CN211994974U - Fire-fighting robot wheel subassembly and fire-fighting robot - Google Patents
Fire-fighting robot wheel subassembly and fire-fighting robot Download PDFInfo
- Publication number
- CN211994974U CN211994974U CN202020063949.7U CN202020063949U CN211994974U CN 211994974 U CN211994974 U CN 211994974U CN 202020063949 U CN202020063949 U CN 202020063949U CN 211994974 U CN211994974 U CN 211994974U
- Authority
- CN
- China
- Prior art keywords
- wheel
- assembly
- shaft
- fighting robot
- subassembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims description 46
- 239000000872 buffer Substances 0.000 claims description 37
- 238000007789 sealing Methods 0.000 claims description 28
- 238000004891 communication Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 20
- 210000000078 claw Anatomy 0.000 description 11
- 239000000463 material Substances 0.000 description 6
- 238000005192 partition Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 102000002322 Egg Proteins Human genes 0.000 description 1
- 108010000912 Egg Proteins Proteins 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 210000003278 egg shell Anatomy 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a fire-fighting robot wheel subassembly and fire-fighting robot, fire-fighting robot wheel subassembly includes: the elastic wheel consists of a wheel body and a wheel shaft, wherein a circle of annular bulge is arranged on the side surface of the inner wheel of the wheel body, and the wheel shaft is arranged on the side surface of the inner wheel of the wheel body and protrudes out of the side surface of the inner wheel of the wheel body; the wheel body is provided with a wheel axle hole penetrating through the wheel body and the wheel axle, and the wheel axle hole comprises a first axle hole arranged in the wheel body and a second axle hole arranged in the wheel axle. This structure can utilize the wheel axle pad to establish between bearing subassembly and connecting axle subassembly when passing through the connecting axle subassembly with the motor shaft with the elastic wheel, like this alright protect connecting axle subassembly and bearing subassembly to avoid colliding with the damage when impact vibration. Meanwhile, the structure can realize the buffering of impact force through the annular protrusion, and the elastic wheel has better elasticity, so that the impact resistance of the wheel assembly can be ensured from multiple aspects, and the robot can resist most of the impact force on the ground through the elastic wheel when being thrown to the fire and other sites.
Description
Technical Field
The utility model relates to a fire-fighting robot field, more specifically relates to a fire-fighting robot wheel subassembly and fire-fighting robot.
Background
The fire-fighting robot is one special robot, and can replace fire-fighting rescue workers to enter dangerous disaster accident sites of flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback. However, with the development of the existing science and technology, the building scale and the appearance beautification of residential houses, office buildings and factories of enterprises make building groups become increasingly complex, the difficulty of fire fighting in case of fire is increased, the height difference and the structural form of the building structure are complex in a fire site, and firemen cannot enter the fire site to collect information, so that micro throwing robots are required to enter the fire site to collect fire site information, and the situation that the height difference of the building structure is large and the building structure is complex provides higher requirements for the self impact resistance of the micro throwing robots.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem provided in the background art, according to the utility model discloses an embodiment provides a fire-fighting robot wheel subassembly and including this fire-fighting robot wheel subassembly.
The utility model discloses a first aspect provides a fire-fighting robot wheel subassembly, include: the elastic wheel consists of a wheel body and a wheel shaft, wherein a circle of annular bulge is arranged on the side surface of the inner wheel of the wheel body, and the wheel shaft is arranged on the side surface of the inner wheel of the wheel body and protrudes out of the side surface of the inner wheel of the wheel body; the wheel body is provided with a wheel axle hole penetrating through the wheel body and the wheel axle, and the wheel axle hole comprises a first axle hole arranged in the wheel body and a second axle hole arranged in the wheel axle.
According to the utility model discloses a fire-fighting robot wheel subassembly, including the elastic wheel, the elastic wheel comprises wheel body and shaft, and wherein, the wheel body mainly used realizes the walking, and in the shaft mainly used inserted the bearing assembly, and the shaft hole is used for the installation connecting axle to realize that the elastic wheel is connected with the drive of motor shaft etc.. And set up like this, when being connected elastic wheel through connecting axle subassembly and motor shaft etc. just can utilize the wheel bearing pad to establish between bearing subassembly and connecting axle subassembly, just so can protect connecting axle subassembly and bearing subassembly to avoid colliding with the damage when impact vibration to the structure of connecting axle and bearing part has been protected. And the elastic wheel is close to one of organism subassembly to serve the annular arch that is provided with the spoke face of round protrusion elastic wheel, this annular arch can enclose into a pit with the spoke face of elastic wheel, like this when installing the elastic wheel, just can establish the elastic wheel cover through the annular arch and install on fire-fighting robot's organism subassembly, just so can form the parcel installation through the both ends of elastic wheel to organism subassembly, thereby can prevent that the machine from falling when, the organism subassembly directly lands, like this alright realize the buffering of impact force through the elastic wheel, the both ends of avoiding the organism subassembly receive the impact to collide with the damage. Simultaneously, because the elastic wheel has better elasticity again, consequently, fire-fighting robot can also resist the impact force of most ground through the elastic wheel when being thrown scene such as conflagration, effectual protection robot inner structure spare and electrical components and parts.
Further preferably, the annular protrusion is provided with a first notch.
