CN210454317U - All-terrain wheel of fire-fighting robot - Google Patents

Abstract

The utility model discloses a fire-fighting robot's full topography wheel belongs to fire-fighting robot wheel design technical field. The utility model comprises a plurality of wheel hubs, a plurality of chain plates and a gas spring, wherein the chain plates are hinged to form a chain wheel; the chain wheel is connected with the hub through a gas spring. The utility model discloses a design into the articulated formation of polylith link joint with the sprocket of full topography wheel and ground contact, and be connected through the air spring between sprocket and the wheel hub, full topography wheel is when the mountain area walking, because the existence of air spring, changes the area of contact on full topography wheel and ground to increase the nature of grabbing ground of full topography wheel.

Description

All-terrain wheel of fire-fighting robot

Technical Field

The utility model relates to a fire-fighting robot wheel design technical field, more specifically say, relate to a fire-fighting robot's all terrain wheel.

Background

Forest fire in mountain areas is taken as a natural disaster which is strong in outburst, large in destructiveness and difficult to deal with and rescue, is an important attention object in the field of fire fighting, and is under the combined action of various factors such as complex terrain, landform, mountain wind, valley wind microclimate and different vegetation group distribution, once a fire breaks out, the fire behavior is violent, the fire speed is high, the development and change rules are very complex, the fire fighting is untimely, a fire area is spread, and when the condition is serious, the casualties of fire fighting personnel are caused, so that the existing mountain fire fighting equipment is developed towards the direction.

The fire-fighting robot is used as one kind of fire-fighting equipment, plays a role of lifting the fire in fire extinguishing and emergency rescue, can replace fire-fighting rescue personnel to enter dangerous disaster accident sites of flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire-fighting personnel in the places. The field commander can make scientific judgment on the disaster situation in time according to the feedback result and make correct and reasonable decision on the field work of the disaster accident. However, the existing fire fighting equipment is difficult to drive in mountainous areas, and is mainly reflected in that the ground gripping performance of the fire fighting equipment is poor, so that the fire fighting equipment is slow to drive in mountainous areas and cannot reach fire areas in time, a fire disaster is spread, the fire situation is enlarged, and further improvement is needed.

Through retrieval, the Chinese patent application number: CN 201710778660.6, inventive name: a walking mechanism of a fire-fighting robot comprises a driving wheel assembly in transmission connection with a power output part, wherein the left side of the driving wheel assembly is hinged with a first swing frame, the left side of the first swing frame is hinged with a second swing frame, the left side of the second swing frame is hinged with a third swing frame, the third swing frame is a Y-shaped frame body, one end of the third swing frame is hinged with the second swing frame, the other two ends of the third swing frame are respectively fixed with a first driven wheel and a second driven wheel, a track sequentially bypasses the driving wheel assembly, the first driven wheel and the second driven wheel, a tension wheel is further arranged between the first driven wheel and the driving wheel assembly, and the tension wheel is positioned on the inner side of the track; a first fixed seat is arranged on the second swing frame, a second fixed seat is arranged on the third swing frame, a telescopic rod is connected between the first fixed seat and the second fixed seat, and a telescopic spring is sleeved on the outer side of the telescopic rod; the first swing frame and the second swing frame are hinged through a hinge shaft, a first scissors fork and a second scissors fork are further hinged on the hinge shaft, and the first scissors fork and the second scissors fork are arranged in a crossed mode.

As another example, chinese patent application No.: CN 200620161222.2, inventive name: the utility model provides a forest fire engine, this application includes automobile body, storage water tank and driver's cabin, and crawler-type running gear is installed to the bottom of automobile body, and automobile body upper portion installation driver's cabin and storage water tank, storage water tank and water pump are connected, and the water pump is connected with the one end of water pipe, and the other end and the high-pressure squirt of water pipe are connected, and the high-pressure squirt is connected with the top of driver's cabin. The crawler type walking device is a crawler structure of a tank or an armored vehicle, shuttles back and forth on roads vertical and horizontal to a gully and a steep slope in a forest like a flat ground, can efficiently and quickly reach a fire point, and can grasp the best time for fire extinguishing to extinguish; the cab of the fire-fighting truck is made of double-layer hollow steel plates, and the cavities of the steel plates are filled with water or foam liquid, so that a good heat insulation effect is achieved, and even if the fire-fighting truck is flushed into a fire scene, fire fighters can be prevented from being injured by the external environment; a water storage tank of the fire fighting truck is provided with a folding cover, and rescue articles or rescue workers can be placed in the folding cover, so that the transportation capacity of the fire fighting truck is far greater than that of the existing various fire fighting trucks.

