CN211986771U - Wheeled chassis for fire-fighting robot - Google Patents
Wheeled chassis for fire-fighting robot Download PDFInfo
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- CN211986771U CN211986771U CN202020362474.1U CN202020362474U CN211986771U CN 211986771 U CN211986771 U CN 211986771U CN 202020362474 U CN202020362474 U CN 202020362474U CN 211986771 U CN211986771 U CN 211986771U
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Abstract
The utility model belongs to the technical field of the robot chassis, especially, wheeled chassis is used to fire-fighting robot, chassis to among the comparison file can not carry out angle modulation, the angle that conflagration took place when the fire control was put out a fire is different, can not satisfy the problem of different angle user demand when needing to use the robot to put out a fire, the following scheme is proposed at present, it includes circular bottom plate, be connected with two universal wheels around circular bottom plate's the bottom, be connected with two drive wheels about circular bottom plate's the bottom, circular bottom plate's top is provided with the installation plectane, the top fixedly connected with machine of putting out a fire of installation plectane, circular bottom plate's top fixed mounting has backup pad and fixed box, the top of backup pad is rotated with circular bottom plate's bottom and is connected, fixed. The utility model discloses can change the angle of putting out a fire when fire control puts out a fire, enlarge application range, and can guarantee that the focus can not squint when angle regulation.
Description
Technical Field
The utility model relates to a robot chassis technical field especially relates to a fire-fighting robot is with wheeled chassis.
Background
When the conflagration breaing out, because the scene of a fire temperature is very high, general rescue fire engine and fire fighter can not be close to also can not get into the scene of a fire, the situation of a fire can't be known to the commander in the scene, make the degree of difficulty of putting out a fire increase, so fire-fighting robot is used for high temperature region deep fire extinguishing by development, fire-fighting robot removes and needs to use the chassis, current chassis is more, wherein wheeled robot's chassis structure generally is front and back universal wheel, control the rhombus of drive wheel and arrange the form, realize turning to through the differential, it is simple to have control mode, the nimble advantage of action, but can only be applicable to complete flat environment: 201820429479.4 or an authorization bulletin number: CN208306793U patent document provides a wheeled robot chassis, which comprises a circular bottom plate, a front universal wheel, a rear universal wheel, a left driving wheel and a right driving wheel, wherein the front universal wheel and the rear universal wheel are connected to the circular bottom plate, the left driving wheel and the right driving wheel are arranged in a diamond shape, and the driving wheels are connected with a driving device. The driving wheel and the driving device thereof are connected to the circular bottom plate through the elastic suspension device, the circular bottom plate is connected with the collision detection device, the collision detection device comprises a plurality of air pressure detection modules which are uniformly distributed on the periphery of the circular bottom plate, and the air pressure detection modules output collision signals when detecting that the air pressure is increased. When the road surface changes, the elastic suspension device has a self-adaptive function, so that the driving wheels are always kept in contact with the ground, and the elastic suspension device has driving capability all the time, so that the wheeled robot is not only suitable for a flat environment, but also suitable for an uneven environment, and has strong obstacle crossing capability. The collision detection device detects the collision external force of the robot through the air pressure change of the air pressure detection module at different positions, and thus omnibearing collision prevention is realized.
The chassis in the above-mentioned patent document can not carry out angle modulation, and the angle that the conflagration took place is different when fire control is put out a fire, can not satisfy different angle user demand when needing to use the robot to put out a fire.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the chassis in the comparison file and can not carrying out the angle modulation, the angle that the conflagration took place when the fire control was put out a fire is different, can not satisfy different angle user demand's shortcoming when needing to use the robot to put out a fire, and the wheeled chassis is used to the fire-fighting robot who provides.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a wheeled chassis for a fire-fighting robot comprises a circular bottom plate, wherein the front and the back of the bottom of the circular bottom plate are connected with two universal wheels, the left and the right of the bottom of the circular bottom plate are connected with two driving wheels, the top of the circular bottom plate is provided with an installation circular plate, the top of the installation circular plate is fixedly connected with a fire-fighting machine, the top of the circular bottom plate is fixedly provided with a supporting plate and a fixing box, the top of the supporting plate is rotatably connected with the bottom of the circular bottom plate, the same limiting guide rod is fixedly arranged between the supporting plate and the fixing box, the limiting guide rod is slidably connected with a balancing weight block, the inner wall of the bottom of the fixing box is rotatably connected with a cylindrical rod, the cylindrical rod is connected with a thrust mechanism, the thrust mechanism is slidably connected with the installation circular plate, a driving mechanism is arranged in the fixed box and is matched with the cylindrical rod.
