CN210680961U - Multifunctional robot with three-in-one traveling mechanism integrating tires, tracks and swing arms - Google Patents

Abstract

The utility model relates to a multifunctional robot with a running mechanism integrating three parts of tires, tracks and swing arms, which comprises a chassis, a vehicle body, a fire water monitor, a spraying device, a crawler-type running part, a tire-type running part and a running driving assembly; the spraying device is connected with the fire water monitor; the crawler type traveling parts are arranged in two groups and are respectively positioned on two sides of the chassis, and each crawler type traveling part comprises a towing wheel set arranged on the side wall of the chassis, a driving wheel rotationally connected to the chassis through a rotating shaft, and a traveling crawler wound on the towing wheel set and the driving wheel on the same side; the walking driving assembly comprises two groups of driving components which respectively provide driving force for the two crawler-type walking parts; the tire type walking parts are arranged into four groups and comprise rubber tires and quick-release structures connected between the rubber tires and the driving wheels. The utility model has the advantages that have two kinds of running gear of track and tire concurrently, improved the ability that fire-fighting robot adapted to the topography, make things convenient for the staff to implement the rescue of putting out a fire fast.

Description

Multifunctional robot with three-in-one traveling mechanism integrating tires, tracks and swing arms

Technical Field

The utility model belongs to the technical field of the fire-fighting equipment technique and specifically relates to a collect tire, track, trinity running gear's of swing arm multi-functional robot.

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, when the crawler belt runs on a hard ground, the crawler belt can generate large noise, and because the crawler belt is made of iron, friction sparks can be generated during the running process, so that the crawler belt is not suitable for inflammable 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 collect tire, track, trinity running gear's of swing arm multi-functional robot, its advantage has two kinds of running gear of track and tire concurrently, has improved the ability that fire-fighting robot adapted to the topography, makes things convenient for the staff to implement the rescue of putting out a fire fast.

The above technical purpose of the present invention can be achieved by the following technical solutions: a multifunctional robot integrating a tire, a crawler and a swing arm three-in-one traveling mechanism comprises a chassis, a vehicle body, a fire water monitor, a spraying device, a crawler type traveling part, a tire type traveling part and a traveling drive assembly;

the vehicle body is fixed on the chassis;

the fire water monitor is arranged on the vehicle body;

the spraying device is connected with the fire water monitor;

the crawler-type traveling parts are arranged in two groups and are respectively positioned on two sides of the chassis along the length direction of the chassis, and each crawler-type traveling part comprises a towing wheel set arranged on the side wall of the chassis, driving wheels which are rotatably connected to the chassis through rotating shafts and are respectively positioned at the front end and the rear end of the towing wheel set, and traveling crawlers wound on the towing wheel set and the driving wheels on the same side;

the walking driving assembly comprises two groups of driving components which respectively provide front driving force and rear driving force for the two crawler-type walking parts;

the tire type walking parts are arranged into four groups and comprise rubber tires arranged on one side of the driving wheel, which is far away from the chassis, and a quick-release structure connected between the rubber tires and the driving wheel.

Through above-mentioned technical scheme, fire-fighting robot in this application has two kinds of running gear of track and tire concurrently, make it not only can be on the plane, stereoplasm ground goes, can also walk in sand ground or other open-air topography, as required, staff's accessible hydraulic equipment is with fire-fighting robot jack-up, then realize the quick dismantlement to rubber tire through quick detach structure, accomplish the switching of walking mode, compare the fire-fighting robot among the prior art, the ability of adaptation topography has been improved greatly, so that the staff can implement the rescue of putting out a fire fast.

The utility model discloses further set up to: the quick-release structure comprises a driving shaft and a sleeve, wherein the driving shaft is connected onto the side wall of the driving wheel through a flange, the sleeve is vertically and fixedly connected to one side of a hub of the tire, the sleeve is in key connection with the driving shaft, the sleeve is hollow, two ends of the sleeve are open, a fixing ring protruding towards the axial direction of the sleeve is fixedly connected to the inner wall of the sleeve, the fixing ring divides the interior of the sleeve into a mounting hole and a working hole, the working hole is close to the hub, a steel ring extending towards the direction of the working hole is arranged in the fixing ring, a plurality of ball grooves distributed in a circumferential manner are formed in the steel ring, steel balls are movably placed in the ball grooves, and an annular groove for clamping the steel balls when the sleeve is slidably sleeved on the driving shaft is formed;

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

According to the technical scheme, during installation, the tire is moved, the sleeve is sleeved on the driving shaft in a sliding mode, and then the steel ball is matched with the annular groove in a clamping mode through the switch assembly, so that rapid installation is achieved; during disassembly, the chassis is jacked up through hydraulic equipment, the steel ball is made to exit from the annular groove through the switch assembly, and then the tire is moved away, so that quick disassembly is realized.

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

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

the gap between the inner wall of the push ring and the outer wall of the steel ring is larger than the depth of the steel ball extending into the annular groove and smaller than the diameter of the steel ball;

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

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

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

The utility model discloses further set up to: the rotating shafts comprise driving rotating shafts and driven rotating shafts, and the driving rotating shafts are arranged diagonally;

the driving assembly comprises a walking motor and a speed reducer which are fixed on the chassis, an output shaft of the walking motor is connected with an input end of the speed reducer, and an output end of the speed reducer is connected with the driving rotating shaft which is positioned at the front end or the rear end of the chassis.

