CN210478870U

CN210478870U - Walking auxiliary mechanism of fire-fighting robot

Info

Publication number: CN210478870U
Application number: CN201921297067.0U
Authority: CN
Inventors: 向朝华; 常建; 金常伟; 王亚辉; 许东亚; 常善强
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: 2020-05-08
Anticipated expiration: 2029-08-09

Abstract

The utility model relates to a fire-fighting robot technical field, in particular to fire-fighting robot walking complementary unit, it includes running structure, chassis, drive structure and climbing arm, running structure includes tire and track, drive structure is equipped with two in the chassis symmetry, drive structure is including climbing drive structure and walking drive structure, the drive of walking drive structure the tire with the track, the drive of climbing drive structure climbing arm. The utility model discloses have the comparatively convenient effect of messenger's fire-fighting robot through gully and abrupt slope.

Description

Walking auxiliary mechanism of fire-fighting robot

Technical Field

The utility model relates to a fire-fighting robot technical field, in particular to fire-fighting robot walking complementary unit.

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 fire-fighting robot mainly comprises a chassis, a walking mechanism, a driving assembly, a water cannon fire-extinguishing device, a control system and the like, wherein the walking mechanism is mostly a crawler belt or a tire, the crawler belt can enable the fire-fighting robot to adapt to the bumpy road surface, and the tire can conveniently walk on the smooth road surface for the fire-fighting robot.

The above prior art solutions have the following drawbacks: when the fire-fighting robot needs to pass through gullies or steep high slopes, tires are easy to fall into the gullies, when the crawler belt passes through the steep high slopes, the fire-fighting robot needs to consume large power, and the crawler belt is labored when climbing the slopes, so that the fire-fighting robot is inconvenient to pass through the gullies and the steep slopes.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a fire-fighting robot walking complementary unit, it has the comparatively convenient characteristics of messenger's fire-fighting robot process gully and abrupt slope.

The above object of the present invention can be achieved by the following technical solutions:

the utility model provides a fire-fighting robot walking complementary unit which characterized in that: the climbing device comprises a walking structure, a chassis, a driving structure and climbing arms, wherein the walking structure is arranged on the chassis and comprises tires and a crawler belt; the driving structures are arranged in the chassis, two driving structures are symmetrically arranged at two ends of the chassis and comprise climbing driving structures and walking driving structures, and the climbing driving structures comprise first motors and first transmission devices; the walking driving structure comprises a second motor and a second transmission device, the first motor and the second motor are arranged at the end part of the chassis side by side and are separated by a partition plate, the output end of the first motor is provided with a worm, a rotating shaft is arranged below the worm, one end of the rotating shaft penetrates through the partition plate, the other end of the rotating shaft is coaxially connected with a driving shaft, the rotating shaft is provided with a worm wheel meshed and connected with the worm, the driving shaft penetrates out of the chassis and is coaxially and rotatably connected with a driven shaft, the tire is fixedly connected onto the driven shaft, the driven shaft is provided with a belt wheel, and the crawler belt is meshed and connected with the belt wheel; the penetrating end of the driving shaft is fixedly connected with a supporting sleeve; the climbing arm comprises a large gear, a small gear, connecting arms and a transmission belt, the large gear is fixedly connected to the driven shaft, the number of the connecting arms is two, one connecting arm is fixedly connected to the supporting sleeve, the other connecting arm is rotatably connected to the driven shaft, the small gear is rotatably connected between the two connecting arms, and the transmission belt is in meshed connection with the large gear and the small gear; the output end of the second motor is provided with a master gear, a transmission shaft penetrates through the side wall of the chassis, one end of the transmission shaft is provided with a slave gear, the master gear is meshed with the slave gear and connected with the slave gear, the other end of the transmission shaft is provided with the tire and the belt wheel, and the tire is arranged on the transmission shaft to form a quick-release structure.

By adopting the technical scheme, the climbing driving structure and the climbing arms are arranged, so that the fire-fighting robot can be supported to walk, and can directly cross gullies, and tires of the fire-fighting robot are not easy to sink into the gullies. And when the high slope passes through, through the cooperation of both ends climbing arm, can make fire-fighting robot walk forward through the thrust that supports and drive belt applyed to make its climbing comparatively laborsaving, thereby need not to consume the great power of fire-fighting robot.