Preferably, the driving mechanism comprises a servo motor, a first gear and a second gear, the servo motor is fixedly connected to the inner wall of the bottom of the fixing box, the first gear is fixedly installed on an output shaft of the servo motor, the second gear is fixedly sleeved on the outer side of the cylindrical rod, and the first gear is meshed with the second gear.
Preferably, the thrust mechanism comprises a thrust screw and an adapter block, the top end of the cylindrical rod is provided with a thrust screw groove, the thrust screw is in threaded connection with the thrust screw groove, the bottom of the mounting circular plate is provided with the adapter groove, the adapter block is in sliding connection with the adapter groove, and the top end of the thrust screw is in rotating connection with the bottom of the adapter block.
Preferably, one end of the balance screw is fixedly provided with a first bevel gear, the outer side of the cylindrical rod is fixedly sleeved with a second bevel gear, and the first bevel gear is meshed with the second bevel gear.
Preferably, fire extinguishing machine is including fire water tank, wireless camera, filler, high-pressure pump and fire extinguishing pipe, and fire water tank fixed connection is at the top of installation plectane, and the high-pressure pump intercommunication is at fire water tank's top, and the delivery port intercommunication of fire extinguishing pipe and high-pressure pump, the filler setting is at fire water tank's top, and wireless camera sets up the front side at fire water tank, and wireless camera and high-pressure pump pass through wireless remote control to wireless camera can send the video to on the external display screen.
Compared with the prior art, the utility model has the advantages of:
(1) when the fire extinguishing angle needs to be adjusted, the cylindrical rod is driven to rotate through the driving mechanism, the cylindrical rod drives the installation circular plate to adjust the angle by taking the supporting plate as a fulcrum through the thrust screw rod and the adaptation block, and the installation circular plate drives the high-pressure pump and the fire extinguishing pipe to adjust the angle, so that the fire extinguishing angle can be changed, and the fire extinguishing application range is expanded;
(2) according to the scheme, the cylindrical rod drives the balance screw rod to rotate through the first bevel gear and the second bevel gear, the balance screw rod drives the balance weight block to move, so that the center of gravity of the circular bottom plate cannot shift when the mounting circular plate is inclined, and the movement is stable;
the utility model discloses can change the angle of putting out a fire when fire control puts out a fire, enlarge application range, and can guarantee that the focus can not squint when angle regulation, guarantee to remove stably.
Drawings
Fig. 1 is a schematic structural view of a wheeled chassis for a fire-fighting robot according to the present invention;
fig. 2 is a schematic structural view of a part a of a wheeled chassis for a fire-fighting robot according to the present invention;
fig. 3 is a schematic bottom view of the round bottom plate, the driving wheels and the universal wheels of the wheeled chassis for the fire-fighting robot according to the present invention;
fig. 4 is the utility model provides a fire-fighting robot is with installation plectane, backup pad, adaptation piece and thrust screw rod's of wheeled chassis bottom up view structure schematic diagram.
In the figure: the device comprises a circular bottom plate 1, a driving wheel 2, a universal wheel 3, a fire extinguishing water tank 4, a high-pressure pump 5, a fire extinguishing tube 6, a wireless camera 7, a water filling port 8, a supporting plate 9, a mounting circular plate 10, a fixing box 11, a limiting guide rod 12, a balancing weight block 13, a balancing screw 14, a thrust screw 15, a cylindrical rod 16, a first bevel gear 17, a second bevel gear 18, a thrust screw groove 19, an adaptation groove 20, an adaptation block 21, a servo motor 22, a first gear 23 and a second gear 24.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, but not all embodiments.