Through the technical scheme, when the walking motor is started, power is transmitted to the driving rotating shaft connected with the walking motor through the speed reducer, so that the driving wheel drives the walking crawler to rotate and walk.

The utility model discloses further set up to: the swing arm mechanism and the swing arm driving assembly are also included;

the four groups of swing arm mechanisms are respectively arranged on each rotating shaft which is rotationally connected with the chassis and are positioned between the chassis and the crawler type travelling part;

the swing arm driving assemblies are arranged into two groups and respectively positioned at the front end and the rear end of the chassis, and the two swing arm mechanisms at the front end or the rear end can be driven to swing towards one side along the rotating shaft simultaneously.

Through above-mentioned technical scheme, the setting of swing arm mechanism and swing arm drive assembly for supplementary fire-fighting robot climbing or cross the bank.

The utility model discloses further set up to: the swing arm mechanism comprises a swing arm frame, a driving wheel, a driven wheel and a swing arm crawler belt;

the swing arm frame comprises a U-shaped large wheel frame, a U-shaped small wheel frame, a supporting plate connected between the large wheel frame and the small wheel frame, and a plurality of auxiliary wheels rotatably connected to two sides of the supporting plate, wherein the large wheel frame is rotatably connected to the rotating shaft through a bearing;

the driving wheel is fixedly connected to the rotating shaft and is positioned between the two circular side plates of the large wheel frame;

the driven wheel is rotationally connected to the small wheel frame;

the swing arm crawler belt is wound on the driving wheel and the driven wheel;

the auxiliary wheels are supported on the inner side of the swing arm track and are in rolling contact therewith.

Through the technical scheme, when the fire-fighting robot needs to pass through the ditch, a worker drives the swing arm mechanism at the front end to move downwards along the driving rotating shaft and the driven rotating shaft through the swing arm driving assembly, so that the swing arm mechanism crosses over the ditch and is overlapped on the other side of the ditch, and the length of the walking crawler belt is prolonged, so that the walking crawler belt can smoothly pass through the ditch; when the fire-fighting robot needs to cross the ridge, a worker drives the swing arm mechanism at the front end to move downwards along the driving rotating shaft and the driven rotating shaft through the swing arm driving assembly until the swing arm crawler belt is lapped on the ridge, and then drives the swing arm crawler belt and the walking crawler belt to move through the walking driving assembly; when the fire-fighting robot runs onto the ridge, the fire-fighting robot is supported by a swing arm mechanism at the rear end to ensure the stability of the fire-fighting robot; because the action wheel rigid coupling is in the pivot, consequently, when the pivot rotated, the action wheel can drive from driving wheel and swing arm track synchronous rotation to guarantee swing arm track and walking track and rotate with the same frequency all the time, so that the climbing that fire-fighting robot can be better or cross the bank.

The utility model discloses further set up to: the swing arm driving assembly comprises a protective cover, a sleeve shaft, a turbine, a worm, a walking motor and a speed reducer, wherein the protective cover is welded and fixed on one side of the chassis and is positioned between the swing arm frame and the chassis, the sleeve shaft is sleeved outside the driven rotating shaft and is rotatably connected with the protective cover through a bearing, the turbine is fixedly connected to the sleeve shaft, the worm is rotatably connected to the protective cover, is positioned above the turbine and is meshed with the turbine, the walking motor is installed on the chassis, the speed reducer is connected to the output shaft of the motor and one end of the worm, and one end, close to the swing arm frame, of the sleeve;

the transmission assembly is connected between the sleeve shaft and the other swing arm mechanism.

Through the technical scheme, when the swing arm motor is started, power is transmitted to the worm connected with the swing arm motor through the speed reducer and drives the turbine to rotate, at the moment, the swing arm frame connected with the sleeve shaft rotates, and meanwhile, the power of the transmission assembly is transmitted to the other side through the power, so that the two swing arm mechanisms are driven to swing synchronously.

The utility model discloses further set up to: the transmission assembly is connected including rotating on the driven spindle and with the quill is kept away from the first drive gear of running gear one end rigid coupling, is rotated and is connected transmission shaft, rotation connection between two front end curb plates or two rear end curb plates on chassis are in on the initiative pivot and with this side swing arm frame fixed connection's second drive gear and rigid coupling are in on the transmission shaft and respectively with first drive gear with the third drive gear that second drive gear meshed mutually.

Through the technical scheme, when the first transmission gear rotates, the first transmission gear transmits power to the third transmission gear through the second transmission gear and the transmission shaft, so that the third transmission gear rotates synchronously with the third transmission gear, and the two swing arm frames at the front end or the rear end are driven to swing simultaneously.

The utility model discloses further set up to: the fire water monitor is including fixing on the roof of automobile body and the inlet tube of level setting, vertical water monitor base of installing on the inlet tube and being linked together with the inlet tube, the barrel of an organic whole connection on the water monitor base and level setting and install the big gun head at the barrel tip.

Through above-mentioned technical scheme, during the use, lead to the external high pressure water source of water pipe, make the water column assemble to the gun head department by inlet tube, water cannon base and gun barrel in proper order and aim at the source of a fire transmission, put out a fire.

The utility model discloses further set up to: spray set includes vertical installation on the inlet tube and rather than the shower of intercommunication, install the atomizing shower head of keeping away from inlet tube one end at the shower and install on the shower and the solenoid valve that is connected with PLC.