The utility model discloses further set up to: the pivot is passed the one end rigid coupling of baffle has a drive wheel, the drive wheel top is equipped with a synchronizing shaft, synchronizing shaft one end with the baffle rotates to be connected, the other end with the chassis lateral wall rotates to be connected, rotate on the transmission shaft and connect an axle sleeve, be equipped with a drive wheel on the axle sleeve, the interval is equipped with two synchronizing wheels on the synchronizing shaft, one the synchronizing wheel with the drive wheel meshing is connected, another the synchronizing wheel with the drive wheel meshing is connected, be equipped with on the transmission shaft the climbing arm, the gear wheel rigid coupling is in on the transmission shaft, one the linking arm rigid coupling is in on the axle sleeve, another the linking arm rotates to be connected on the transmission shaft, the pinion rotates to be connected two between the linking arm, the drive belt with the gear wheel and the pinion all meshes to be connected.

Through adopting above-mentioned technical scheme, pivot accessible synchronizing shaft drives the linking arm on the axle sleeve and rotates to make the linking arm can drive whole climbing arm and rotate, in order to realize that climbing drive structure can two climbing arm's of drive control purpose simultaneously.

The utility model discloses further set up to: the rotating shaft is detachably connected with the driving shaft.

Through adopting above-mentioned technical scheme, the dismantled connection between pivot and the drive shaft makes things convenient for follow-up pivot and drive shaft and above-mentioned part etc. to carry out the daily maintenance.

The utility model discloses further set up to: the end part of the rotating shaft is provided with a bayonet, the end part of the driving shaft is coaxially and fixedly connected with a switching disc, a clamping groove is formed in the switching disc, the bayonet is perpendicular to the clamping groove, a switching block is arranged between the clamping groove and the bayonet and comprises a clamping strip and a clamping block, the clamping strip and the clamping block are distributed in a T shape, the clamping strip is located in the clamping groove, and the clamping block is located in the bayonet.

Through adopting above-mentioned technical scheme, the setting of switching piece can make card strip card go into in the draw-in groove, and the draw-in groove then goes into in the bayonet socket, and the axis direction of draw-in groove and bayonet socket is perpendicular again, so when the switching piece can get up pivot and actuating shaft, can also conveniently dismantle.

The utility model discloses further set up to: tire rapid disassembly structure is in including rotating transmission shaft, the setting of connection on the chassis the epaxial passive spring part of transmission and install in wheel hub one side and slidable cup joint on the transmission shaft with passive spring part joint complex active part, the active part is improved level and is provided with through pressing down 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.

By adopting the technical scheme, the quick-release structure of the tire enables workers to carry the tire during installation and then realize fixed installation of the tire through clamping and matching of the driving part and the driven spring part; when the tire dismounting device is dismounted, the driving part and the driven spring part are separated only by pressing or pushing the jacking component, and then the tire is moved away, so that the tire can be dismounted and replaced quickly, and the working efficiency is greatly improved.

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 transmission 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, wherein the two ends of the inner hollow sleeve are open, the sleeve is fixedly connected with the flange plate on the outer wall of the sleeve, the flange plate is arranged on one side of the hub, the inner side of the sleeve is sequentially provided with small holes and large holes which penetrate through the sleeve along the axis direction, the inner diameter of each small hole is matched with the outer diameter of the transmission shaft, and the small holes and the large holes form stepped surfaces which are connected with the joint blocks in a clamping mode.

By adopting 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 manner, when the end part of the sleeve is contacted with the driven spring part, the sleeve can slide along the slope surface of the clamping block, and as the inner diameter of the small hole is matched with the outer diameter of the driving shaft, the elastic plate is pressed and is drawn close to the axial 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 clamping block, which is far away from the inner wall of the fixing ring, is provided with convenience, and the passive spring part extends into a slope surface in the sleeve.

Through adopting 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 transmission shaft is provided with a first key groove extending along the axial direction of the transmission 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 adopting 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.