Further preferably, the wheel body comprises a hub and a rim, the hub and the rim are connected through a plurality of wheel spokes, the wheel spokes are arc-shaped, and a tire is arranged outside the rim; the tire comprises a tire body, wherein a plurality of convex strips are arranged on the tire tread of the tire at intervals, each convex strip is arranged along the axial direction of the tire body, a plurality of long circular arcs are symmetrically arranged on the tire body, and the long circular arcs extend to a hub from the tire tread of the tire along the surface of the tire body.
Further preferably, the wheel body and the wheel axle are in transition connection through an arc transition portion. Further preferably, the wheel body and the wheel shaft are of an integral structure. Further preferably, the elastic wheel is a rubber wheel.
In any one of the above technical solutions, the fire-fighting robot further includes a motor assembly, the motor assembly includes a motor shaft, the wheel assembly further includes:
the wheel end fixing seat is positioned on one side of the elastic wheel, which is provided with the wheel shaft, and is used for being installed at one end of the motor component, which is provided with the motor shaft, and bearing installation holes which are distributed along the axial direction of the wheel body are formed in the wheel end fixing seat;
the outer bearing sleeve comprises a first end plate and a first shaft sleeve, the first end plate is fixedly arranged on the surface of the wheel end fixing seat close to the wheel body, and the first shaft sleeve is arranged on the first end plate and inserted into the bearing mounting hole;
the inner bearing sleeve comprises a second end plate and a second shaft sleeve arranged on one side of the second end plate, the second shaft sleeve is inserted into and installed in the first shaft sleeve, the second shaft sleeve and the first shaft sleeve are in interference fit, and the second end plate is fixedly installed on the end face of one end, far away from the first end plate, of the first shaft sleeve;
wherein, be equipped with a plurality of bar breachs that set up along axial direction on the second shaft cover, a plurality of bar breachs set up along the equally spaced of the circumferential direction of second shaft cover, and the shaft can be installed in the second shaft cover with rotating.
In any one of the above technical solutions, the fire fighting robot wheel assembly further includes: the first end of the connecting shaft assembly is fixedly arranged in the first shaft hole, and the second end of the connecting shaft assembly is arranged in the second shaft hole; and one end of the motor shaft is in driving connection with the second end of the connecting shaft assembly in the second shaft hole.
The second aspect of the utility model provides a fire-fighting robot, include:
the fire-fighting robot wheel assembly provided by any one of the technical schemes of the first aspect;
the left end and the right end of the machine body assembly are respectively provided with at least one mounting groove, and the machine body assembly is positioned in a space corresponding to the inner side of the elastic wheel in the whole circumferential direction of the elastic wheel;
the buffer blocks are symmetrically arranged at the left end and the right end of the machine body component, are positioned on a plurality of outer surfaces of the left end and the right end of the machine body component, which are arranged along the circumferential direction, and are arranged at intervals;
the motor assemblies are arranged in the machine body assembly, and one ends of the motor assemblies, which are not provided with motor shafts, are fixed in the mounting grooves;
wherein, a plurality of wheel subassemblies are installed in the left and right sides of organism subassembly symmetrically to be connected with motor element's motor shaft through the connecting axle subassembly, and the protruding cover of annular of wheel subassembly is established and is installed outside a plurality of buffers that are located organism subassembly with the one end, and is provided with the clearance with being located between a plurality of buffers of organism subassembly with the one end.
Further preferably, the fire fighting robot further comprises:
the communication subassembly, the communication subassembly is including installing the communication box on organism subassembly's up end and installing the signal line on organism subassembly's up end, and the signal line is located the outside of communication box, and the signal line has elasticity, can be crooked under the exogenic action to can automatic re-setting, and along the whole circumferential direction of elastic wheel, the communication box is located the space that the inboard of elastic wheel corresponds.
Further, the fire-fighting robot further comprises: and a rear tail rod assembly mounted on the rear side surface of the machine body assembly and having a folded state of being accommodated in a space corresponding to the inner side of the elastic wheel and an opened state of being extended backward from the rear side surface of the machine body assembly, wherein the rear tail rod assembly can rotate between the folded state and the opened state.
Further preferably, the annular bulge of the elastic wheel is provided with a first notch, when the tail rod assembly is folded, the tail rod assembly can enter and be fixed in a gap between the annular bulge and the buffer block through the first notch, and the tail rod assembly can automatically rotate from the folded state to the unfolded state through the first notch in the rotation process of the elastic wheel; the buffer block which is arranged corresponding to the folded state of the rear tail rod assembly is provided with a second notch, and the second notch can avoid the rear tail rod assembly when the rear tail rod assembly is fixed in the gap between the annular protrusion and the buffer block.
Further preferably, the body assembly comprises: the electric cabinet is provided with at least one mounting groove at the left end and the right end; the plurality of electric control elements are arranged in the electric cabinet;
the power supply device is arranged in the electric cabinet; the panel assembly comprises a plurality of panels and sealing strips, the panels are in one-to-one correspondence and can be detachably mounted on a plurality of outer surfaces of the electric cabinet arranged along the circumferential direction, and one sealing strip is mounted between any two adjacent panels; both ends all stretch out preset length from both ends about the electric cabinet about panel components, and both ends about panel components are installed symmetrically to a plurality of buffer blocks.