Through above-mentioned technical scheme, after high-pressure water column got into the inlet tube, open the solenoid valve, rivers can rise and by the spraying of atomizing shower head along the shower for the automobile body to fire-fighting robot cools down, so that fire-fighting robot can last the operation.

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

1. the fire-fighting robot has two traveling mechanisms, namely the crawler and the tire, so that the robot can travel on a plane and a hard ground and can also travel on a sand ground or other outdoor terrains, a worker can jack the fire-fighting robot through hydraulic equipment as required, and then the rubber tire is quickly disassembled through a quick-release structure to complete the switching of the traveling modes;

2. the arrangement of the swing arm mechanism and the swing arm driving assembly facilitates the fire-fighting robot to pass through a ditch, a slope or a ridge, and further improves the terrain adaptability of the fire-fighting robot;

3. when the walking motor is started, power is transmitted to the driving rotating shaft connected with the walking motor through the speed reducer, so that the driving wheel, the driving wheel and the rubber tire are driven by the driving rotating shaft to synchronously rotate, and the rotation of the driving wheel and the driving wheel drives the swing arm crawler belt and the walking crawler belt to synchronously rotate, so that one-drive multi-movement is realized, the driving cost is reduced, and the structure of the fire-fighting robot is more compact;

4. and the spraying device is used for cooling the body of the fire-fighting robot so that the fire-fighting robot can continuously operate.

Drawings

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

FIG. 2 is a schematic diagram showing the construction of a translation assembly;

FIG. 3 is a schematic diagram of a structure embodying the positions of a travel drive assembly and a swing arm drive assembly;

FIG. 4 is a schematic view showing the structure of the crawler type traveling unit and the connection relationship with the tire type traveling unit;

FIG. 5 is a schematic view showing the structure and connection relationship of the walking drive assembly, the swing arm mechanism and the swing arm drive assembly;

FIG. 6 is an exploded view showing the positional relationship of the connection between the rubber tire, the sleeve and the drive shaft;

FIG. 7 is a cross-sectional view showing the internal structure of the sleeve and the engagement of the switch assembly;

FIG. 8 is an enlarged schematic view taken at A in FIG. 5;

FIG. 9 is a schematic structural view showing a stepped surface;

FIG. 10 is a schematic view of a structure embodying a first chamfer;

fig. 11 is a schematic structural view showing the assembly of a rubber tire.

In the figure, 1, a chassis; 11. a vehicle body; 12. a rack; 13. a horizontal plate; 14. a U-shaped bending piece; 2. fire water monitor; 21. a water inlet pipe; 22. a water cannon base; 23. a gun barrel; 24. a gun head; 25. a mounting seat; 251. a shaped plate; 252. a connecting plate; 26. a water outlet; 3. a spraying device; 31. a shower pipe; 32. an atomizing spray header; 33. an electromagnetic valve; 4. a travel drive assembly; 41. a traveling motor; 42. a speed reducer; 5. a swing arm mechanism; 51. a swing arm frame; 511. a large wheel frame; 512. a small wheel frame; 513. a support plate; 514. an auxiliary wheel; 52. a driving wheel; 53. a driven wheel; 54. a swing arm crawler; 6. a swing arm drive assembly; 61. a protective cover; 62. a quill; 63. a turbine; 64. a worm; 65. a swing arm motor; 66. a speed reducer; 67. a transmission assembly; 671. a first drive gear; 672. a drive shaft; 673. a second transmission gear; 674. a third transmission gear; 7. a crawler-type traveling part; 71. a towing wheel set; 711. a frame; 712. a support wheel; 72. a drive wheel; 73. a walking crawler belt; 8. a tire type traveling unit; 81. a rubber tire; 811. an operation hole; 82. a drive shaft; 821. an annular groove; 822. a first chamfer; 823. a spline; 83. a sleeve; 831. a fixing ring; 832. mounting holes; 8321. a keyway; 833. a working hole; 84. a flange plate; 85. a steel ring; 851. a step surface; 852. a fixing hole; 853. a ball groove; 854. the anti-drop ring; 86. a steel ball; 87. a switch assembly; 871. a baffle ring; 872. a push ring; 873. a spring; 874. a second chamfer; 9. a driving rotating shaft; 91. a driven shaft.

Detailed Description

Referring to fig. 1 and 3, the utility model discloses a multifunctional robot with a running gear integrating three-in-one running gear of tire, caterpillar band and swing arm, which comprises a chassis 1, a vehicle body 11, a fire water monitor 2, a spraying device 3, a running gear, a running drive assembly 4, a swing arm mechanism 5 and a swing arm drive assembly 6; wherein, the chassis 1 is formed by welding a square steel framework and a plurality of steel plates; the vehicle body 11 is fixed on the chassis 1 and is formed by welding a plurality of plates; referring to fig. 2, fire water monitor 2 is installed on the roof of automobile body 11, and it includes inlet tube 21, vertically install on inlet tube 21 and the water monitor base 22 that is linked together with inlet tube 21, a gun barrel 23 that an organic whole is connected on water monitor base 22 and the level sets up, and install the big gun head 24 at gun barrel 23 tip, and inlet tube 21 includes the straight tube that the level set up and an organic whole connects in the arc tube of straight tube one end, and water monitor base 22 passes through the flange to be fixed on the arc tube.