Above-mentioned two comparison patents all adopt the track as the running gear of fire-fighting robot or fire engine, and although its cross-country performance of crawler-type running gear is better, and climbing ability is great, nevertheless, this kind of crawler-type running gear cost of manufacture is higher, and the functioning speed is low, and power consumption is big when operation and turn to, and part wearing and tearing are fast. Further improvements are needed.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved by the utility model

The utility model aims to overcome the problem of poor ground gripping performance when a walking mechanism of a mountain fire-fighting robot walks in a mountain area in the prior art, and provides an all-terrain wheel of the fire-fighting robot; the utility model discloses a design into the articulated formation of polylith link joint with the sprocket of full topography wheel and ground contact, and be connected through the air spring between sprocket and the wheel hub, full topography wheel is when the mountain area walking, because the existence of air spring, changes the area of contact on full topography wheel and ground to increase the nature of grabbing ground of full topography wheel.

2. Technical scheme

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model discloses an all-terrain wheel of a fire-fighting robot, which comprises a wheel hub, a plurality of chain plates and an air spring, wherein the chain plates are hinged to form a chain wheel; the chain wheel is connected with the hub through a gas spring.

Preferably, the cross section of each chain plate is in the shape of an isosceles trapezoid, and a hinge point between every two adjacent chain plates is located at the bottom end of the waist of the isosceles trapezoid.

Preferably, the included angle α between the side wall of the chain plate and the horizontal plane is 15-75 degrees.

Preferably, the hub is provided with an annular bulge, the annular bulge is provided with a first pin shaft hole at equal intervals in the circumferential direction, the direction of the first pin shaft hole is the same as the axial direction of the hub, a first pin shaft is arranged in the first pin shaft hole, and the first pin shaft is connected with one end of the gas spring through a spherical hinge; the chain plate of the chain wheel is provided with fixing blocks which are arranged at equal intervals along the circumferential direction of the chain wheel, a second pin shaft hole for mounting a second pin shaft is formed in the fixing blocks, and the second pin shaft is connected with the other end of the air spring through a spherical hinge; the first pin shaft hole of the annular bulge on the hub is in one-to-one correspondence with the second pin shaft hole on the chain wheel.

Preferably, each pin shaft on the annular bulge is connected with two gas springs, and the two gas springs are respectively positioned on two sides of the annular bulge; each second pin shaft on the chain wheel is connected with two gas springs; two air springs on the first pin shaft positioned on the Nth position on the annular bulge are respectively connected with the second pin shaft positioned on the N-1 th position and the (N + 1) th position on the chain wheel.

Preferably, the gas springs on one side surface of the annular bulge are distributed clockwise or anticlockwise, and the distribution direction of the gas springs is opposite to that of the gas springs on the other side surface of the annular bulge.

Preferably, the annular protrusion on the wheel hub is provided with 3, 3 annular protrusions are arranged at equal intervals along the length direction of the wheel hub, and the chain wheel is provided with a fixing block corresponding to each annular protrusion.

Preferably, the pin shaft holes of the Nth position on the annular protrusions at the two ends of the hub are coaxial, and the pin shaft hole of the Nth position on the annular protrusion in the middle of the hub is positioned between the pin shaft hole of the Nth position of the annular protrusion at any one end and the pin shaft hole of the Nth +/-1 position.

Preferably, the air spring at the Nth position on the annular protrusions at the two ends of the hub, the first pin shaft at the Nth position and the second pin shaft at the Nth +/-1 position on the chain plate form an isosceles trapezoid.

Preferably, the included angle β between the gas spring at the Nth position on the annular protrusions at the two ends of the hub and the first pin shaft at the Nth position is 45-85 degrees.

3. Advantageous effects

Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following apparent effect:

(1) the utility model discloses an all-terrain wheel of fire-fighting robot, through designing the wheel hub that all-terrain wheel and ground contacted into to be formed by the polylith link joint is articulated, and connect through the air spring between sprocket and the wheel hub, because the existence of air spring, when mountain region fire-fighting robot walked in the mountain area, the mountain area relief was comparatively complicated, design all-terrain wheel into the varistructure, on the one hand can change the area of contact of sprocket and ground according to the actual ground condition, thereby effectively increase the area of contact of all-terrain wheel and ground, increase the ground gripping performance of all-terrain wheel, be convenient for mountain region fire-fighting robot to walk at a high speed in the mountain area; on the other hand, the structural design can effectively reduce the impact force on the fire-fighting robot caused by the change of the terrain.