It should be understood that what is described in this summary section is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
fig. 1 shows a schematic structural view of an elastic wheel of a wheel assembly provided by the present invention;
figure 2 shows another schematic view of the construction of the resilient wheel of the wheel assembly;
figure 3 shows a schematic structural view of the wheel assembly;
FIG. 4 is a schematic view showing an assembled structure of the inner bearing sleeve, the outer bearing sleeve and the wheel end fixing seat;
FIG. 5 shows a schematic structural view of the outer bearing sleeve;
FIG. 6 shows another structural schematic of the outer bearing sleeve;
FIG. 7 shows a schematic structural view of the inner bearing sleeve;
figure 8 shows a schematic view of the connecting axle assembly of the wheel assembly;
FIG. 9 shows an exploded view of the connecting shaft assembly;
figure 10 shows a schematic view of the assembly of the wheel assembly with the motor assembly;
FIG. 11 shows a schematic structural view of a motor assembly;
fig. 12 is a schematic structural diagram of a fire-fighting robot provided by an embodiment of the present invention;
fig. 13 is a schematic diagram illustrating an explosion structure of the fire-fighting robot according to an embodiment of the present invention;
fig. 14 shows another schematic structural diagram of the fire-fighting robot provided by the embodiment of the present invention;
FIG. 15 illustrates a schematic structural view of the fire fighting robot without the wheel assembly and the motor assembly;
FIG. 16 shows a schematic structural view of a panel assembly of the fire fighting robot;
FIG. 17 shows a schematic view of the construction of the weatherstrip of the panel assembly;
fig. 18 shows a schematic structural view of an electric cabinet of the fire fighting robot and the inside thereof;
fig. 19 shows another schematic configuration of the electric cabinet of the fire fighting robot and its interior;
fig. 20 is a schematic structural view showing a box base of an electric cabinet of the fire fighting robot;
FIG. 21 is a schematic view showing an assembled structure of the rear tail bar assembly and the rear panel;
fig. 22 is a schematic diagram of the exploded structure of fig. 21.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 22 is:
1 resilient wheel, 10 arcuate transition, 12 wheel body, 122 hub, 124 rim, 126 wheel spokes, 128 tire, 14 axle, 16 annular protrusion, 162 first notch, 18 axle hole, 182 first axle hole, 184 second axle hole, 2 wheel end holder, 22 bearing mounting hole, 24 third fixing hole, 3 outer bearing sleeve, 32 first end plate, 34 first sleeve, 340 third through hole, 342 second cylindrical surface, 344 second tapered surface, 346 chamfered surface, 4 inner bearing sleeve, 42 second end plate, 422 fourth through hole, 44 second sleeve, 440 bar notch, 442 claw flap, 444 first cylindrical surface, 446 first tapered surface, 46 groove, 5 connecting shaft assembly, 52 connecting shaft, 522 first mounting hole, 524 second through hole, 526 first fixing hole, 54 transition sleeve, 542 first through hole, 544 transmission hole, 56 first pin shaft, 6 motor assembly, 62 motor 622, motor shaft, 64 motor mounting seats, 642 second fixing holes, 7 engine body components, 72 electric control boxes, 722 box seats, 7220 mounting grooves, 7222 power supply device bins, 7224 audio and video bins, 7226 main control bins, 7227 skeleton beams, 7228 partition plates, 7242 power supply device covers, 7244 main control covers, 7246 audio and video covers, 726 clamping grooves, 74 electric control elements, 742 audio and video equipment, 744 main control boards, 76 power supply devices, 78 panel components, 782 panels, 782 'rear panels, 7822 second mounting holes, 784 sealing strips, 7842 strip parts, 7844 press-fitting parts, 8 buffer blocks, 8' buffer blocks, 80 counter holes, 82 second notches, 92 communication components, 922 communication boxes, 924 signal wires, 94 rear tail rod components, 940 support plates, 9402 third mounting holes, 942 rotary connectors, 9422 fourth mounting holes, 9424 ear plates, 9426 accommodating cavities, 944 second pin shafts, 946 rear tail rods, 948 torsion springs, 9482 torsion spring sections and 9 retaining rings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The fire-fighting robot wheel assembly and the fire-fighting robot provided by the embodiment of the invention are described below with reference to fig. 1 to 22.
As shown in fig. 1 to 3, a first aspect of the present invention provides a fire-fighting robot wheel assembly, including: the elastic wheel 1, the elastic wheel 1 is made up of wheel body 12 and wheel shaft 14, there is a ring of annular projection 16 on the inner wheel side of the wheel body 12 (namely the wheel side of the wheel body 12 inside), the wheel shaft 14 is set up on the inner wheel side of the wheel body 12, and the inner wheel side of the wheel body 12 of the protrusion; as shown in fig. 1, 2 and 10, the wheel body 12 is provided with a wheel axle hole 18 penetrating through the wheel body 12 and the wheel axle 14, and the wheel axle hole 18 includes a first axle hole 182 disposed in the wheel body 12 and a second axle hole 184 disposed in the wheel axle 14.
