire fighting robot chassis according to claim 1, characterized in that: the towing wheel set (2) comprises a frame (24) fixedly connected to the frame (1) and supporting wheels (25) rotatably connected to the frame (24), and the supporting wheels (25) are in rolling contact with the inner side of the crawler belt (23).