To sum up, the utility model discloses following beneficial effect has:

1. through the arrangement of the climbing driving structure and the climbing arm, the fire-fighting robot can be supported to walk, so that the fire-fighting robot can directly cross gullies, and tires of the fire-fighting robot are not prone to sink into the gullies. When the robot passes through a high slope, the climbing arms at the two ends are matched, so that the fire-fighting robot can walk forwards by thrust exerted by the support and the transmission belt, the climbing is more labor-saving, and the fire-fighting robot does not need to consume larger power;

2. through the arrangement of the adapter block, the clamping strip can be clamped into the clamping groove, the clamping block is clamped into the clamping groove, and the clamping groove is perpendicular to the axis direction of the clamping groove, so that the adapter block can be used for connecting the rotating shaft with the driving shaft and can be conveniently disassembled;

3. through the quick-release structure of the tire, when a worker installs the tire, the worker only needs to move the tire and then can realize the fixed installation of the tire through the clamping and matching of the driving part and the driven spring part; when the tire dismounting device is dismounted, the driving part and the driven spring part are separated only by pressing or pushing the jacking component, and then the tire is moved away, so that the tire can be dismounted and replaced quickly, and the working efficiency is greatly improved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

fig. 3 is a partially enlarged view of a portion a in fig. 2;

FIG. 4 is an exploded view of the tire quick release structure;

FIG. 5 is a schematic view of the structure of the position of the jacking assembly;

FIG. 6 is a schematic view of a passive spring element;

FIG. 7 is a schematic view of the configuration of the locations of the ring groove and the first keyway;

FIG. 8 is a cross-sectional view of the structure and connection of the active member and the jacking assembly;

FIG. 9 is a sectional view in the tire mounted state;

fig. 10 is a partially enlarged view of a portion B in fig. 9.

In the figure, 1, a chassis; 11. a first space; 12. a second space; 121. a synchronizing shaft; 1211. a synchronizing wheel; 13. a partition plate; 2. a walking structure; 21. a tire; 22. a crawler belt; 221. a pulley; 3. a climbing drive structure; 31. a first motor; 32. a worm; 33. a rotating shaft; 331. a worm gear; 332. a drive wheel; 333. a bayonet; 34. a drive shaft; 341. a support sleeve; 342. a switching disk; 3421. a card slot; 351. a ring groove; 352. a first keyway; 353. a flat bond; 4. a travel drive structure; 41. a second motor; 411. a main gear; 42. a drive shaft; 421. a slave gear; 422. a shaft sleeve; 423. a driving wheel; 5. a climbing arm; 51. a bull gear; 52. a pinion gear; 53. a connecting arm; 54. a transmission belt; 6. a transfer block; 61. clamping the strip; 62. a clamping block; 7. a passive spring member; 71. a fixing ring; 72. a notch; 73. an elastic plate; 74. a clamping block; 75. a slope surface; 8. a hub; 9. a driving member; 91. a sleeve; 92. a flange plate; 93. a small hole; 94. macropores; 95. a step surface; 96. a second keyway; 10. a jacking assembly; 101. an end plate; 1011. mounting holes; 102. a pressure lever; 103. a push cylinder; 104. inner chamfering; 105. positioning a nut; 106. a spring.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example (b):

as shown in fig. 1, for the utility model discloses a walking assisting mechanism of fire-fighting robot, it includes walking structure 2, chassis 1, drive structure and climbing arm 5. The chassis 1 is a three-dimensional structure with a hollow interior. The driving structure is arranged in the chassis 1, and the walking structure 2 and the climbing arm 5 are both arranged on the chassis 1.

The walking structure 2 comprises tires 21 and crawler belts 22, and the crawler belts 22 are arranged on two sides of the chassis 1 and along the length direction of the chassis 1, and are used for walking on the rugged road surface of the fire-fighting robot. The four tires 21 are arranged outside the end parts of the crawler belts 22 and are coaxial with the crawler belts 22, and the four tires are used for the fire-fighting robot to walk on a relatively flat road surface. The tires 21 and the crawler 22 are movable by the axles.

As shown in fig. 3, the drive structure comprises a climbing drive structure 3 and a walking drive structure 4. The climbing drive 3 comprises a first motor 31 and a first transmission, and the walking drive 4 comprises a second motor 41 and a second transmission. Two ends in the chassis 1 are respectively provided with a rectangular space with an open top end, a partition plate 13 is vertically arranged along the central line of the width direction of the rectangular space, the partition plate 13 is a rectangular plate, and the rectangular space is divided into a first space 11 and a second space 12. A first transmission is mounted in the first space 11 and a second transmission is mounted in the second space 12.