According to the utility model discloses a fire-fighting robot wheel subassembly, including elastic wheel 1, elastic wheel 1 comprises wheel body 12 and shaft 14, and wherein, wheel body 12 mainly used realizes the walking, and shaft 14 mainly used inserts in the bearing subassembly, and shaft hole 18 is used for installation connecting axle 52 to realize that elastic wheel 1 is connected with the drive of motor shaft 622 etc.. Due to the arrangement, when the elastic wheel 1 is connected with the motor shaft 622 and the like through the connecting shaft assembly 5, the wheel shaft 14 can be arranged between the bearing assembly and the connecting shaft assembly 5 in a cushioning mode, so that the connecting shaft assembly 5 and the bearing assembly can be protected from being collided and damaged during impact vibration, and structural members of the connecting shaft 52 and a bearing part are protected. And elastic wheel 1 is close to one of organism subassembly 7 and serves annular arch 16 that is provided with the interior wheel side of round protrusion wheel body 12, this annular arch 16 can enclose into a pit with the interior wheel side of wheel body 12, like this when installing elastic wheel 1, just can establish the organism subassembly 7 of installing at the fire-fighting robot through annular arch 16 with 1 cover of elastic wheel, just so can form the parcel installation through elastic wheel 1 to the both ends of organism subassembly 7, thereby can prevent that the machine is when falling, organism subassembly 7 directly lands, like this alright realize the buffering of impact force through elastic wheel 1, avoid the both ends of organism subassembly 7 to receive the impact to collide with the damage. Meanwhile, the elastic wheel 1 has good elasticity, so that the fire-fighting robot can resist most impact force on the ground through the elastic wheel 1 when being thrown to a fire disaster and other sites, and internal structural members and electrical components of the robot are effectively protected.
The inner side surface of the wheel body 12 is an inner side surface perpendicular to the ground when the wheel body is vertically placed.
Further preferably, as shown in fig. 3, the annular protrusion 16 is provided with a first notch 162. This arrangement, when applying elastic wheel 1 to a fire-fighting robot having a rear tail rod assembly 94 that can be folded and unfolded, can insert rear tail rod assembly 94 from first notch 162 into the inside of annular projection 16, so that the fixing of rear tail rod assembly 94 in the folded position can be achieved by annular projection 16. This kind of setting rotates at elastic wheel 1 to when making back tail-bar subassembly 94 rotate to first breach 162, just can remove elastic wheel 1 again automatically to the injecing of back tail-bar subassembly 94, back tail-bar subassembly 94 just can break away from the cooperation with elastic wheel 1 automatically under the effect of piece that resets or other structures like this, thereby can realize that the automation intelligence of back tail-bar subassembly 94 is opened.
Preferably, as shown in fig. 2, the wheel body 12 includes a hub 122 and a rim 124, the hub 122 and the rim 124 are connected by a plurality of spokes 126, the spokes 126 are arc-shaped, and a tire 128 is disposed outside the rim 124. A plurality of convex strips are arranged on the surface 128 of the tire 128 at intervals, each convex strip is arranged along the axial direction of the wheel body 12, a plurality of long circular arcs are symmetrically arranged on the wheel body 12, and the long circular arcs extend from the tread surface of the tire 128 to the hub 122 along the surface of the wheel body 12. The structure utilizes the principle similar to an eggshell structure, when the long arc strip is subjected to impact force, the impact force can be effectively dispersed on the large arc surface, and the elastic wheel 1 has good elasticity, so that the impact force can be effectively decomposed.
Preferably, as shown in fig. 1 and 10, the wheel body 12 and the axle 14 are in transition connection through the arc-shaped transition portion 10, and as shown in fig. 6, the inner wall surface of the first sleeve 34 further includes a chamfer surface 346 in sealing fit with the outer surface of the arc-shaped transition portion 10, and the chamfer surface 346 is connected with the second taper surface 344.
In this embodiment, the wheel body 12 and the wheel axle 14 are transited by the arc-shaped transition portion 10, so as to ensure the structural strength of the elastic wheel 1 and prevent the elastic wheel 1 from being unbalanced in structure. While the chamfered surface 346 of the first sleeve 34 is adapted to mate with the arcuate transition portion 10 to provide a water-tight seal.
It is further preferred that the body 12 be of unitary construction with the axle 14, as shown in figures 1 and 2.
Further preferably, the elastic wheel 1 is a rubber wheel. Therefore, the elastic wheel 1 can resist most impact force on the ground, and internal structural members and electrical components of the robot are effectively protected.
In any of the above embodiments, as shown in fig. 10, the fire fighting robot further includes a motor assembly 6, the motor assembly 6 includes a motor shaft 622, and as shown in fig. 3 to 7, the wheel assembly further includes:
the wheel end fixing seat 2 is positioned on one side, provided with the wheel shaft 14, of the elastic wheel 1 and used for being installed at one end, provided with the motor shaft 622, of the motor assembly 6, and bearing installation holes 22 distributed along the axial direction of the wheel body 12 are formed in the wheel end fixing seat 2;
the outer bearing sleeve 3 comprises a first end plate 32 and a first shaft sleeve 34, the first end plate 32 is installed on the surface, close to the wheel body 12, of the wheel-end fixed seat 2, and the first shaft sleeve 34 is arranged on the first end plate 32 and can be rotatably installed in the bearing installation hole 22;
the inner bearing sleeve 4 comprises a second end plate 42 and a second shaft sleeve 44 arranged on one side of the second end plate 42, the second shaft sleeve 44 is inserted into the first shaft sleeve 34, the second shaft sleeve 44 and the first shaft sleeve 34 are in interference fit, and the second end plate 42 is fixedly arranged on the end face of one end, away from the first end plate 32, of the first shaft sleeve 34;
the second sleeve 44 is provided with a plurality of strip-shaped notches 440 arranged along the axial direction, the plurality of strip-shaped notches 440 are arranged at equal intervals along the circumferential direction of the second sleeve 44, and the axle 14 is mounted in the second sleeve 44 and is used for bringing the second sleeve 44 to rotate.