(2) The utility model discloses an all-terrain wheel of fire-fighting robot, through designing the cross section of link joint into isosceles trapezoid structure, and the pin joint between two adjacent link joints is located the bottom of isosceles trapezoid waist, lie in the bottom of the lateral wall of link joint promptly, all-terrain wheel is when walking, and the part link joint on its sprocket contacts with ground, because isosceles trapezoid structure and articulated existence, make two adjacent link joints in the walking process effect of mutual interference little, be favorable to the walking of all-terrain wheel; meanwhile, the side wall of the chain plate is at a certain angle, so that the contact area between the chain plate and the ground in the walking process is further increased, the interaction force between the all-terrain wheel and the ground in the horizontal direction is also effectively increased, and the walking speed is improved.

(3) The utility model discloses an all-terrain wheel of a fire-fighting robot, which arranges the number and the spatial distribution of air springs, so that the air springs of the whole all-terrain wheel are in a triangular structure, thereby ensuring the stability of the operation of the all-terrain wheel; in addition, the all-terrain wheel is more suitable for different terrains in mountainous areas through the spherical hinge, and walking is facilitated.

(4) The utility model discloses a fire-fighting robot's all-terrain wheel, protruding through being equipped with 3 annular, be equipped with the fixed block that corresponds with each annular arch simultaneously on the sprocket, the connection of the air spring of being convenient for, above-mentioned structural design increases the area of contact on the one hand all-terrain wheel and ground to improve and grab ground performance, on the other hand, designs the round pin shaft hole position of seting up on the annular arch of difference, thereby changes the position distribution of air spring, further improves the stability of all-terrain wheel walking.

Drawings

Fig. 1 is a schematic structural view of all-terrain wheels of a fire fighting robot in embodiment 1;

fig. 2 is a schematic structural view of the middle link plate of the present invention;

fig. 3 is a schematic structural diagram of a cross section of the middle link plate of the present invention;

fig. 4 is a schematic structural view of all-terrain wheels of the fire fighting robot in embodiment 2;

FIG. 5 is a schematic front view of the structure of FIG. 4;

FIG. 6 is a schematic structural view of a hub in embodiment 2;

FIG. 7 is a partial schematic structural view of a sprocket in embodiment 2;

fig. 8 is a schematic view of the gas spring mounting structure on the annular protrusions at the two ends of the wheel hub.

The reference numerals in the schematic drawings illustrate:

10. a hub; 11. an annular projection; 12. a first pin shaft; 20. a sprocket; 21. a chain plate; 22. a fixed block; 23. a second pin shaft; 30. a gas spring.

Detailed Description

For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example 1

The all-terrain wheel of the fire-fighting robot comprises a wheel hub 10, wherein the wheel hub 10 is connected with a shaft driven by a drive unit of the fire-fighting robot, and the wheel hub 10 is driven to rotate by the drive unit, so that the mountain fire-fighting robot can walk on the ground. Among the prior art, when the mountain area conflagration breaing out, need fire-fighting equipment to enter into the conflagration region, carry out the analysis or carry out the fire rescue to the conflagration condition, but because the relief of mountain area is comparatively complicated, the fire-fighting equipment of being inconvenient for enters into the region of taking place the conflagration, so that fire-fighting equipment reachs the region of taking place the conflagration late, lead to the conflagration to spread, the disaster enlarges, consequently, in order to solve this problem, be provided with the track on the current fire-fighting equipment, make the fire-fighting equipment more convenient of walking in the mountain area through the.

Although the track in the prior art has good cross-country performance and climbing performance relative to the wheels and can advance in a mountain area, the track is used as a travelling mechanism of the fire fighting equipment, the manufacturing cost is high, the occupied area is large, the running speed is low, the fire fighting equipment cannot reach a fire area in time, and for mountain area fire, due to the fact that the ground potential and trees can spread in a short time, the disaster situation is enlarged. Accordingly, there is a need for further improvements in fire fighting equipment.