The mounting structure of climbing driving structure 3 is: the first motor 31 is disposed in the chassis 1 outside the first space 11, and an output shaft is disposed in parallel with the partition 13. The first transmission device is located in the first space 11, and specifically includes: an output shaft of the first motor 31 penetrates into the first space 11, an output end of the first motor is provided with a worm 32, a rotating shaft 33 is arranged in the first space 11 below the worm 32, and the rotating shaft 33 is a cylindrical shaft and is perpendicular to the worm 32. One end of the rotating shaft 33 passes through the partition 13 and is rotatably connected to the partition 13, and the other end is coaxially connected to a driving shaft 34 in the first space 11, wherein the driving shaft 34 is a cylindrical shaft, and penetrates through the chassis 1 and is rotatably connected to the chassis 1. A driven shaft (not shown) is coaxially and rotatably connected to an end of the driving shaft 34 away from the chassis 1, the driven shaft is a cylindrical shaft, the tire 21 is fixedly connected to an end of the driven shaft away from the driving shaft 34, the track 22 is fixedly connected to the driven shaft through the belt pulley 221, and the track 22 is disposed close to the tire 21.

As shown in fig. 1 and 3, the climbing arm 5 comprises two spur gears of different sizes, a transmission belt 54 and a connecting arm 53, the large gear 51 being fixedly connected to the driven shaft close to the driving shaft 34. The connecting arms 53 are rectangular arms with two ends in arc transition, two connecting arms are arranged here, the diameters of the arc transition at the two ends of the connecting arms 53 are different, the two connecting arms 53 are positioned at two sides of the bull gear 51, one end with a larger diameter of one connecting arm 53 is rotatably connected to the driven shaft through a bearing, the other end with a larger diameter of the other connecting arm 53 is sleeved on the driving shaft 34, a supporting sleeve 341 is rotatably connected to the driving shaft 34 between the bull gear 51 and the chassis 1 at the moment, the supporting sleeve 341 is a cylindrical sleeve with a hollow inside, and the connecting arm 53 sleeved on the driving shaft 34 is fixedly connected with the supporting sleeve 341 at the moment. The pinion 52 is then rotatably connected between the smaller ends of the two connecting arms 53, and the drive belt 54 is a toothed belt, where the gearwheel 51 and the pinion 52 can be driven by means of the drive belt 54.

As shown in fig. 3, the mounting structure of the travel driving structure 4 is: the second motor 41 is disposed in the chassis 1 outside the second space 12, and the output shaft is disposed in parallel with the partition 13. The second transmission device is located in the second space 12, and specifically: the output shaft of the second motor 41 penetrates into the second space 12, and its output end is fixedly connected with a bevel gear, here called main gear 411, and on the side wall opposite to the partition 13, a transmission shaft 42 is rotatably connected, the transmission shaft 42 is a cylindrical shaft and is coaxial with the rotation shaft 33, one end of the transmission shaft is located in the second space 12 near the main gear 411, and a bevel gear, here called slave gear 421, is provided, and the slave gear 421 is engaged with the main gear 411. The other end of the transmission shaft 42 penetrates through the sidewall of the chassis 1 and is fixedly connected with the tire 21 and the belt wheel 221 respectively, and at this time, the tire 21 and the belt wheel 221 on the two sides of the chassis 1 are symmetrically arranged.

In order to enable the first motor 31 to drive the two climbing arms 5 simultaneously, a synchronization structure may further be provided here, in particular: one end of the rotating shaft 33 penetrating through the partition 13 is fixedly connected with a straight gear, which may be referred to as a driving wheel 332, a synchronizing shaft 121 is disposed in the second space 12 directly above the driving wheel 332, the synchronizing shaft 121 is a cylindrical shaft, and is disposed parallel to the rotating shaft 33, and both ends of the cylindrical shaft are rotatably connected with the partition 13 and the side wall of the chassis 1. Two spur gears, which may be referred to herein as synchronizing gears 1211, are spaced apart on synchronizing shaft 121. A shaft sleeve 422 is rotatably connected to the rotary connection position of the transmission shaft 42 and the side wall of the chassis 1, the shaft sleeve 422 is an annular cylindrical sleeve, one end of the shaft sleeve 422 is located in the second space 12, and the other end of the shaft sleeve 422 penetrates through the side wall of the chassis 1 and is close to the belt wheel 221. A spur gear, which may be referred to as a transmission gear 423 herein, is fixedly coupled to a portion of the sleeve 422 located in the second space 12. One synchronizing wheel 1211 of the synchronizing shaft 121 is in meshing connection with the driving wheel 332, and the other synchronizing wheel 1211 is in meshing connection with the transmission wheel 423. The mounting structure of another climbing arm 5 at this time is: the bull gear 51 is fixedly connected to the transmission shaft 42 close to the shaft sleeve 422 outside the chassis 1 of the transmission shaft 42, the two connecting arms 53 are respectively located at two sides of the bull gear 51, one connecting arm 53 is rotatably connected with the transmission shaft 42 through a bearing, and the other connecting arm 53 is fixedly connected to the shaft sleeve 422. Through the arrangement of the synchronous structure, the first motor 31 can simultaneously and synchronously drive the two climbing arms 5.