In this embodiment, the fire-fighting robot further comprises a motor assembly 6, and the wheel assembly further comprises a wheel end fixing seat 2, an inner bearing sleeve 4, an outer bearing sleeve 3 and a connecting shaft assembly 5, wherein the motor assembly 6 comprises a motor 62 and a motor mounting seat 64, the motor 62 is provided with a motor shaft 622, and one end of the motor 62, which is not provided with the motor shaft 622, is installed in the machine body assembly 7. And the motor mounting seat 64 is mounted on one end of the motor 62 provided with the motor shaft 622 and is used for realizing mounting connection between the elastic wheel 1, the wheel end fixing seat 2 and the like and the motor 62. Wheel end fixing base 2 is last to be provided with third fixed orifices 24, and is provided with second fixed orifices 642 on the motor mount pad 64, and wheel end fixing base 2 passes through third fixed orifices 24, second fixed orifices 642 and the mounting of screw on motor mount pad 64, installs the similar bearing subassembly of interior bearing housing 4 and outer bearing housing 3 constitution in wheel end fixing base 2, and the shaft 14 of elastic wheel 1 can directly be installed on wheel end fixing base 2 through interior bearing housing 4 and outer bearing housing 3. And the connecting shaft assembly 5 is mainly used for realizing the connection between the motor shaft 622 and the elastic wheel 1, thereby realizing the torque transmission. With the structure, after the robot is installed, the motor shaft 622 can drive the elastic wheel 1 to rotate through the connecting shaft assembly 5, so that the whole robot can be driven to walk, and the robot can move.
Specifically, as shown in fig. 5 and 6, the outer bearing sleeve 3 includes a first end plate 32 and a first shaft sleeve 34 engaged with the inner bearing sleeve 4, the first end plate 32 is used to be clamped outside the wheel-end fixing seat 2 to achieve axial position limitation of the outer bearing sleeve 3, and the first shaft sleeve 34 is used to be in sliding engagement with the inner bearing sleeve 4. As shown in fig. 7, the inner bearing sleeve 4 includes a second end plate 42 and a second sleeve 44 disposed on the side of the second end plate 42, the second sleeve 44 is inserted into the first sleeve 34 by interference, and the second end plate 42 is used to fix the end surface of the first sleeve 34, so that the inner bearing sleeve 4 and the outer bearing sleeve 3 can be fixed. The axle 14 of the elastic wheel 1 is fixedly arranged in the second shaft sleeve 44, so that the axle 14 of the elastic wheel 1 can be arranged on the wheel end fixing seat 2 through a bearing-like assembly consisting of the inner bearing sleeve 4 and the outer bearing sleeve 3. The second sleeve 44 is composed of a plurality of claw flaps 442 spaced apart from each other and mounted on the second end plate 42, that is, a plurality of bar-shaped notches 440 (or bar-shaped grooves) of equal width are formed on the entire circumference of the second sleeve 44, and the plurality of bar-shaped notches 440 (or bar-shaped grooves) divide the second sleeve 44 into a plurality of claw flaps 442 spaced apart from each other. Meanwhile, because the first sleeve 34 and the second sleeve 44 are in interference fit, that is, the second tapered surface 344 is larger than the first tapered surface 446, after the first sleeve 34 and the second sleeve 44 are installed, the claw flap 442 of the second sleeve 44 is pressed by the first sleeve 34 to generate elastic force, and the elastic force can enable the first sleeve 34 and the second sleeve 44 to be in mutual pressing fit, so that the friction force between the first sleeve 34 and the second sleeve 44 can be increased, and the torque can be transmitted between the first sleeve 34 and the second sleeve 44 through the friction force between the claw flap 442. The friction force between the inner bearing sleeve and the outer bearing sleeve plays a role in transmitting driving torque, so that unnecessary structures are saved, the reliability of products is improved, and the space is saved. When the device is installed, the inner bearing sleeve 4 is inserted into the inner circular hole of the outer bearing sleeve 3 through the wheel end fixing seat 2, the wheel shaft 14 of the elastic wheel 1 is inserted into the inner hole of the inner bearing sleeve 4, and then the inner bearing sleeve 4, the elastic wheel 1 and the connecting shaft 52 are fixedly connected together through screws, so that the conical end surfaces of the inner bearing sleeve and the outer bearing sleeve are tightly attached to each other and are extruded together. After the structure is installed, the claw flap 442 of the inner bearing sleeve 4 is restrained and extruded by the outer bearing sleeve 3 and deforms inwards, so that the claw flap 442 of the inner bearing sleeve 4 can form claw force on the wheel shaft 14 of the elastic wheel 1, and meanwhile, the wheel shaft hole 18 of the wheel shaft 14 of the elastic wheel 1 is internally provided with the connecting shaft 52 as a support, so that the inner bearing sleeve 4 can firmly hold the wheel shaft 14 through the support of the connecting shaft 52 and the extrusion of the outer bearing sleeve 3, and the torque transmission between the wheel shaft 14 and the inner bearing sleeve 4 is realized.
