CN210335936U - Special robot chassis - Google Patents

Abstract

The utility model relates to a special robot chassis, which comprises a frame, towing wheel groups respectively arranged at the two sides of the frame, driving wheels which are rotationally connected with the frame through a rotating shaft and are respectively positioned at the front end and the rear end of the towing wheel groups, and a track wound on the towing wheel groups and the driving wheels at the same side, wherein a driving device which can drive the driving wheels to rotate is arranged on the frame; one side that the frame was kept away from to the drive wheel is equipped with the tire, is equipped with rapid disassembly structure between tire and the drive wheel, and it includes the drive shaft of fixed connection on the drive wheel lateral wall, set up passive spring part in the drive shaft and install in wheel hub one side and slidable cup joint in the drive shaft with passive spring part joint complex initiative piece, the level is provided with on the initiative piece through pressing so that the subassembly is advanced in the top that initiative piece and passive spring part throw off. 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

Special robot chassis

Technical Field

The utility model belongs to the technical field of the fire-fighting robot technique and specifically relates to a special 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 special type 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 special robot chassis comprises a frame, towing wheel groups respectively arranged on 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 on 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;

the drive wheel is kept away from one side of frame is equipped with the tire, the tire with be equipped with between the drive wheel and be connected quick detach structure between them, quick detach structure includes fixed connection and is in drive shaft, setting on the drive wheel lateral wall are in drive epaxial passive spring part and install in wheel hub one side and slidable cup joint in the drive shaft with passive spring part joint complex active part, the active part is improved level and is provided with through pressing so that the active part with the subassembly is advanced in the top that passive spring part declutched, the subassembly is advanced in the top runs through wheel hub.

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 driving part and the driven spring part are separated by pressing or pushing the jacking assembly, and then the tires are moved away; during installation, only the tire needs to be moved, and then the driving part and the driven spring part are clamped and matched, so that the structure is simple, and the disassembly and the assembly can be quickly completed.

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 passive spring part comprises a fixing ring and a plurality of notches which are arranged on the side wall of the fixing ring and are circumferentially distributed, one end of each notch is opened along the axis direction of the fixing ring, an elastic plate is formed between every two adjacent notches, and the outer side of each elastic plate is integrally connected with a clamping block which is outwards and convexly arranged;

a ring groove is formed in the outer wall of the driving shaft, the fixing ring is sleeved at the ring groove, and a movable gap is formed between the fixing ring and the ring groove;

the driving part comprises an inner hollow sleeve and two ends of the inner hollow sleeve are open, the two ends of the inner hollow sleeve are fixedly connected with a flange plate on the outer wall of the sleeve, the flange plate is arranged on one side of the hub, a small hole and a large hole which penetrate through the sleeve are sequentially formed in the sleeve along the axis direction, the inner diameter of the small hole is matched with the outer diameter of the driving shaft, and a step surface for clamping the clamping block is formed between the small hole and the large hole.

According to the technical scheme, during installation, the chassis is jacked up through hydraulic equipment, then the tire is lifted up, the opening of the sleeve is aligned to the driving shaft and is sleeved on the thin shaft of the driving shaft in a sliding mode, when the end portion of the sleeve is in contact with the driven spring part, the sleeve can slide along the slope of the clamping block, and due to the fact that the inner diameter of the small hole is matched with the outer diameter of the driving shaft, the elastic plate is pressed and moves close to the axis direction of the fixing ring in the sliding process until the driven spring part completely enters the small hole; when the clamping block passes through the small hole and enters the large hole, the elastic plate recovers deformation, at the moment, the vertical surface of the clamping block is clamped with the step surface, and the end, far away from the flange plate, of the sleeve is abutted against the step surface, so that installation is completed.

The utility model discloses further set up to: one side of the fixture block, which is far away from the inner wall of the fixing ring, is provided with a slope surface which is convenient for the passive spring part to extend into the sleeve.