Referring to fig. 2, a mounting seat 25 for fixing the fire monitor 2 to the roof panel of the vehicle body 11 is provided at a position of the arc tube below the monitor base 22. The mount pad 25 includes the dysmorphism board 251 of level setting, connects the connecting plate 252 between the arc pipe of dysmorphism board 251 and inlet tube 21 and sets up a plurality of connecting holes on dysmorphism board 251, sets up corresponding hole on the roof of automobile body 11, during the installation, adjusts the position of fire water monitor 2, makes to aim at between connecting hole and the hole, then passes through the bolt, fixes it on the roof of automobile body 11, then carries out the secondary through the clamp to inlet tube 21 and fixes.

Referring to fig. 2, in order to improve the safety of the operation and reduce the installation difficulty, a translation assembly is arranged on the top plate of the vehicle body 11, and the translation assembly includes a pair of racks 12 which are fixedly connected to the top plate of the vehicle body 11 and are parallel to each other, two horizontal plates 13 arranged between the two racks 12, and U-shaped bending pieces 14 which are respectively fixedly connected to the lower surfaces of the horizontal plates 13 near to the two ends and are connected with the racks 12 in a sliding manner, the two racks 12 extend along the length direction of the vehicle body 11, the U-shaped bending pieces 14 are slidably mounted on the racks 12 by one end, two sides of each rack 12 are respectively protruded outwards to form an anti-disengaging part for preventing the U-shaped bending pieces 14 from disengaging from the upper part, and relatively, a groove matched with the inner wall of the U-shaped.

Threaded holes are formed in the two horizontal plates 13, during installation, the fire water monitor 2 is placed on the horizontal plates 13, then the water inlet pipe 21 is firstly fixed through the clamp, then the position of the horizontal plates 13 is adjusted, the connecting holes are aligned with the threaded holes, and then the water inlet pipe is fixed through the bolts.

When the fire extinguishing gun is used, the water column is externally connected with a high-pressure water source through the water pipe, and the water column is gathered to the gun head 24 in sequence through the water inlet pipe 21, the water gun base 22 and the gun barrel 23 to be aligned with a fire source to be emitted, so that fire is extinguished.

Referring to fig. 2, the lower surface of the straight pipe is communicated with a water outlet 26 for draining water in the fire monitor 2 after the operation is stopped to prevent bacteria from growing in the pipeline or being corroded, an external thread is arranged on the outer wall of the water outlet 26, and the water outlet 26 is normally sealed by an end cap.

Spray set 3 sets up on fire water monitor 2, it includes vertical installation on the straight tube of inlet tube 21 and rather than the shower 31 of intercommunication, install the atomizing shower head 32 of keeping away from inlet tube 21 one end at shower 31, and install the solenoid valve 33 on shower 31 and be connected with PLC, after high-pressure water column gets into inlet tube 21, open solenoid valve 33, rivers can rise and spout by atomizing shower head 32 along shower 31, a automobile body for cooling fire-fighting robot, so that fire-fighting robot can last the operation.

Referring to fig. 3, the walking mechanism comprises a crawler-type walking part 7 and a tire-type walking part 8, and according to different terrains, a worker can manually switch two walking modes; the crawler type traveling units 7 are provided in two sets, and are respectively located on both sides of the chassis 1 in the longitudinal direction thereof.

Referring to fig. 4, the crawler type traveling unit 7 includes a towing wheel set 71 installed on a side wall of the chassis 1, a driving wheel 72 rotatably connected to the chassis 1 through a rotation shaft and respectively located at front and rear ends of the towing wheel set 71, and a traveling crawler 73 wound around the towing wheel set 71 and the driving wheel 72 on the same side, wherein a plurality of guide teeth are uniformly arranged on an inner side of the traveling crawler 73 for aligning the traveling crawler 73 and preventing the traveling crawler 73 from falling off when the fire fighting robot turns or travels in a tilted manner. The rotating shaft is rotatably connected with the chassis 1 through a bearing. The towing wheel set 71 includes a frame 711, and a support wheel 712 rotatably connected to the frame 711, the frame 711 is fixed to the chassis 1 by bolts, and the support wheel 712 is in rolling contact with the inner side of the traveling crawler 73 for supporting the same.

The tire type walking parts 8 are arranged in four groups and are respectively positioned on one side of the driving wheel 72 far away from the chassis 1, the tire type walking parts 8 comprise rubber tires 81 and quick-release structures, the rubber tires 81 are installed on the side walls of the driving wheel 72 through the quick-release structures, the diameter of the rubber tires 81 is larger than that of the driving wheel 72, and the tire type walking parts normally walk through the rubber tires 81.

Referring to fig. 4 and 5, the swing arm mechanisms 5 are provided in four groups, and are respectively installed on each rotating shaft rotatably connected with the chassis 1 and located between the chassis 1 and the crawler type traveling part 7. The swing arm mechanism 5 comprises a swing arm frame 51, a driving wheel 52, a driven wheel 53 and a swing arm crawler 54, wherein the swing arm frame 51 comprises a large wheel frame 511, a small wheel frame 512, a supporting plate 513 connected between the large wheel frame 511 and the small wheel frame 512, and a plurality of auxiliary wheels 514 rotatably connected to two sides of the supporting plate 513, the large wheel frame 511 and the small wheel frame 512 are both U-shaped, the large wheel frame 511 and the small wheel frame 512 have the same structure but have different sizes, the circular side plates on two sides of the large wheel frame 511 are rotatably connected to a rotating shaft through bearings, the driving wheel 52 is fixedly connected to the rotating shaft at a position between the two circular side plates of the large wheel frame 511, the driven wheel 53 is rotatably connected to the small wheel frame 512, the swing arm crawler 54 is wound on the driving wheel 52 and.