As shown in fig. 2 and 3, the climbing drive structure 3 and the walking drive structure 4 are symmetrically arranged based on the diagonal of the chassis 1. Wherein the walking drive structure 4 only drives the pulley 221 and the tire 21 on the side to rotate, and the tire 21 and the pulley 221 on the driven shaft are in a driven state.

When the climbing mechanism is used, the two climbing arms 5 on the same climbing driving structure 3 can be synchronously rotated by controlling the first motor 31. When the fire-fighting robot needs to pass through a gully, the two climbing arms 5 can be rotated firstly, the two climbing arms 5 are lapped on the other side of the gully, and at the moment, the connecting arms 53 at the two ends are rotated downwards to support the fire-fighting robot and enable the fire-fighting robot to just leave the ground. When the second motor 41 is controlled, the track 22 and the tire 21 idle, the large gear 51 rotates, and the large gear 51 drives the transmission belt 54 to rotate together, so that the climbing arm 5 can drive the fire-fighting robot to walk, and when the fire-fighting robot completely passes through a gully, the climbing arm 5 rotates upwards, so that the fire-fighting robot is newly located on the ground and then continues to walk forwards. When needs pass through comparatively precipitous high slope, can be with two climbing arms 5 of walking direction the place ahead rotation from top to bottom repeatedly, then rotate downwards in order to prop up the fire-fighting robot in two climbing arms 5 of rear, this mode can make the fire-fighting robot walk forward through the support of climbing arm 5 relapse, because the place ahead all rotates towards the walking direction of fire-fighting robot with the drive belt 54 of rear climbing arm 5, so drive belt 54 still can give a thrust of fire-fighting robot, thereby make the fire-fighting robot pass through the high slope with more high-efficient and laborsaving mode.

As shown in fig. 3, in order to facilitate the replacement and detachment of the rotating shaft 33 and the driving shaft 34, there may be further provided: a bayonet 333 is opened at the end of the rotating shaft 33 close to the driving shaft 34, and the bayonet 333 is a U-shaped opening which is arranged towards the end of the driving shaft 34. An adapter plate 342 is coaxially and fixedly connected to the end portion of the driving shaft 34 close to the rotating shaft 33, the adapter plate 342 is a cylindrical plate, a clamping groove 3421 is formed in the adapter plate 342 along the diameter direction of the adapter plate, the clamping groove 3421 is a rectangular groove body with two through ends, and the length direction of the rectangular groove body is perpendicular to the axial direction of the clamping opening 333. An adapter block 6 may be disposed between the adapter plate 342 and the bayonet 333, where the adapter block 6 includes a card strip 61 and a card block 62, and the card strip 61 is a rectangular block and is disposed to extend through the card slot 3421. The latch 62 is also a rectangular block and is disposed in a length direction of the bayonet 333. The fixture block 62 is vertically fixed at the center of the fixture strip 61 and is distributed in a T shape with the fixture strip 61. When in use, the clamping strip 61 can be slid into the clamping groove 3421, and the clamping block 62 is inserted into the clamping opening 333.