Through above-mentioned technical scheme, domatic setting makes things convenient for the staff to install the initiative piece, makes the elastic plate draw close towards solid fixed ring's axis direction when the pressurized.

The utility model discloses further set up to: the outer wall of the driving shaft is provided with a first key groove extending along the axial direction of the driving shaft, the inner wall of the sleeve is provided with a second key groove extending along the axial direction of the sleeve, and a flat key for connecting the first key groove and the second key groove is arranged between the first key groove and the second key groove.

Through above-mentioned technical scheme, guarantee tire and drive shaft synchronous rotation, during the installation, earlier install the parallel key in first keyway, then aim at the second keyway, with the sleeve cup joint on the drive shaft can.

The utility model discloses further set up to: the fixed ring is an open ring.

Through above-mentioned technical scheme, make things convenient for the staff to install passive spring part, during the installation, will fix the ring and strut or break off with the fingers and thumb, then cup joint it in annular department can.

The utility model discloses further set up to: the jacking assembly comprises a threaded connection, the sleeve is close to an end plate and a sliding part of one end of the flange plate, the end plate and the sleeve are coaxially connected, a pressing rod and a fixedly connected pushing cylinder are arranged at one end of the pressing rod and slide in the large hole, the hollow part of the pushing cylinder is close to one end of the small hole and is open, and the inner wall of the opening is provided with a pushing rod, a slope surface is matched with the pressing rod to enable the clamping block to be in inner chamfering with a step surface separated.

Through the technical scheme, during the dismantlement, jack-up chassis through hydraulic equipment, the staff promotes the depression bar, make it drive the pusher towards the direction motion of fixture block in the macropore, when the interior chamfer and the domatic contact of pusher, it can be followed the domatic slip of fixture block, and make the elastic plate pressurized draw close towards solid fixed ring's axis direction, end and step face butt until the pusher, guarantee that passive spring part can get into in the micropore, at this moment, the staff is direct to the tire application of force, with it follow the drive epaxial pull down can, and is convenient, swiftly.

The utility model discloses further set up to: one end of the pressing rod, which is far away from the push cylinder, is in threaded connection with a positioning nut, a spring is sleeved on the pressing rod, and two ends of the spring are respectively abutted to the end plate and the positioning nut.

Through the technical scheme, the spring is arranged and used for elastically limiting the pressure rod, so that the situation that the push cylinder is contacted with the fixture block in a tire mounting state to cause the fixture block to be separated from the step surface is avoided; meanwhile, the push cylinder can be reset in the process of disassembling the tire.

The utility model discloses further set up to: and one side of the end plate, which is far away from the push cylinder, is provided with a plurality of mounting holes which are convenient to mount.

Through above-mentioned technical scheme, during the operation, insert the shaft-like instrument to the mounting hole, then rotate shaft-like instrument, make it drive end plate threaded connection in the sleeve and level with telescopic terminal surface.

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 driving part and the driven spring part are separated by pressing or pushing the jacking assembly, and then the tires are moved away; when the tire is mounted, the tire is only required to be moved, and then the driving part and the driven spring part are clamped and matched, so that the structure is simple, and the disassembly and the assembly can be quickly completed;

2. the slope is arranged, so that a worker can conveniently install the driving part, and the elastic plate is close to the axis direction of the fixing ring when being pressed;

3. the spring is arranged and used for elastically limiting the pressure rod, so that the situation that the push cylinder is contacted with the fixture block in the tire mounting state to cause the fixture block to be separated from the step surface is avoided; meanwhile, the push cylinder can be reset in the process of disassembling the tire.