The walking drive assembly 4 comprises two sets of driving components, which are divided into a front end and a rear end which are positioned on the chassis 1, and are in one-to-one correspondence with the two crawler-type walking portions 7, and are used for providing driving force for the driving wheels 72 at the opposite angles of the two crawler-type walking portions 7, wherein for the convenience of distinguishing, a rotating shaft connected with the walking drive assembly 4 is named as a driving rotating shaft 9, and the other rotating shaft at the front end or the rear end is named as a driven rotating shaft 91.

Referring to fig. 5, the driving assembly includes a walking motor 41 and a speed reducer 42 fixed on the chassis 1, an output shaft of the walking motor 41 is connected with an input end of the speed reducer 42, an output end of the speed reducer 42 is connected with the driving rotating shaft 9, when the walking motor 41 is started, power is transmitted to the driving rotating shaft 9 connected with the walking motor through the speed reducer 42, so that the driving wheel 52, the driving wheel 72 and the rubber tire 81 synchronously rotate under the driving of the driving rotating shaft 9, and the rotation of the driving wheel 52 and the driving wheel 72 drives the swing arm crawler 54 and the walking crawler 73 to synchronously rotate, thereby realizing one-drive multiple-motion, reducing the driving cost, and making the structure of the fire-fighting robot more compact.

Referring to fig. 4 and 5, the swing arm driving assemblies 6 are arranged in two groups, which are respectively located at the front end and the rear end of the chassis 1, and are used for driving the swing arm mechanisms 5 at the front end or the rear end to swing simultaneously. The swing arm driving assembly 6 comprises a protective shell, a sleeve shaft 62, a turbine 63, a worm 64, a swing arm motor 65, a speed reducer 66 and a transmission assembly 67, wherein the protective shell is located between the swing arm frame 51 and the chassis 1 and is welded and fixed on one side of the chassis 1, the protective shell comprises an upper shell and a lower shell, the upper shell and the lower shell are connected through bolts, the sleeve shaft 62 is sleeved outside the driven rotating shaft 91 and penetrates through the upper shell and the lower shell, the position where the sleeve shaft 62 penetrates through the upper shell and the lower shell is rotatably connected through a bearing, and one end, close to the swing arm frame 51, of the sleeve shaft 62 is fixedly connected with the side wall of the large wheel.

The turbine 63 is keyed to the quill 62 and is located within the containment vessel; the worm 64 is arranged right above the worm wheel 63 and meshed with the worm wheel 63, and two ends of the worm 64 are rotatably connected into the upper shell through bearings; the swing arm motor 65 is fixed on the chassis 1 through a hoop at a position above the walking motor 41; the speed reducer 66 is installed on the chassis 1, the input end of the speed reducer is connected with the output shaft of the swing arm motor 65, and the output end of the speed reducer is connected with one end of the worm 64; the transmission assembly 67 is arranged between the sleeve shaft 62 at the front end or the rear end of the chassis 1 and the other swing arm mechanism 5, and is used for transmitting power from one side to the other side so as to drive the two swing arm mechanisms 5 to swing synchronously.

Referring to fig. 5, the transmission assembly 67 includes a first transmission gear 671, a transmission shaft 672, a second transmission gear 673 and a third transmission gear 674, the first transmission gear 671 is rotatably connected to the outer wall of the driven rotating shaft 91 through a bearing, and is fixedly connected to one end of the sleeve shaft 62 away from the running gear through a special-shaped connecting plate; the transmission shaft 672 is rotatably connected between two front end side plates or two rear end side plates of the chassis 1, is positioned above the driving rotating shaft 9 and the driven rotating shaft 91 and is parallel to the driving rotating shaft; the second transmission gear 673 is rotatably connected to the outer wall of the driving rotating shaft 9 through a bearing and is fixedly connected with the swing arm frame 51 through a bearing plate; the third transmission gear 674 is fixedly connected to the transmission shaft 672 and is meshed with the first transmission gear 671 and the second transmission gear 673 respectively.

When the swing arm motor 65 is started, power is transmitted to the worm 64 connected with the swing arm motor through the speed reducer 66, so that the sleeve shaft 62 and the first transmission gear 671 are driven to rotate by the turbine 63 and the worm 64, and in the rotating process of the first transmission gear 671, the power is transmitted to the third transmission gear 674 through the second transmission gear 673 and the transmission shaft 672, so that the third transmission gear 674 and the third transmission gear 674 rotate synchronously, and the two swing arm supports 51 at the front end or the rear end are driven to swing simultaneously.

When walking on flat ground or hard ground, walking through the tire type walking part 8; when walking on sand or other field terrains, the crawler-type walking part 7 walks.