Meanwhile, with the structure, when the elastic wheel 1 falls and is impacted by the ground, the elastic wheel 1 deforms and twists, then the deformation and twist is transmitted to the outer bearing sleeve 3, the outer bearing sleeve 3 bends along with the wheel shaft 14 of the elastic wheel 1, at the moment, the claw petals 442 of the inner bearing sleeve 4 are constrained and extruded by the inner circular surface of the outer bearing sleeve 3, so that certain elastic force is generated between the surfaces of the inner bearing sleeve and the outer bearing sleeve which are contacted with each other, and the impact force transmitted to the inner bearing sleeve 4 by the outer bearing sleeve 3 is offset by the elastic force, namely, the arrangement, the elastic force is generated between the inner bearing sleeve and the outer bearing sleeve by the special structure matching of the inner bearing sleeve 4 and the outer bearing sleeve 3, so that the mutual partial impact force and the torsion force are unloaded, on one hand, the inner bearing sleeve 4 and the outer bearing sleeve 3 can be protected from being damaged, and on the basis of the unloaded partial impact force of the inner bearing sleeve 4 and the outer bearing sleeve 3, the moment transmitted to the connecting shaft 52 by the elastic wheel 1 can be reduced, so that the effect of transmitting the driving torque is achieved through the matching of the inner bearing sleeve 4 and the outer bearing sleeve 3, and the connecting shaft 52 and the motor 62 are protected. Meanwhile, the inner hole of the wheel axle 14 of the elastic wheel 1 is used for inserting the connecting shaft 52, and when the robot falls and is impacted, the elastic wheel 1 is flexible and elastic, so that the connecting shaft 52 can be twisted and rotated by 360 degrees by taking the inserted connecting shaft 52 as a center, and the twisting and the breaking of the connecting shaft 52 can be further avoided. In addition, the above arrangement, through adopting the material with high strength, good toughness and good self-lubricating property, the structure similar to the bearing is made, the problem that the bearing is not resistant to impact is solved, and meanwhile, because the layer of wheel axle 14 is arranged between the connecting shaft 52 and the inner bearing sleeve 4 as a cushion layer, the connecting shaft 52 and the inner bearing sleeve 4 can be protected from being collided and damaged during impact vibration, so that the connecting shaft 52 and the structural member of the bearing part are further protected.
Further preferably, as shown in fig. 7, the second end plate 42 is provided with a fourth through hole 422, as shown in fig. 5 and 6, the first sleeve 34 is provided with a third through hole 340, and the second end plate 42 is fixedly mounted on the end surface of the end of the first sleeve 34 far away from the first end plate 32 by the cooperation of a plurality of screws with the third through hole 340 and the fourth through hole 422, that is, the second end plate 42 is fixed on the end surface of the first sleeve 34 by a plurality of screws.
Further preferably, a gap is provided between the surface of the second end plate 42 contacting the first shaft sleeve 34 and the wheel end fixing seat 2 along the axial direction of the elastic wheel 1, that is, a proper amount of gap is provided between the adjacent surfaces of the inner and outer bearing sleeves and the wheel end fixing seat 2. The inner bearing sleeve 4 is provided with a margin for movement in the axial direction within the outer bearing sleeve 3. This kind of setting for when the robot receives to fall to assault, interior bearing housing 4 can slightly remove along axial direction for outer bearing housing 3 relatively, and slightly rotate along the circumferential direction, alright uninstallation like this fall some impact force between outer bearing housing 3 and the interior bearing housing 4, in order to form the protection to motor and connecting axle.
Preferably, the inner bearing sleeve 4 and the outer bearing sleeve 3 are both made of a super steel material, namely, the inner bearing sleeve and the outer bearing sleeve are both preferably made of a super steel material with high strength, high toughness and good self-lubricating property, so that the inner bearing sleeve 4 and the outer bearing sleeve 3 can slide relatively smoothly, have small friction force and are wear-resistant, and the self fatigue resistance is improved. The ultra-steel material is a special engineering plastic with excellent performances of high temperature resistance, self-lubrication, easy processing, high mechanical strength and the like, and can be manufactured and processed into various mechanical parts, such as automobile gears, oil screens, gear-shifting starting disks, aircraft engine parts, automatic washing machine rotating wheels, medical apparatus parts and the like.
Further preferably, as shown in fig. 7, the outer wall surface of the second bushing 44 includes a first cylindrical surface 444 connected to the second end plate 42 and a first tapered surface 446 in a stepped connection with the first cylindrical surface 444, and the first tapered surface 446 gradually shrinks inward from a direction close to the second end plate 42 to a direction away from the second end plate 42, as shown in fig. 5 and 6, the inner wall surface of the first bushing 34 includes a second cylindrical surface 342 adapted to the first cylindrical surface 444 and a second tapered surface 344 adapted to the first tapered surface 446.