Example one
Referring to fig. 1-4, a wheeled chassis for a fire-fighting robot, comprising a circular base plate 1, two universal wheels 3 connected to the front and the rear of the bottom of the circular base plate 1, two driving wheels 2 connected to the left and the right of the bottom of the circular base plate 1, a mounting circular plate 10 arranged on the top of the circular base plate 1, a fire-fighting machine fixedly connected to the top of the mounting circular plate 10, a supporting plate 9 and a fixing box 11 fixedly mounted on the top of the circular base plate 1, the top of the supporting plate 9 rotatably connected to the bottom of the circular base plate 1, a same spacing guide rod 12 fixedly mounted between the supporting plate 9 and the fixing box 11, a balancing weight block 13 slidably connected to the spacing guide rod 12, a cylindrical rod 16 rotatably connected to the inner wall of the bottom of the fixing box 11, a thrust mechanism connected to the cylindrical rod 16, the thrust mechanism slidably connected, balancing weight piece 13 and balancing screw 14 threaded connection, balancing screw 14 and 16 looks adaptations of cylindric pole, are provided with actuating mechanism in the fixed box 11, actuating mechanism and 16 looks adaptations of cylindric pole.
In this embodiment, the driving mechanism includes a servo motor 22, a first gear 23 and a second gear 24, the servo motor 22 is fixedly connected to the inner wall of the bottom of the fixing box 11, the first gear 23 is fixedly installed on the output shaft of the servo motor 22, the second gear 24 is fixedly sleeved on the outer side of the cylindrical rod 16, the first gear 23 is engaged with the second gear 24, and the servo motor 22 drives the cylindrical rod 16 to rotate through the first gear 23 and the second gear 24.
In this embodiment, the thrust mechanism includes thrust screw 15 and adaptation piece 21, thrust thread groove 19 has been seted up on the top of cylinder pole 16, thrust screw 15 and thrust thread groove 19 threaded connection, adaptation groove 20 has been seted up to the bottom of installation plectane 10, adaptation piece 21 and adaptation groove 20 sliding connection, thrust screw 15's top is rotated with the bottom of adaptation piece 21 and is connected, adaptation piece 21 slides in adaptation groove 20, can carry on spacingly to thrust screw 15, make thrust screw 15 can not rotate, and can adapt to the upset arc orbit of installation plectane 10.
In this embodiment, a first bevel gear 17 is fixedly installed at one end of the balance screw 14, a second bevel gear 18 is fixedly sleeved on the outer side of the cylindrical rod 16, the first bevel gear 17 is engaged with the second bevel gear 18, and the cylindrical rod 16 drives the balance screw 14 to rotate through the first bevel gear 17 and the second bevel gear 18.
In this embodiment, fire extinguishing machine includes fire water tank 4, wireless camera 7, the filler 8, high-pressure pump 5 and fire extinguishing pipe 6, 4 fixed connection at the top of installation plectane 10 on the fire water tank, 5 top at fire water tank 4 of high-pressure pump intercommunication, the delivery port intercommunication of fire extinguishing pipe 6 and high-pressure pump 5, the filler 8 sets up the top at fire water tank 4, wireless camera 7 sets up the front side at fire water tank 4, wireless camera 7 and high-pressure pump 5 pass through wireless remote control, and wireless camera 7 can convey the video to on the external display screen.
Example two
Referring to fig. 1-4, a wheeled chassis for a fire-fighting robot, comprising a circular base plate 1, two universal wheels 3 connected to the front and the rear of the bottom of the circular base plate 1, two driving wheels 2 connected to the left and the right of the bottom of the circular base plate 1, a mounting circular plate 10 disposed on the top of the circular base plate 1, a fire-fighting machine fixedly connected to the top of the mounting circular plate 10 by screws, a supporting plate 9 and a fixing box 11 fixedly mounted on the top of the circular base plate 1 by welding, the top of the supporting plate 9 rotatably connected to the bottom of the circular base plate 1, the same limiting guide rod 12 fixedly mounted between the supporting plate 9 and the fixing box 11 by welding, a balancing weight 13 slidably connected to the limiting guide rod 12, a cylindrical rod 16 rotatably connected to the inner wall of the bottom of the fixing box 11 by a bearing, a thrust mechanism connected to the cylindrical rod 16, the thrust mechanism slidably connected to the, balancing weight piece 13 and balancing screw 14 threaded connection, balancing screw 14 and 16 looks adaptations of cylindric pole, are provided with actuating mechanism in the fixed box 11, actuating mechanism and 16 looks adaptations of cylindric pole.
In this embodiment, the driving mechanism includes a servo motor 22, a first gear 23 and a second gear 24, the servo motor 22 is fixedly connected to the inner wall of the bottom of the fixing box 11 through screws, the first gear 23 is fixedly installed on the output shaft of the servo motor 22 through welding, the second gear 24 is fixedly sleeved on the outer side of the cylindrical rod 16, the first gear 23 is engaged with the second gear 24, and the servo motor 22 drives the cylindrical rod 16 to rotate through the first gear 23 and the second gear 24.