In order to solve the problem, the all-terrain wheel of the embodiment is shown in fig. 1, and further comprises a plurality of chain plates 21 and an air spring 30, wherein the number of the chain plates 21 is determined according to the size of the actual fire-fighting robot, the weight of the fire-fighting robot and other factors. The plurality of link plates 21 in this embodiment are connected to each other by a hinge form to constitute the sprocket 20 in fig. 1, and the sprocket 20 in this embodiment is connected to the hub 10 by the gas spring 30.

In the embodiment, due to the existence of the gas spring 30, the plurality of chain plates 21 are hinged to enable the whole chain wheel 20 to be a variable structure, when the all-terrain wheel travels in a mountainous area, the chain wheel 20 is in contact with the ground, and due to different terrain, the contact area between the chain wheel 20 and the ground is changed in the actual traveling process, so that compared with the traditional fixed wheel, the ground gripping performance of the all-terrain wheel is greatly improved, and the mountain fire-fighting robot can travel at a high speed in the mountainous area; meanwhile, due to the existence of the gas spring 30, when the fire fighting robot passes through areas with different terrain, under the action of the spring, the impact force generated to the fire fighting robot due to the change of the terrain can be effectively relieved, and the service life of the fire fighting robot is prolonged.

Preferably, in order to further improve the ground gripping performance of the fire-fighting robot in the embodiment, the structure of the link plate 21 is as shown in fig. 2, and with reference to fig. 3, the cross section of the link plate 21 in the embodiment is an isosceles trapezoid, and the upper bottom of the isosceles trapezoid with the smaller length is disposed away from the hub 10, because a certain included angle exists between the side wall of the link plate 21, i.e., the waist of the isosceles trapezoid, and the lower bottom with the longer length, i.e., as shown in fig. 3, a certain included angle α exists between the waist of the isosceles trapezoid and the horizontal plane, in the embodiment, because the side wall of the link plate 21 is at a certain angle, the contact area between the all-terrain wheel and the ground can be increased, so that the ground gripping performance of the fire-fighting robot is increased, and meanwhile, during the movement of the all-terrain wheel, an interaction force exists between the side wall of the link plate 21 and the ground in the contact, so that the interaction force between the all-terrain wheel and the ground in.

In addition, in this embodiment, the hinge point between two adjacent link plates 21 is located at the bottom end of the isosceles trapezoid waist, that is, the bottom end of the side wall of the link plate 21, and the specific position is as shown in fig. 1, so that the mutual interference between two adjacent link plates 21 is small during the deformation of the sprocket 20, which is beneficial to the walking of all-terrain wheels.

In this embodiment, the included angle α between the side wall of the link plate 21 and the horizontal plane is 15 ° to 75 °, such as 15 °, 30 °, 45 °, 60 °, 70 °, 75 °, and preferably, the included angle α between the side wall of the link plate 21 and the horizontal plane is 45 °.

Referring to fig. 1, in the present embodiment, an annular protrusion 11 is disposed on a hub 10, a first pin shaft hole is disposed on the annular protrusion 11 at equal intervals in the circumferential direction, the direction of the first pin shaft hole is the same as the axial direction of the hub 10, a first pin shaft 12 is mounted in the first pin shaft hole, and the first pin shaft 12 is connected to one end of a gas spring 30 through a spherical hinge; the chain plate 21 of the chain wheel 20 is provided with fixing blocks 22, as shown in fig. 2, the fixing blocks 22 in this embodiment are arranged in the middle of the chain plate 21, the fixing blocks 22 are arranged at equal intervals along the circumferential direction of the chain wheel 20, the fixing blocks 22 are provided with second pin shaft holes for mounting second pin shafts 23, and the second pin shafts 23 are connected with the other ends of the gas springs 30 through spherical hinges.

In the embodiment, each first pin shaft 12 on the annular protrusion 11 is connected with two gas springs 30, and the two gas springs 30 are respectively located at two sides of the annular protrusion 11; each second pin shaft 23 on the chain wheel 20 is connected with two gas springs 30.

It should be noted that, in the present embodiment, the first pin shaft hole of the annular protrusion 11 on the hub 10 and the second pin shaft hole on the sprocket 20 correspond to each other one by one, that is, as shown in fig. 1, the N-th pin shaft hole on the annular protrusion 11 of the hub 10 and the N-th pin shaft hole on the sprocket 20 are both on an extension line of a radius of a circle, which means a circle where the cross section of the hub 10 is located.

The all-terrain wheel is more suitable for different terrains in mountainous areas through the spherical hinge in the embodiment, and walking is facilitated.