Referring to fig. 4 and 5, when the fire-fighting robot needs to pass through the trench, the worker drives the swing arm mechanism 5 at the front end to move downwards along the driving rotating shaft 9 and the driven rotating shaft 91 through the swing arm driving assembly 6, so that the swing arm mechanism crosses the trench and is overlapped at the other side of the trench, thereby extending the length of the walking crawler 73 so as to smoothly pass through the trench; when the fire-fighting robot needs to cross the threshold, the worker drives the swing arm mechanism 5 at the front end to move downwards along the driving rotating shaft 9 and the driven rotating shaft 91 through the swing arm driving assembly 6 until the swing arm crawler 54 is lapped on the threshold, and then drives the swing arm crawler 54 and the walking crawler 73 to move through the walking driving assembly 4; when the fire-fighting robot runs to the ridge, the fire-fighting robot is supported by the swing arm mechanism 5 at the rear end to ensure the stability of the fire-fighting robot.

Referring to fig. 4 and 6, the quick release structure includes a driving shaft 82 flanged to a sidewall of the driving wheel 72, and a sleeve 83 vertically fixed to a side of a hub of the rubber tire 81, wherein the sleeve 83 is hollow and has two open ends, a flange 84 is integrally connected to an outer wall of the sleeve 83 near one end, and the sleeve 83 is fixed to the hub through the flange 84. A fixing ring 831 protruding toward the axial direction of the quill 62 is fixed to the inner wall of the sleeve 83, and divides the interior of the sleeve 83 into a mounting hole 832 and a working hole 833 which are communicated with each other, wherein the working hole 833 is arranged close to the hub.

Referring to fig. 7 and 9, a steel ring 85 extending towards the working hole 833 is arranged in the fixing ring 831, a stepped surface 851 having the same width as the fixing ring 831 is arranged on the outer wall of one end of the steel ring 85, and the steel ring 85 is in threaded connection with the inner wall of the fixing ring 831 through the stepped surface 851.

In order to avoid the situation that the steel ring 85 cannot be normally installed due to no holding after extending into the sleeve 83, a plurality of fixing holes 852 are formed in the end face of the steel ring 85 close to one end of the hub, during operation, a rod-shaped tool is inserted into the fixing holes 852, and then the rod-shaped tool is rotated to drive the steel ring 85 to be in threaded connection with the fixing ring 831 until the end face of the fixing ring 831 is flush.

The outer wall of the steel ring 85 in the working hole 833 is provided with a plurality of ball grooves 853 which are distributed circumferentially and penetrate through the steel ring 85, a steel ball 86 is movably placed in each ball groove 853, the diameter of each steel ball 86 is larger than the opening of the ball groove 853 close to one side of the inner wall of the steel ring 85 and smaller than the opening of the ball groove 853 close to one side of the outer wall of the steel ring 85, and the steel ball 86 is prevented from falling into the steel ring 85 during normal installation.

Referring to fig. 6 and 10, the driving shaft 82 is a stepped shaft, the inner diameter of the sleeve 83 is matched with the outer diameter of the thick shaft of the driving shaft 82, the inner diameter of the steel ring 85 (see fig. 7) is matched with the outer diameter of the thin shaft of the driving shaft 82, the thin shaft of the driving shaft 82 is provided with an annular groove 821, and when the sleeve 83 is slidably sleeved on the driving shaft 82, the steel ball 86 is clamped in the annular groove, so that the rubber tire 81 is mounted. A first chamfer 822 is provided at the end of the drive shaft 82 adjacent the annular recess 821 to facilitate installation.

A coupling assembly is provided between the mounting hole 832 and the drive shaft 82 for ensuring that the rubber tire 81 rotates synchronously with the drive shaft 82. The connecting assembly comprises a spline 823 which is integrally connected to the thick shaft of the driving shaft 82 and extends along the axial direction of the thick shaft, and a key groove 8321 which is formed in the inner wall of the mounting hole 832 and matched with the spline 823, and the spline 8321 and the mounting hole 832 are mutually matched to realize power transmission.

Referring to fig. 7, a switch assembly 87 is disposed in the working hole 833 and is used to ensure that the steel ball 86 is clamped in the annular groove 821 or withdrawn from the annular groove 821, i.e., in an installation state or a disassembly state. The switch assembly 87 comprises a blocking ring 871 which is slidably sleeved outside the steel ring 85 to press and hold the steel ball 86, a push ring 872 which is integrally connected to the outer wall of the steel ring 85 and extends towards the hub direction, and a spring 873 which is sleeved outside the steel ring 85 and has two ends respectively abutted to the fixing ring 831 and the push ring 872, wherein the push ring 872 extends out of the working hole 833 to the outside, the outer diameter of the push ring 872 is matched with the inner diameter of the working hole 833, and the blocking ring 871 is normally blocked at the ball groove 853 under the action of the spring 873. The clearance between the inner wall of the push ring 872 and the outer wall of the steel ring 85 is larger than the depth of the steel ball 86 extending into the annular groove 821 and smaller than the diameter of the steel ball 86, and the above conditions are used for ensuring the normal installation of the steel ball 86 and simultaneously avoiding the steel ball 86 from completely separating from the ball groove 853.

Referring to fig. 7 and 8, an anti-drop ring 854 is fixedly connected to a position of the outer wall of the steel ring 85, corresponding to one end of the stop ring 871, away from the fixing ring 831, and is used for limiting the stop ring 871 and preventing the stop ring 871 from dropping off from the steel ring 85. The end of the stop ring 871 close to the anti-slip ring 854 is provided with a second chamfer 874 which facilitates the steel ball 86 to retreat into the ball groove 853.