Drawings

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

FIG. 2 is a schematic view showing the connection relationship between the driving shaft, the passive spring member, the active member and the tire;

FIG. 3 is an exploded view of the drive shaft and active member assembly;

FIG. 4 is a schematic diagram showing the position of the jacking assembly;

FIG. 5 is a schematic view of a passive spring element;

FIG. 6 is a schematic view of a configuration embodying the location of the ring groove and the first keyway;

FIG. 7 is a sectional view showing the structure and connection relationship of the driving member and the jacking assembly;

FIG. 8 is a sectional view showing a mounted state of a tire;

fig. 9 is an enlarged schematic view of the point a in fig. 8.

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; 5. a drive shaft; 51. a ring groove; 52. a first keyway; 6. a passive spring member; 61. a fixing ring; 62. a notch; 63. an elastic plate; 64. a clamping block; 65. a slope surface; 7. a driving member; 71. a sleeve; 72. a flange plate; 73. a small hole; 74. macropores; 75. a step surface; 76. a second keyway; 8. a jacking assembly; 81. an end plate; 811. mounting holes; 82. a pressure lever; 83. a push cylinder; 84. inner chamfering; 85. positioning a nut; 86. a spring; 9. a flat bond.

Detailed Description

Referring to fig. 1 and 2, for the utility model discloses a special robot chassis, which comprises a frame 1, two towing wheel sets 2 respectively installed on the frame 1 along the two sides of the length direction, a driving wheel 22 rotatably connected to the frame 1 through a rotating shaft 21 and respectively located at the front end and the rear end of the towing wheel set 2, and a crawler 23 wound on the towing wheel set 2 and the driving wheel 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. 2 and 3, the quick release structure includes a driving shaft 5 fixedly connected to a sidewall of the driving wheel 22 through a flange, a driven spring part 6 disposed on the driving shaft 5, and an active part 7 mounted on one side of the hub 41, wherein the active part 7 is slidably sleeved on the driving shaft 5 and is in snap fit with the driven spring part 6, so as to fixedly mount the tire 4.

Referring to fig. 3 and 4, the driving member 7 is horizontally provided with a jacking assembly 8, which penetrates through the hub 41, and a worker can press or push the jacking assembly 8 to disengage the driving member 7 from the driven spring member 6, so as to realize quick detachment of the tire 4.

Referring to fig. 5, the passive spring member 6 is made of high-strength steel, has high wear resistance and good flexibility, and can greatly prolong the service life of the passive spring member 6 when being applied to the application. Passive spring part 6 is including solid fixed ring 61, and set up on solid fixed ring 61 lateral wall and be a plurality of breachs 62 that the circumference distributes, the one end of breach 62 is opened along solid fixed ring 61's axis direction, form elastic plate 63 between the adjacent breach 62, there is the fixture block 64 of establishing to the evagination in the outside (the one side of keeping away from the axis) homogeneous body connection of every elastic plate 63, it is right trapezoid along solid fixed ring 61 axis direction's cross-section, its inclined plane sets up the one side of keeping away from solid fixed ring 61 inner wall at fixture block 64, for convenient the differentiation, denominate it as domatic 65, domatic 65's setting, make things convenient for the staff to install initiative piece 7 (see fig..

Referring to fig. 5 and 6, the driving shaft 5 is a stepped shaft, a ring groove 51 is formed in a thin shaft of the driving shaft 5, a fixing ring 61 is sleeved at the ring groove 51, and a movable gap of 2-3mm is formed between the fixing ring 61 and the ring groove 51, so that a deformation allowance is provided for the elastic plate 63 without affecting the installation of the driving part 7 (see fig. 3). In order to facilitate installation of the passive spring part 6 by workers, the fixing ring 61 is set to be an open ring, and during installation, the fixing ring 61 is unfolded or broken off and then sleeved on the ring groove 51.