In this embodiment, the inner bore of the first sleeve 34 includes two stepped surfaces, the first stepped surface is a second cylindrical surface 342 concentric with the outer cylindrical surface, the second end surface is an angled second tapered surface 344, the outer wall surface of the second sleeve 44 is a multi-step arrangement, and specifically, the outer wall surface of the second sleeve 44 includes a first tapered surface 446 mating with the second tapered surface 344 of the first sleeve 34 and a first cylindrical surface 444 mating with the second cylindrical surface 342. The second sleeve 44 and the first sleeve 34 are thus able to cooperate by means of two cylindrical surfaces and two conical surfaces. This arrangement, in turn, enables a tighter sliding fit between the second hub 44 and the first hub 34. Meanwhile, the second shaft sleeve 44 and the first shaft sleeve 34 are matched with each other through the inner and outer conical surfaces of the two, and the form is like a universal connecting shaft 52, and the second shaft sleeve can twist and rotate for 360 degrees, so that the torsional force transmitted by the outer bearing sleeve 3 can be further removed.
Further preferably, the inner wall surface of the first sleeve 34 further includes a chamfered surface 346 in sealing engagement with the outer surface of the arc-shaped transition portion 10, and the chamfered surface 346 is connected with the second tapered surface 344. While the chamfered surface 346 of the first sleeve 34 is adapted to mate with the arcuate transition portion 10 to provide a water-tight seal.
Further preferably, as shown in fig. 7, a ring of grooves 46 is provided at the junction of the outer wall surface of the second bushing 44 and the second end plate 42. This allows the outer wall surface of the inner bearing sleeve 4 to include an inner concave arc surface formed by the groove 46 in addition to the second tapered surface 344 cooperating with the first tapered surface 446 of the outer bearing sleeve 3 and the circular end surface concentric with itself, and the groove 46 can prevent the four claws 442 of the inner bearing sleeve 4 from being crushed and broken from the claw roots when the inner bearing sleeve 4 is crushed and impacted.
In any of the above embodiments, as shown in fig. 8 to 10, the fire fighting robot wheel assembly further includes: a connecting shaft assembly 5, wherein a first end of the connecting shaft assembly 5 is fixedly arranged in the first shaft hole 182, and a second end of the connecting shaft assembly 5 is arranged in the second shaft hole 184; wherein one end of the motor shaft 622 is drivingly connected to the second end of the connecting shaft assembly 5 within the second shaft bore 184. The mounting connection between the elastic wheel 1 and the motor 62 can be realized through the connecting shaft assembly 5.
Further preferably, as shown in fig. 8 and 9, the connecting shaft assembly 5 includes a connecting shaft 52, a transition shaft sleeve 54 and a first pin shaft 56, wherein one end of the connecting shaft 52 is provided with a first mounting hole 522, the other end of the connecting shaft 52 is inserted into and fixed to the axle hole 18, a first through hole 542 is provided on a first end side wall of the transition shaft sleeve 54, the first end of the transition shaft sleeve 54 is mounted in the first mounting hole 522 with a clearance, the connecting shaft 52 is provided with a second through hole 524 which is coaxial with the first through hole 542 and has the same size and shape, and one end of the first pin shaft 56 passes through the second through hole 524 and extends out of the first through hole 542, so that the first end of the transition shaft sleeve 54 is hinged to the connecting shaft 52 through the first pin shaft 56; wherein one end of the motor shaft 622 is inserted into the second end of the transition sleeve 54 and is in driving connection with the second end of the transition sleeve 54.
In this embodiment, the connecting shaft assembly 5 includes a connecting shaft 52, a first pin 56, and a transition bushing 54. The motor shaft 622 is inserted into the transition bushing 54, and the transition bushing 54 is hinged in one end of the connecting shaft 52 by the first pin 56, so that the transition bushing 54 can rotate around the first pin 56 in the connecting shaft 52, i.e. the transition bushing 54 can swing up and down in the connecting shaft 52. Meanwhile, the first through hole 542 and the second through hole 524 are in clearance fit with the first pin shaft 56, that is, the first through hole 542 and the second through hole 524 are larger than the first pin shaft 56, the oblate surface in the transition shaft sleeve 54 is wider than the circular surface of the motor shaft 622, and the motor shaft 622 can move in the transition shaft sleeve 54 along the oblate surface, wherein the oblate surface of the transition shaft sleeve 54 is used for being matched with the oblate surface of the motor shaft 622 to transmit torque force, so that the swinging direction of the transition shaft sleeve 54 and the moving direction of the motor shaft 622 in the transition shaft sleeve 54 just form a cross, and a cross connecting shaft 52 system which can be used for transmitting torque and has flexibility is formed relative to the motor shaft 622. When the elastic wheel 1 falls to the ground, the elastic wheel 1 is affected by the falling impact of the ground, and the wheel shaft 14 is twisted and bent, the motor shaft 622 can move and twist in two directions in the structure of the cross flexible connecting shaft 52, so that the motor shaft 622 is protected from being broken by impact force, namely the driving motor shaft 622 is protected from being broken in four directions perpendicular to the axis after being impacted in the falling process, and the torque force is transmitted under the impact resistance, so that two functions of impact resistance and torque force transmission are realized, the structure of the robot is more compact, the space is saved, and the miniaturization and the microminiaturization of the robot are realized.