Referring to fig. 11, an operation hole 811 is formed on the hub corresponding to the position where the push ring 872 extends out of the sleeve 83, so that the worker can press the push ring 872 to drive the stopper 871 to slide along the outer wall of the steel ring 85.

Referring to fig. 6 and 11, during installation, a worker drives the front and rear swing arm mechanisms 5 to move downwards along the driving rotating shaft 9 and the driven rotating shaft 91 through the swing arm driving assembly 6 until the chassis 1 of the fire-fighting robot is supported, then lifts the rubber tire 81, aligns the key groove 8321 with the spline 823, and pushes the rubber tire 81 to slidably sleeve the sleeve 83 on the driving shaft 82; when the thin shaft of the driving shaft 82 extends into the steel ring 85 and contacts with the steel ball 86, the steel ball 86 can prevent the driving shaft 82 from extending into the steel ring 85, at this time, a worker presses the push ring 872 towards the inside of the sleeve 83 to make the baffle ring 871 staggered with the ball groove 853 (see the figure), and then continues to push the rubber tire 81 to make the steel ball 86 move along the direction away from the axis of the steel ring 85 along the first chamfer 822 under the influence of the pushing force until part of the ball body of the steel ball 86 is extruded into the gap between the push ring 872 and the steel ring 85 and the penetration of the driving shaft 82 is not influenced any more; when the end of the sleeve 83 abuts against the shoulder of the driving shaft 82, the push ring 872 is released, at this time, the stop ring 871 is reset under the influence of the restoring force of the spring 873, the second chamfer 874 (see the figure) pushes the steel ball 86 to return to the ball groove 853 and to be clamped with the annular groove 821 in the resetting process, so that the rubber tire 81 is fixedly mounted, and at this time, the swing arm mechanism 5 is retracted, so that the walking crawler 73 is in contact with the ground.

Referring to fig. 5 and 11, in the detachment, the chassis 1 is lifted up by the swing arm mechanism 5, and then the push ring 872 is pressed to displace the stopper ring 871 from the ball groove 853, and then the rubber tire 81 is pulled in a direction away from the drive shaft 82.

Fire-fighting robot in this application has two kinds of running gear of track and tire concurrently, make it not only can be on the plane, the subaerial walking of stereoplasm, can also walk in sand ground or other open-air topography, as required, staff's accessible swing arm mechanism 5 is with fire-fighting robot jack-up, then realize the quick dismantlement to rubber tire 81 through quick detach structure, accomplish the switching of walking mode, and simultaneously, still can control swing arm mechanism 5 through swing arm drive assembly 6 and follow the pivot downswing, thereby the preceding support and the back support as fire-fighting robot carry out climbing or cross the bank, the ability that fire-fighting robot adapted topography has been improved, make things convenient for the staff to implement the rescue fast and put out a fire.

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. The utility model provides a collect tire, track, trinity running gear's of swing arm multi-functional robot which characterized in that: comprises a chassis (1), a vehicle body (11), a fire water monitor (2), a spraying device (3), a crawler-type walking part (7), a tire-type walking part (8) and a walking driving assembly (4);

the vehicle body (11) is fixed on the chassis (1);

the fire water monitor (2) is arranged on the vehicle body (11);

the spraying device (3) is connected with the fire water monitor (2);

the crawler-type traveling parts (7) are arranged in two groups and are respectively positioned on two sides of the chassis (1) along the length direction of the chassis, and each crawler-type traveling part (7) comprises a towing wheel set (71) arranged on the side wall of the chassis (1), driving wheels (72) which are rotatably connected to the chassis (1) through rotating shafts and are respectively positioned at the front end and the rear end of the towing wheel set (71), and a traveling crawler (73) wound on the towing wheel set (71) and the driving wheels (72) on the same side;

the walking drive assembly (4) comprises two groups of drive components which respectively provide front driving power and rear driving power for the two crawler-type walking parts (7);

the tire type walking parts (8) are arranged into four groups, and comprise rubber tires (81) arranged on one side of the driving wheel (72) far away from the chassis (1) and a quick-release structure connected between the rubber tires (81) and the driving wheel (72).

2. The multifunctional robot of claim 1, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: quick detach structure includes flange joint drive shaft (82) and perpendicular rigid coupling on drive wheel (72) lateral wall are in sleeve (83) of wheel hub one side of tire, sleeve (83) with key-type connection between drive shaft (82), the inside cavity and both ends of sleeve (83) are uncovered, the rigid coupling has the court on the inner wall of sleeve (83) axis direction protruding solid fixed ring (831) of establishing, gu fixed ring (831) will sleeve (83) internal partitioning becomes mounting hole (832) and working hole (833), working hole (833) are close to the wheel hub setting, gu be equipped with in fixed ring (831) court steel ring (85) that working hole (833) direction extends, set up a plurality of ball grooves (853) that are the circumference and distribute on steel ring (85), steel ball (86) have been placed to ball groove (853) internalization, the driving shaft (82) is provided with an annular groove (821) for clamping the steel ball (86) when the sleeve (83) is sleeved on the driving shaft (82) in a sliding manner;

and a switch assembly (87) which ensures that the steel ball (86) is clamped in the annular groove (821) or retreats from the annular groove (821) is arranged in the working hole (833).