As shown in fig. 1, in order to facilitate quick removal and replacement of the tire 21, the tire 21 may be further configured to be quickly detached from the transmission shaft 42 or the driven shaft, where the tire 21 on the transmission shaft 42 is taken as an example, and specifically, the quick detachment and replacement is as follows: the quick-release structure of the tire 21 comprises a driven spring part 7 arranged on the transmission shaft 42 and a driving part 9 arranged on one side of the hub 8, wherein the driving part 9 can be slidably sleeved on the transmission shaft 42 and is in clamping fit with the driven spring part 7, so that the tire 21 is fixedly arranged. The driving part 9 is horizontally provided with a jacking assembly 10 which penetrates through the hub 8, and a worker can press or push the jacking assembly 10 to separate the driving part 9 from the driven spring part 7, so that the tire 21 can be quickly disassembled.

As shown in fig. 6, the passive spring element 7 is made of high-strength steel, has high wear resistance and good flexibility, and can greatly prolong the service life of the passive spring element 7 when being applied to the application. Passive spring part 7 is including solid fixed ring 71, and set up on solid fixed ring 71 lateral wall and be a plurality of breachs 72 of circumference distribution, the one end of breach 72 is opened along the axis direction of solid fixed ring 71, form elastic plate 73 between the adjacent breach 72, there is the joint piece 74 of outside protruding establishment in the outside (the one side of keeping away from the axis) homogeneous body connection of every elastic plate 73, it is right trapezoid along the cross-section of solid fixed ring 71 axis direction, its inclined plane sets up the one side of keeping away from solid fixed ring 71 inner wall at joint piece 74, for convenient the differentiation, denominate it as domatic 75, the setting of domatic 75, make things convenient for the staff to install active 9.

As shown in fig. 6 and 7, a ring groove 351 is formed on the thin shaft of the transmission shaft 42, the fixing ring 71 is sleeved at the ring groove 351, and a movable gap of 2-3mm is formed between the fixing ring 71 and the ring groove 351, so as to provide a deformation allowance for the elastic plate 73 without affecting the installation of the driving part 9. In order to facilitate installation of the passive spring part 7 by a worker, the fixing ring 71 is provided as an open ring, and during installation, the fixing ring 71 is spread or broken off and then sleeved at the annular groove 351.

As shown in fig. 8, the driving part 9 includes a hollow sleeve 91 with two open ends, and a flange 92 fixedly connected to the outer wall of the sleeve 91, the driving part 9 is fixed to one side of the hub 8 through the flange 92, a small hole 93 and a large hole 94 penetrating through the sleeve 91 are sequentially formed in the sleeve 91 along the axial direction, the large hole 94 is close to one side of the flange 92, a stepped hole is formed between the small hole 93 and the large hole 94, a stepped surface 95 for the clamping of the clamping block 74 is formed at the joint of the small hole 93 and the large hole 94, and the inner diameter of the small hole 93 is matched with the outer diameter of the transmission shaft 42.

As shown in fig. 9 and 10, during installation, the chassis 1 is jacked up by a hydraulic device, then the tire 21 is lifted up, the opening of the sleeve 91 is aligned with the transmission shaft 42 and is sleeved on the transmission shaft 42 in a sliding manner, when the end of the sleeve 91 is contacted with the passive spring element 7, the sleeve can slide along the sloping surface 75 of the clamping block 74, and as the inner diameter of the small hole 93 is matched with the outer diameter of the transmission shaft 42, the elastic plate 73 is pressed and drawn close to the axial direction of the fixing ring 71 in the sliding process until the passive spring element 7 completely enters the small hole 93; when the clamping block 74 penetrates through the small hole 93 and enters the large hole 94, the elastic plate 73 is restored to deform, at the moment, the vertical surface of the clamping block 74 is clamped with the step surface 95, and the end, away from the flange plate 92, of the sleeve 91 is abutted against the step surface 95, so that installation is completed.

As shown in fig. 3 and 7, in order to ensure that the tire 21 and the transmission shaft 42 rotate synchronously, a first key groove 352 extending along the axial direction is formed on the outer wall of the transmission shaft 42, a second key groove 96 extending along the axial direction is formed on the inner wall of the sleeve 91, a flat key 353 connecting the first key groove 352 and the second key groove 96 is arranged between the first key groove 353 and the second key groove 96, and during installation, the flat key 353 is firstly installed in the first key groove 352 and then aligned with the second key groove 96, and the sleeve 91 is sleeved on the transmission shaft 42.