In this embodiment, the thrust mechanism includes thrust screw 15 and adaptation piece 21, thrust thread groove 19 has been seted up on the top of cylinder pole 16, thrust screw 15 and thrust thread groove 19 threaded connection, adaptation groove 20 has been seted up to the bottom of installation plectane 10, adaptation piece 21 and adaptation groove 20 sliding connection, thrust screw 15's top is rotated with the bottom of adaptation piece 21 and is connected, adaptation piece 21 slides in adaptation groove 20, can carry on spacingly to thrust screw 15, make thrust screw 15 can not rotate, and can adapt to the upset arc orbit of installation plectane 10.
In this embodiment, a first bevel gear 17 is fixedly installed at one end of the balance screw 14 by welding, a second bevel gear 18 is fixedly sleeved on the outer side of the cylindrical rod 16, the first bevel gear 17 is engaged with the second bevel gear 18, and the cylindrical rod 16 drives the balance screw 14 to rotate through the first bevel gear 17 and the second bevel gear 18.
In this embodiment, fire extinguishing machine includes fire water tank 4, wireless camera 7, the filler 8, high-pressure pump 5 and fire extinguishing pipe 6, fire water tank 4 passes through screw fixed connection at the top of installation plectane 10, high-pressure pump 5 intercommunication is at the top of fire water tank 4, the delivery port intercommunication of fire extinguishing pipe 6 and high-pressure pump 5, filler 8 sets up the top at fire water tank 4, wireless camera 7 sets up the front side at fire water tank 4, wireless camera 7 and high-pressure pump 5 pass through wireless remote control, and wireless camera 7 can convey the video to on the external display screen.
In this embodiment, when in use, the following can be known by comparing the files: the driving wheels 2 are suspended on the round bottom plate 1 of the chassis of the wheeled robot through the elastic suspension device, when the road surface changes, the elastic suspension device has a self-adaption function, the driving wheels 2 are always kept in contact with the ground, the driving capability is always achieved, the wheeled robot is suitable for not only a flat environment but also an uneven environment, and the obstacle crossing capability is strong. In the application document, the wireless camera 7 and the high-pressure pump 5 are both connected with the wireless controller and the display screen, the environment is monitored by the wireless camera 7, the result is transmitted to the display screen on the outer side, the fire extinguishing water is pumped by the high-pressure water pump 5 and is sprayed out by the fire extinguishing pipe 6 to extinguish fire, when the fire extinguishing angle needs to be adjusted, the servo motor 22 is started, the servo motor 22 drives the cylindrical rod 16 to rotate by the first gear 23 and the second gear 24, the adapting block 21 slides in the adapting groove 20 and can limit the thrust screw 15, so that the thrust screw 15 can not rotate and can adapt to the overturning arc-shaped track of the installation circular plate 10, the cylindrical rod 16 drives the installation circular plate 10 to adjust the angle by taking the support plate 9 as a fulcrum by the thrust screw 15 and the adapting block 21, the installation circular plate 10 drives the high-pressure pump 5 and the fire extinguishing pipe 6 to adjust the angle, expand the application range of putting out a fire, simultaneously cylindric pole 16 drives balance screw 14 through first bevel gear 17 and second bevel gear 18 and rotates, and balance screw 14 drives balance weight piece 13 and removes for the focus of circular bottom plate 1 can not take place the skew when installation plectane 10 slopes, makes the removal stable, if thrust screw 15 upward movement, then balance weight piece 1 is close to fixed box 11 and removes, if thrust screw 15 downstream, then balance weight piece 1 keeps away from fixed box 11 and removes.
The above descriptions are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the utility model concepts of the present invention are equivalent to, replaced or changed.
Claims (5)
1. A wheeled chassis for a fire-fighting robot comprises a circular bottom plate (1), wherein two universal wheels (3) are connected to the front and the back of the bottom of the circular bottom plate (1), two driving wheels (2) are connected to the left and the right of the bottom of the circular bottom plate (1), an installation circular plate (10) is arranged at the top of the circular bottom plate (1), a fire-fighting machine is fixedly connected to the top of the installation circular plate (10), and the chassis is characterized in that a supporting plate (9) and a fixing box (11) are fixedly installed at the top of the circular bottom plate (1), the top of the supporting plate (9) is rotatably connected with the bottom of the circular bottom plate (1), a same limiting guide rod (12) is fixedly installed between the supporting plate (9) and the fixing box (11), a balancing weight block (13) is slidably connected onto the limiting guide rod (12), a cylindrical rod (16) is rotatably connected onto the inner, thrust mechanism and installation plectane (10) sliding connection, rotate on backup pad (9) and fixed box (11) and be connected with same balance screw rod (14), balanced balancing weight (13) and balance screw rod (14) threaded connection, balance screw rod (14) and cylinder pole (16) looks adaptation are provided with actuating mechanism in fixed box (11), actuating mechanism and cylinder pole (16) looks adaptation.