Referring to fig. 7, the driving member 7 includes a sleeve 71 having a hollow interior and two open ends, and a flange 72 fixedly connected to an outer wall of the sleeve 71, the driving member 7 is fixed to one side of the hub 41 (see fig. 3) by the flange 72, a small hole 73 and a large hole 74 penetrating through the sleeve 71 are sequentially formed in the sleeve 71 along an axial direction, the large hole 74 is close to one side of the flange 72, a stepped hole is formed between the small hole 73 and the large hole 74, a stepped surface 75 for clamping the clamping block 64 (see fig. 5) is formed at a joint of the small hole 73 and the large hole 74, and an inner diameter of the small hole 73 is adapted to an outer diameter of.

Referring to fig. 7 and 8, during installation, the chassis is jacked up by a hydraulic device, then the tire 4 is lifted up, the opening of the sleeve 71 is aligned with the driving shaft 5 and is sleeved on the thin shaft of the driving shaft 5 in a sliding manner, when the end of the sleeve 71 is contacted with the passive spring part 6, the sleeve can slide along the slope 65 of the fixture block 64 (see fig. 5), and as the inner diameter of the small hole 73 is matched with the outer diameter of the driving shaft 5, the elastic plate 63 is pressed and drawn close to the axial direction of the fixing ring 61 in the sliding process until the passive spring part 6 completely enters the small hole 73; when the fixture block 64 passes through the small hole 73 and enters the large hole 74, the elastic plate 63 is restored to deform, at the moment, the vertical surface of the fixture block 64 is clamped with the step surface 75, and the end, away from the flange plate 72, of the sleeve 71 is abutted with the step surface 75, so that the installation is completed.

Referring to fig. 4 and 6, in order to ensure that the tire 4 and the driving shaft 5 rotate synchronously, a first key groove 52 extending along the axial direction is formed on the outer wall of the thin shaft of the driving shaft 5, a second key groove 76 extending along the axial direction is formed on the inner wall of the sleeve 71, a flat key 9 connecting the first key groove 52 and the second key groove 76 is arranged between the first key groove 52 and the second key groove 76, and when the flat key 9 is installed, the flat key is firstly installed in the first key groove 52, then is aligned with the second key groove 76, and the sleeve 71 is sleeved on the driving shaft 5.

Referring to fig. 8 and 9, the pushing assembly 8 includes an end plate 81 screwed into the sleeve 71 at an end close to the flange 72, a pressing rod 82 passing through the end plate 81 in a sliding manner and disposed coaxially with the sleeve 71, and a pushing cylinder 83 fixedly connected to an end of the pressing rod 82 and sliding in the large hole 74, wherein an end of the pushing cylinder 83, which is hollow and close to the small hole 73, is open, an inner wall of the opening is provided with an inner chamfer 84 capable of cooperating with the slope 65 (see fig. 5) when the pressing rod 82 is pushed to separate the latch 64 from the step surface 75, in order to facilitate a worker to rotatably mount the end plate 81, a plurality of mounting holes 811 are opened on a side of the end plate 81 away from the pushing cylinder 83, and in operation, a rod-shaped tool is inserted into the mounting holes 811, and then the rod-shaped tool is rotated to drive the end plate 81 to be screwed into the sleeve 71 and flush with an.

During the dismantlement, jack up the chassis through hydraulic equipment, the staff promotes depression bar 82, make it drive push cylinder 83 move towards fixture block 64's direction in macropore 74, when push cylinder 83's interior chamfer 84 and domatic 65 contact, it can slide along fixture block 64's domatic 65, and make elastic plate 63 pressurized draw close towards the axis direction of solid fixed ring 61, until push cylinder 83's tip and step face 75 butt, guarantee that passive spring part 6 can get into in the aperture 73, at this moment, the staff directly to tire 4 application of force, it can to pull down from drive shaft 5 with it, and is convenient, swift.

Referring to fig. 8 and 9, in order to prevent the push cylinder 83 from contacting with the latch 64 (see fig. 5) in the installation state of the tire 4 and causing the latch 64 to be separated from the step surface 75, a positioning nut 85 is screwed at one end of the pressure rod 82 far away from the push cylinder 83, a spring 86 is sleeved on the pressure rod 82, two ends of the spring 86 are respectively abutted against the end plate 81 and the positioning nut 85 by adjusting the positioning nut 85, and the spring 86 is arranged for elastically limiting the pressure rod 82 and can reset the push cylinder 83 in the process of disassembling the tire 4.