As shown in fig. 9 and 10, the pushing assembly 10 includes an end plate 101 screwed into the sleeve 91 near the end of the flange 92, a pressing rod 102 passing through the end plate 101 and coaxially disposed with the sleeve 91, and a pushing cylinder 103 fixedly connected to one end of the pressing rod 102 and sliding in the large hole 94, wherein the pushing cylinder 103 is hollow and has an open end near the small hole 93, the inner wall of the open end is provided with an inner chamfer 104 capable of cooperating with the slope 75 to separate the clamping block 74 from the step surface 95 when the pressing rod 102 is pushed, in order to facilitate the worker to rotatably mount the end plate 101, a plurality of mounting holes 1011 are formed on one side of the end plate 101 away from the pushing cylinder 103, during operation, a rod-shaped tool is inserted into the mounting holes 1011, and then the rod-shaped tool is rotated to drive the end plate 101 to be screwed into the sleeve 91 and flush with the end surface of the sleeve 91.

During the dismantlement, jack-up chassis 1 through hydraulic equipment, the staff promotes depression bar 102, make it drive and push away a section of thick bamboo 103 in macropore 94 towards the direction motion of joint piece 74, when the interior chamfer 104 of pushing away a section of thick bamboo 103 contacts with domatic 75, it can slide along domatic 75 of joint piece 74, and make the elastic plate 73 pressurized draw close towards the axis direction of solid fixed ring 71, until the tip and the step face 95 butt of pushing away a section of thick bamboo 103, guarantee that passive spring part 7 can get into in the aperture 93, at this moment, the staff is direct to tire 21 application of force, it can to pull down from transmission shaft 42 with it, convenient, swift.

In order to avoid the situation that the push cylinder 103 is in contact with the clamping block 74 in the installation state of the tire 21 and the clamping block 74 is separated from the step surface 95, one end of the pressing rod 102, which is far away from the push cylinder 103, is in threaded connection with the positioning nut 105, the pressing rod 102 is sleeved with the spring 106, two ends of the spring 106 are respectively abutted to the end plate 101 and the positioning nut 105 by adjusting the positioning nut 105, and the spring 106 is arranged and used for elastically limiting the pressing rod 102 and can reset the push cylinder 103 in the process of disassembling the tire 21.

By adopting the quick-release structure for the tire 21, when a worker installs the tire 21, the worker only needs to move the tire 21 and then can realize the fixed installation of the tire 21 by the clamping and matching of the driving part 9 and the driven spring part 7; during disassembly, the driving part 9 and the driven spring part 7 are separated only by pressing or pushing the jacking component 10, the tire 21 is disassembled quickly, and then a new tire 21 is replaced according to needs, so that the working efficiency is greatly improved.

The implementation principle of the embodiment is as follows: when the fire-fighting robot passes through gullies or high slopes, the climbing arm 5 is driven by controlling the first motor 31, so that the climbing arm 5 drives the fire-fighting robot to pass through gullies or high slopes by supporting the fire-fighting robot, and the driving belt 54 on the climbing arm 5 is driven by controlling the second motor 41, so that thrust can be applied to the fire-fighting robot when the climbing arm 5 supports and walks. When the tire 21 needs to be replaced, the tire 21 can be quickly replaced through the quick-release structure of the tire 21.

By adopting the embodiment, the climbing driving structure 3 and the climbing arm 5 are arranged, so that the fire-fighting robot can be supported to walk, and can directly cross gullies, and the tires 21 of the fire-fighting robot are not easy to sink into the gullies. And when passing through the high slope, through the cooperation of both ends climbing arm 5, can make fire-fighting robot walk forward through the thrust that supports and drive belt 54 applyed to make its climbing comparatively laborsaving, thereby need not to consume the great power of fire-fighting robot.