Furthermore, in the embodiment, the two gas springs 30 on the first pin 12 located at the nth position on the annular protrusion 11 are respectively connected with the second pin 23 located at the nth-1 position and the nth +1 position on the sprocket 20; the gas springs 30 of all-terrain wheels are distributed as shown in figure 1, and the number and the space distribution of the gas springs 30 are distributed, so that the gas springs 30 of the whole all-terrain wheels are of a triangular structure, the running stability of all-terrain wheels is effectively guaranteed, and the walking of the fire-fighting robot in mountainous areas is facilitated.

In addition, in the embodiment, the gas springs 30 on one side of the annular protrusion 11 are distributed clockwise or counterclockwise, and the distribution direction of the gas springs 30 is opposite to the distribution direction of the gas springs 30 on the other side of the annular protrusion 11, that is, as shown in fig. 1.

Example 2

The all-terrain wheel of the fire-fighting robot in the embodiment is basically the same as that in embodiment 1, and the difference is that: with reference to fig. 4, 5 and 6, in this embodiment, 3 annular protrusions 11 are provided on the hub 10, the 3 annular protrusions 11 are disposed at equal intervals along the length direction of the hub 10, and meanwhile, the sprocket 20 is provided with a fixing block 22 corresponding to each annular protrusion 11, that is, 1 annular protrusion 11 corresponds to a circle of fixing block 22 on the sprocket 20, so as to facilitate installation of the gas spring 30.

It is to be noted that the number of the gas springs 30 per annular protrusion 11 and the distribution thereof in the present embodiment are the same as those in embodiment 1; in addition, in the embodiment, 3 fixing blocks 22 are arranged on the same chain plate 21, and the 3 fixing blocks 22 are arranged at equal intervals along the length direction of the chain plate 21.

Referring to fig. 6, in the present embodiment, the two first pin shaft holes located at the nth position on the annular protrusions 11 located at the two ends of the hub 10 are coaxial, so that the first pin shaft holes located at the nth position at the two ends of the hub 10 in the present embodiment may adopt the same first pin shaft 12; the round pin shaft hole that is located No. N position on the protruding 11 of annular in the middle of wheel hub 10 is located on arbitrary one end between a round pin shaft hole of No. N position and the round pin shaft hole of No. N1 position of the protruding 11 of annular, and is preferred, is located in the middle of round pin shaft hole that is located No. N position on the protruding 11 of annular in the middle of wheel hub 10 in this embodiment and is located on arbitrary one end a round pin shaft hole of No. N position and the centre of a round pin shaft hole of No. N1 position of the protruding 11 of annular. In fig. 6, it is shown that the pin shaft hole of the nth position on the annular protrusion 11 located in the middle of the hub 10 is located between the pin shaft hole of the nth position of the annular protrusion 11 at any one end and the pin shaft hole of the N +1 th position. On one hand, the width of the hub 10 is increased by the structural design, namely, the contact area of the all-terrain wheel and the ground is increased, and the ground gripping performance is further improved; on the other hand, the position of the pin shaft hole formed in the different annular protrusions 11 is designed, so that the position distribution of the gas spring 30 is changed, the distribution of the gas spring 30 is more reasonable, the number of triangles in the all-terrain wheel is more, and the stability is better.

It should be noted that the location where the sprocket 20 is connected to the gas spring 30 in this embodiment constitutes a triangular configuration, which, in combination with the solid black lines in fig. 5 and the dashed lines in fig. 7, further enhances the stability of the all-terrain wheel. It should be noted that, in the present embodiment, since the gas spring 30 connected to the annular protrusion 11 located in the middle of the hub 10 is connected to the middle of the sprocket 20, in order to avoid damage to the link plate 21 caused by changes in mountain terrain during traveling, 3 fixing blocks 22 are provided on the link plate 21 connected to the gas spring 30 in the present embodiment, and the 3 fixing blocks 22 are arranged at equal intervals along the length direction of the link plate 21, the 3 fixing blocks 22 located on the same link plate 21 are connected by a second pin 23, and the second pin 23 provides a certain supporting force for the link plate 21.

Furthermore, as shown in fig. 8, in the present embodiment, the gas spring 30 at the N-th position on the annular protrusion 11 at both ends of the hub 10, the first pin 12 at the N-th position, and the second pin 23 at the N ± 1-th position on the link plate 21 form an isosceles trapezoid, an included angle exists between the waist of the isosceles trapezoid and the bottom, as shown in fig. 8 as an included angle β, the included angle β is 45 ° -85 °, the second pin 23 at the N ± 1-th position here refers to the second pin 23 at the N + 1-th position or the second pin 23 at the N-1-th position, as shown in fig. 8, β in the present embodiment may take 45 °, 60 °, 70 °, 75 °, 80 °, and 85 °.