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 (10)

1. A special robot chassis is 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 fixed connection drive shaft (5), the setting on drive wheel (22) lateral wall are in passive spring part (6) on drive shaft (5) and install in wheel hub (41) one side and slidable cup joint on drive shaft (5) with passive spring part (6) joint complex driving part (7), driving part (7) are improved level and are provided with through pressing so that driving part (7) with subassembly (8) are advanced in the top that passive spring part (6) declutched, subassembly (8) are advanced in the top runs through wheel hub (41).

2. A specialty robot chassis according to claim 1, wherein: 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 specialty robot chassis according to claim 1, wherein: the passive spring part (6) comprises a fixing ring (61) and a plurality of notches (62) which are arranged on the side wall of the fixing ring (61) and are circumferentially distributed, one end of each notch (62) is opened along the axial direction of the fixing ring (61), an elastic plate (63) is formed between every two adjacent notches (62), and the outer side of each elastic plate (63) is integrally connected with a clamping block (64) which is convexly arranged outwards;

a ring groove (51) is formed in the outer wall of the driving shaft (5), the fixing ring (61) is sleeved at the ring groove (51), and a movable gap is formed between the fixing ring (61) and the ring groove (51);

drive piece (7) are open sleeve (71) and rigid coupling including inside cavity and both ends and are in flange dish (72) on sleeve (71) outer wall, one side at wheel hub (41) is installed in flange dish (72), seted up in proper order along the axis direction in sleeve (71) and run through aperture (73) and macropore (74) of sleeve (71), the internal diameter of aperture (73) with the external diameter looks adaptation of drive shaft (5), aperture (73) with form the confession between macropore (74) step face (75) of fixture block (64) joint.

4. A specialty robot chassis according to claim 3 wherein: and a slope (65) which is convenient for the passive spring piece (6) to extend into the sleeve (71) is arranged on one side of the clamping block (64) far away from the inner wall of the fixing ring (61).

5. A specialty robot chassis according to claim 3 wherein: the outer wall of the driving shaft (5) is provided with a first key groove (52) extending along the axial direction of the driving shaft, the inner wall of the sleeve (71) is provided with a second key groove (76) extending along the axial direction of the sleeve, and a flat key (9) for connecting the first key groove (52) and the second key groove (76) is arranged between the first key groove and the second key groove.

6. A specialty robot chassis according to claim 3 wherein: the fixed ring is an open ring.

7. A specialty robot chassis according to claim 4 wherein: jacking subassembly (8) are including threaded connection sleeve (71) are close to end plate (81), the slip of ring flange (72) one end pass end plate (81) and with depression bar (82) and the rigid coupling that sleeve (71) coaxial line set up are in depression bar (82) one end and slide in push away section of thick bamboo (83) in macropore (74), the inside cavity of push away section of thick bamboo (83) and be close to the one end of aperture (73) is uncovered, and the inner wall of this uncovered department is equipped with and promotes during depression bar (82) with domatic (65) cooperation is so that fixture block (64) with interior chamfer (84) of step face (75) separation.

8. A specialty robot chassis according to claim 7, wherein: one end of the pressing rod (82) far away from the push cylinder (83) is in threaded connection with a positioning nut (85), the pressing rod (82) is sleeved with a spring (86), and two ends of the spring (86) are respectively abutted to the end plate (81) and the positioning nut (85).

9. A specialty robot chassis according to claim 7, wherein: and one side of the end plate (81) far away from the push cylinder (83) is provided with a plurality of mounting holes (811) which are convenient to mount.

10. A specialty robot chassis according to claim 1, wherein: 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).

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