The embodiment of this embodiment is the utility model discloses preferred embodiment is not according to this restriction 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 walking complementary unit which characterized in that: the climbing device comprises a walking structure, a chassis, a driving structure and climbing arms, wherein the walking structure is arranged on the chassis and comprises tires and a crawler belt; the driving structures are arranged in the chassis, two driving structures are symmetrically arranged at two ends of the chassis and comprise climbing driving structures and walking driving structures, and the climbing driving structures comprise first motors and first transmission devices; the walking driving structure comprises a second motor and a second transmission device, the first motor and the second motor are arranged at the end part of the chassis side by side and are separated by a partition plate, the output end of the first motor is provided with a worm, a rotating shaft is arranged below the worm, one end of the rotating shaft penetrates through the partition plate, the other end of the rotating shaft is coaxially connected with a driving shaft, the rotating shaft is provided with a worm wheel meshed and connected with the worm, the driving shaft penetrates out of the chassis and is coaxially and rotatably connected with a driven shaft, the tire is fixedly connected onto the driven shaft, the driven shaft is provided with a belt wheel, and the crawler belt is meshed and connected with the belt wheel; the penetrating end of the driving shaft is fixedly connected with a supporting sleeve; the climbing arm comprises a large gear, a small gear, connecting arms and a transmission belt, the large gear is fixedly connected to the driven shaft, the number of the connecting arms is two, one connecting arm is fixedly connected to the supporting sleeve, the other connecting arm is rotatably connected to the driven shaft, the small gear is rotatably connected between the two connecting arms, and the transmission belt is in meshed connection with the large gear and the small gear; the output end of the second motor is provided with a master gear, a transmission shaft penetrates through the side wall of the chassis, one end of the transmission shaft is provided with a slave gear, the master gear is meshed with the slave gear and connected with the slave gear, the other end of the transmission shaft is provided with the tire and the belt wheel, and the tire is arranged on the transmission shaft to form a quick-release structure.

2. A fire fighting robot walking assist mechanism according to claim 1, characterized in that: the pivot is passed the one end rigid coupling of baffle has a drive wheel, the drive wheel top is equipped with a synchronizing shaft, synchronizing shaft one end with the baffle rotates to be connected, the other end with the chassis lateral wall rotates to be connected, rotate on the transmission shaft and connect an axle sleeve, be equipped with a drive wheel on the axle sleeve, the interval is equipped with two synchronizing wheels on the synchronizing shaft, one the synchronizing wheel with the drive wheel meshing is connected, another the synchronizing wheel with the drive wheel meshing is connected, be equipped with on the transmission shaft the climbing arm, the gear wheel rigid coupling is in on the transmission shaft, one the linking arm rigid coupling is in on the axle sleeve, another the linking arm rotates to be connected on the transmission shaft, the pinion rotates to be connected two between the linking arm, the drive belt with the gear wheel and the pinion all meshes to be connected.

3. A fire fighting robot walking assist mechanism according to claim 1, characterized in that: the rotating shaft is detachably connected with the driving shaft.

4. A fire fighting robot walking assist mechanism according to claim 3, characterized in that: the end part of the rotating shaft is provided with a bayonet, the end part of the driving shaft is coaxially and fixedly connected with a switching disc, a clamping groove is formed in the switching disc, the bayonet is perpendicular to the clamping groove, a switching block is arranged between the clamping groove and the bayonet and comprises a clamping strip and a clamping block, the clamping strip and the clamping block are distributed in a T shape, the clamping strip is located in the clamping groove, and the clamping block is located in the bayonet.

5. A fire fighting robot walking assist mechanism according to claim 1, characterized in that: tire rapid disassembly structure is in including rotating transmission shaft, the setting of connection on the chassis the epaxial passive spring part of transmission and install in wheel hub one side and slidable cup joint on the transmission shaft with passive spring part joint complex active part, the active part is improved level and is provided with through pressing down 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.

6. A fire fighting robot walking assist mechanism according to claim 5, characterized in that: 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 arranged in a protruding mode; a ring groove is formed in the outer wall of the transmission 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, wherein the two ends of the inner hollow sleeve are open, the sleeve is fixedly connected with the flange plate on the outer wall of the sleeve, the flange plate is arranged on one side of the hub, the inner side of the sleeve is sequentially provided with small holes and large holes which penetrate through the sleeve along the axis direction, the inner diameter of each small hole is matched with the outer diameter of the transmission shaft, and the small holes and the large holes form stepped surfaces which are connected with the joint blocks in a clamping mode.

7. A fire fighting robot walking assist mechanism according to claim 6, characterized in that: one side of the clamping block, which is far away from the inner wall of the fixing ring, is provided with convenience, and the passive spring part extends into a slope surface in the sleeve.

8. A fire fighting robot walking assist mechanism according to claim 6, characterized in that: the outer wall of the transmission shaft is provided with a first key groove extending along the axial direction of the transmission 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.