3. The multifunctional robot of claim 2, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: the switch assembly (87) comprises a stop ring (871) which is sleeved outside the steel ring (85) in a sliding manner to press and hold the steel ball (86), a push ring (872) which is integrally connected to the outer wall of the steel ring (85) and extends towards the hub direction, and a spring (873) which is sleeved outside the steel ring (85) and two ends of which are respectively abutted against the fixing ring (831) and the push ring (872);

an anti-falling ring (854) for limiting one end of the baffle ring (871) far away from the fixing ring (831) is fixedly connected to the outer wall of the steel ring (85);

the gap between the inner wall of the push ring (872) and the outer wall of the steel ring (85) is larger than the depth of the steel ball (86) extending into the annular groove (821) and smaller than the diameter of the steel ball (86);

the hub is provided with an operation hole (811) which is convenient for a worker to press the push ring (872) to drive the baffle ring (871) to slide.

4. The multifunctional robot of claim 1, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: the rotating shafts comprise driving rotating shafts (9) and driven rotating shafts (91), and the driving rotating shafts (9) are arranged diagonally;

the driving assembly comprises a walking motor (41) and a speed reducer (42) which are fixed on the chassis (1), an output shaft of the walking motor (41) is connected with an input end of the speed reducer (42), and an output end of the speed reducer (42) is connected with the driving rotating shaft (9) which is positioned at the front end or the rear end of the chassis (1).

5. The multifunctional robot of claim 4, wherein the multifunctional robot comprises a traveling mechanism with three-in-one of a tire, a track and a swing arm, and is characterized in that: the swing arm mechanism (5) and the swing arm driving assembly (6) are also included;

the four groups of swing arm mechanisms (5) are respectively arranged on each rotating shaft which is rotatably connected with the chassis (1) and are positioned between the chassis (1) and the crawler-type walking part (7);

the swing arm driving assemblies (6) are arranged into two groups and are respectively positioned at the front end and the rear end of the chassis (1), and the two swing arm mechanisms (5) at the front end or the rear end can be driven to swing towards one side along the rotating shaft simultaneously.

6. The multifunctional robot of claim 5, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: the swing arm mechanism (5) comprises a swing arm frame (51), a driving wheel (52), a driven wheel (53) and a swing arm crawler belt (54);

the swing arm frame (51) comprises a U-shaped large wheel frame (511) and a small wheel frame (512), a supporting plate (513) connected between the large wheel frame (511) and the small wheel frame (512), and a plurality of auxiliary wheels (514) rotatably connected to two sides of the supporting plate (513), wherein the large wheel frame (511) is rotatably connected to the rotating shaft through a bearing;

the driving wheel (52) is fixedly connected to the rotating shaft and is positioned between the two circular side plates of the large wheel carrier (511);

the driven wheel (53) is rotationally connected to the small wheel frame (512);

the swing arm crawler belt (54) is wound on the driving wheel (52) and the driven wheel (53);

the auxiliary wheels (514) are supported on the inside of the swing arm track (54) and are in rolling contact therewith.

7. The multifunctional robot of claim 6, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: the swing arm driving assembly (6) comprises a protective cover (61) which is welded and fixed on one side of the chassis (1) and is positioned between the swing arm frame (51) and the chassis (1), a sleeve shaft (62) which is sleeved outside the driven rotating shaft (91) and is rotationally connected with the protective cover (61) through a bearing, a turbine (63) fixedly connected onto the sleeve shaft (62), a worm (64) which is rotationally connected onto the protective cover (61) and is positioned above the turbine (63) and is meshed with the turbine (63), a swing arm motor (65) installed on the chassis (1), and a speed reducer (66) which is connected with an output shaft of the swing arm motor (65) and one end of the worm (64), wherein one end, close to the swing arm frame (51), of the sleeve shaft (62) is fixedly connected with the large wheel frame (511);

and the transmission assembly (67) is connected between the sleeve shaft (62) and the other swing arm mechanism (5).

8. The multifunctional robot of claim 7, wherein the multifunctional robot comprises a traveling mechanism with three-in-one of a tire, a track and a swing arm, and is characterized in that: drive assembly (67) including rotate connect on driven rotating shaft (91) and with sleeve shaft (62) keep away from first drive gear (671) of running gear one end rigid coupling, rotate to be connected drive shaft (672), the rotation connection between two front end curb plates or two rear end curb plates on chassis (1) are in on drive rotating shaft (9) and with this side swing arm frame (51) fixed connection's second drive gear (673) and rigid coupling are in on drive shaft (672) and respectively with first drive gear (671) with third drive gear (674) that second drive gear (673) mesh mutually.

9. The multifunctional robot of claim 1, wherein the multifunctional robot comprises a traveling mechanism with three elements, namely a tire, a track and a swing arm, and is characterized in that: fire water monitor (2) including fix on the roof of automobile body (11) and inlet tube (21) that the level set up, vertically install on inlet tube (21) and water monitor base (22) that are linked together with inlet tube (21), integrated connection just the barrel (23) that the level set up on water monitor base (22) and install big gun head (24) at barrel (23) tip.

10. The multifunctional robot of claim 9, wherein the multifunctional robot comprises a traveling mechanism with three-in-one of a tire, a track and a swing arm, and is characterized in that: spray set (3) including vertical installation on inlet tube (21) and spray pipe (31) rather than the intercommunication, install and keep away from atomizing shower head (32) of inlet tube (21) one end at spray pipe (31) and install on spray pipe (31) and solenoid valve (33) that are connected with PLC.

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