2. The wheeled chassis for the fire-fighting robot as recited in claim 1, wherein the driving mechanism comprises a servo motor (22), a first gear (23) and a second gear (24), the servo motor (22) is fixedly connected to the inner wall of the bottom of the fixed box (11), the first gear (23) is fixedly installed on the output shaft of the servo motor (22), the second gear (24) is fixedly installed on the outer side of the cylindrical rod (16), and the first gear (23) is meshed with the second gear (24).
3. The wheeled chassis for the fire-fighting robot as claimed in claim 1, wherein the thrust mechanism comprises a thrust screw (15) and an adapter block (21), a thrust screw groove (19) is formed in the top end of the cylindrical rod (16), the thrust screw (15) is in threaded connection with the thrust screw groove (19), an adapter groove (20) is formed in the bottom of the mounting circular plate (10), the adapter block (21) is in sliding connection with the adapter groove (20), and the top end of the thrust screw (15) is in rotating connection with the bottom of the adapter block (21).
4. The wheeled chassis for the fire-fighting robot as claimed in claim 1, wherein a first bevel gear (17) is fixedly installed at one end of the balance screw (14), a second bevel gear (18) is fixedly sleeved outside the cylindrical rod (16), and the first bevel gear (17) is meshed with the second bevel gear (18).
5. The wheeled chassis for the fire fighting robot according to claim 1, characterized in that the fire fighting machine comprises a fire fighting water tank (4), a wireless camera (7), a water filling port (8), a high pressure pump (5) and a fire fighting pipe (6), the fire fighting water tank (4) is fixedly connected to the top of the mounting circular plate (10), the high pressure pump (5) is communicated to the top of the fire fighting water tank (4), the fire fighting pipe (6) is communicated with a water outlet of the high pressure pump (5), the water filling port (8) is arranged at the top of the fire fighting water tank (4), and the wireless camera (7) is arranged at the front side of the fire fighting water tank (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020362474.1U CN211986771U (en) | 2020-03-20 | 2020-03-20 | Wheeled chassis for fire-fighting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020362474.1U CN211986771U (en) | 2020-03-20 | 2020-03-20 | Wheeled chassis for fire-fighting robot |
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| CN211986771U true CN211986771U (en) | 2020-11-24 |
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| CN202020362474.1U Active CN211986771U (en) | 2020-03-20 | 2020-03-20 | Wheeled chassis for fire-fighting robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590965A (en) * | 2020-12-23 | 2021-04-02 | 航天科工智能机器人有限责任公司 | Obstacle crossing robot with adjustable gravity center |
| CN113022722A (en) * | 2021-04-14 | 2021-06-25 | 北京林业大学 | A suspension system that prevents toppling for forest land fire engine |
| CN114193515A (en) * | 2021-12-30 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
| CN114434430A (en) * | 2022-04-12 | 2022-05-06 | 深圳正为格智能科技有限公司 | Mechanical arm for fire-fighting robot |
-
2020
- 2020-03-20 CN CN202020362474.1U patent/CN211986771U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590965A (en) * | 2020-12-23 | 2021-04-02 | 航天科工智能机器人有限责任公司 | Obstacle crossing robot with adjustable gravity center |
| CN113022722A (en) * | 2021-04-14 | 2021-06-25 | 北京林业大学 | A suspension system that prevents toppling for forest land fire engine |
| CN113022722B (en) * | 2021-04-14 | 2021-11-26 | 北京林业大学 | A suspension system that prevents toppling for forest land fire engine |
| CN114193515A (en) * | 2021-12-30 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
| CN114193515B (en) * | 2021-12-30 | 2024-05-24 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
| CN114434430A (en) * | 2022-04-12 | 2022-05-06 | 深圳正为格智能科技有限公司 | Mechanical arm for fire-fighting robot |
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