Preferably, β is 80 ° in this embodiment.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without departing from the inventive spirit of the present invention, the person skilled in the art should also design the similar structural modes and embodiments without creativity to the technical solution, and all shall fall within the protection scope of the present invention.

Claims (10)

1. An all-terrain wheel of a fire-fighting robot, comprising a wheel hub (10), characterized in that: the chain wheel is characterized by further comprising a plurality of chain plates (21) and air springs (30), wherein the chain plates (21) are hinged to form the chain wheel (20); the chain wheel (20) is connected with the hub (10) through a gas spring (30).

2. An all terrain wheel of a fire fighting robot as defined in claim 1, wherein: the cross section of each chain plate (21) is isosceles trapezoid, and a hinge point between every two adjacent chain plates (21) is located at the bottom end of the waist of the isosceles trapezoid.

3. The all-terrain wheel of a fire-fighting robot as claimed in claim 2, characterized in that the angle α between the side wall of the link plate (21) and the horizontal plane is 15-75 °.

4. An all terrain wheel of a fire fighting robot as defined in any one of claims 1-3, wherein: an annular bulge (11) is arranged on the wheel hub (10), a first pin shaft hole is formed in the annular bulge (11) at equal intervals in the circumferential direction, the direction of the first pin shaft hole is the same as the axial direction of the wheel hub (10), a first pin shaft (12) is installed in the first pin shaft hole, and the first pin shaft (12) is connected with one end of the gas spring (30) through a spherical hinge; the chain plate (21) of the chain wheel (20) is provided with fixing blocks (22), the fixing blocks (22) are arranged at equal intervals along the circumferential direction of the chain wheel (20), a second pin shaft hole for mounting a second pin shaft (23) is formed in each fixing block (22), and the second pin shaft (23) is connected with the other end of the gas spring (30) through a spherical hinge; a pin shaft hole of the annular protrusion (11) on the hub (10) corresponds to a pin shaft hole of the second pin shaft on the chain wheel (20) one by one.

5. An all terrain wheel of a fire fighting robot as defined in claim 4, wherein: each first pin shaft (12) on the annular bulge (11) is connected with two gas springs (30), and the two gas springs (30) are respectively positioned on two sides of the annular bulge (11); each second pin shaft (23) on the chain wheel (20) is connected with two gas springs (30); two gas springs (30) on the first pin shaft (12) at the Nth position on the annular bulge (11) are respectively connected with the second pin shaft (23) at the Nth-1 th position and the Nth +1 th position on the chain wheel (20).

6. An all terrain wheel of a fire fighting robot as defined in claim 5, wherein: the gas springs (30) on one side surface of the annular bulge (11) are distributed clockwise or anticlockwise, and the distribution direction of the gas springs (30) is opposite to that of the gas springs (30) on the other side surface of the annular bulge (11).

7. An all terrain wheel of a fire fighting robot as defined in claim 6, wherein: annular protrusion (11) on wheel hub (10) are equipped with 3, and 3 annular protrusion (11) set up along wheel hub (10) length direction at equal intervals, be equipped with fixed block (22) that correspond with every annular protrusion (11) on sprocket (20).

8. An all terrain wheel of a fire fighting robot as defined in claim 7, wherein: the pin shaft holes of the Nth position on the annular protrusions (11) at the two ends of the hub (10) are coaxial, and the pin shaft hole of the Nth position on the annular protrusion (11) in the middle of the hub (10) is positioned between the pin shaft hole of the Nth position of the annular protrusion (11) at any one end and the pin shaft hole of the Nth +/-1 position.

9. An all terrain wheel of a fire fighting robot as defined in claim 8, wherein: the air spring (30) at the Nth position on the annular bulges (11) at the two ends of the hub (10), the first pin shaft (12) at the Nth position and the second pin shaft (23) at the Nth +/-1 position on the chain plate (21) form an isosceles trapezoid.

10. The all-terrain wheel of a firefighting robot as claimed in claim 9, wherein an angle β between the gas spring (30) of the nth position and the first pin (12) of the nth position on the annular protrusions (11) at both ends of the wheel hub (10) is 45 ° to 85 °.

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