As shown in fig. 8 and 9, the other end of the connecting shaft 52, i.e. the end without the transition sleeve 54, is provided with a first fixing hole 526 with threads, while the surface of the wheel body 12 away from the axle 14 is provided with a fixing plate with holes, and then the fixing plate can be penetrated by a screw and then inserted into the first fixing hole 526, so as to realize the connection between the fixing plate, the wheel body 12 and the connecting shaft 52. Preferably, a sunken groove is formed on the surface of the wheel body 12 away from the wheel axle 14, and then a fixing plate with a hole is limited and installed in the sunken groove, so that the fixing plate and the screw for fixing the connecting shaft 52 can be hidden and installed in the wheel body 12, and the fixing plate or the screw for fixing the connecting shaft 52 is prevented from being exposed out of the wheel body 12.
Further preferably, as shown in fig. 8 and 9, the inner wall surface of the first mounting hole 522 is composed of a first arc surface and a first transmission plane, the outer wall surface of the transition shaft sleeve 54 includes two fourth transmission planes symmetrically arranged, the two fourth transmission planes are connected through the fourth arc surface, the width of the first transmission plane is smaller than that of the fourth transmission plane, the width of the first arc surface is larger than that of the fourth arc surface, so that the transition shaft sleeve 54 can rotate relative to the connecting shaft 52 in the connecting shaft 52, the transition shaft sleeve 54 can be in driving connection with the connecting shaft 52 to transmit torque, and the transition shaft sleeve 54 can slightly rotate in the connecting shaft 52, thereby achieving flexible connection between the transition shaft sleeve 54 and the connecting shaft 52, so that most of impact force between the connecting shaft assembly 5 and the motor shaft 622 can be unloaded, protection of the motor shaft 622 is achieved. Preferably, the drive holes 544 may be provided as D-shaped slots or D-shaped holes.
Further preferably, as shown in fig. 8 and 9, a transmission hole 544 is provided in the end of the transition shaft sleeve 54 that is engaged with the motor shaft 622, the transmission hole 544 is composed of a second arc-shaped surface and a second transmission plane, as shown in fig. 20, two third transmission planes are symmetrically provided on the end of the motor shaft 622 that is engaged with the transition shaft sleeve 54, and the two third transmission planes are connected by the third arc-shaped surface, that is, the end of the motor shaft 622 that is engaged with the transition shaft sleeve 54 is flat, the width of the second transmission plane is smaller than that of the third transmission plane, and the width of the second arc-shaped surface is larger than that of the third arc-shaped surface, so that the motor shaft 622 can slightly rotate in the transition shaft sleeve 54 relative to the transition shaft sleeve 54, so that the motor shaft 622 can be in driving connection with the transition shaft sleeve 54 to transmit torque, and the motor shaft 622 can slightly rotate in the transition shaft sleeve 54, thereby realizing the flexible connection between the motor shaft 622 and the transition shaft sleeve 54, further unloading some impact force between the transition shaft sleeve 54 and the motor shaft 622, and realizing the protection of the motor shaft 622. Meanwhile, the transition shaft sleeve 54 and the motor shaft 622 can transmit torque through a transmission plane, and the transmission mode can simplify the structure of the motor shaft 622 and the transition shaft sleeve 54. Further, the motor shaft 622 is provided flat to increase the transmission surface of the motor shaft 622, thereby increasing the transmission efficiency of torque.
As shown in fig. 12 to 22, a second aspect of the present invention provides a fire fighting robot, including: any embodiment of the first aspect provides a fire-fighting robot wheel assembly; the left end and the right end of the machine body component 7 are respectively provided with at least one mounting groove 7220, and the machine body components 7 are positioned in the corresponding space of the inner side of the elastic wheel 1 in the whole circumferential direction of the elastic wheel 1; the plurality of buffer blocks 8 are symmetrically arranged at the left end and the right end of the machine body component 7, are positioned on a plurality of outer surfaces of the left end and the right end of the machine body component 7, and are arranged at intervals at the same end of the machine body component 7; a plurality of motor assemblies 6 installed in the body assembly 7, and one ends of the motor assemblies 6, which are not provided with the motor shafts 622, are fixed in the installation grooves 7220; wherein, a plurality of wheel subassemblies are installed in the left and right sides of organism subassembly 7 symmetrically to be connected through connecting shaft subassembly 5 and motor shaft 622 of motor element 6, and the annular arch 16 cover of wheel subassembly is established and is installed outside a plurality of buffer blocks 8 that are located organism subassembly 7 with one end, and is provided with the clearance with being located between a plurality of buffer blocks 8 of organism subassembly 7 with one end.
According to the utility model discloses a fire-fighting robot, including organism subassembly 7, a plurality of buffer block 8 and a plurality of wheel subassembly, organism subassembly 7 mainly comprises elements such as main control board 744, power supply unit 76 and audio and video equipment 742, and its mainly used realizes work such as information acquisition of fire-fighting robot at the scene. And the edge at both ends respectively installs round buffer block 8 about organism subassembly 7, and the buffer block 8 at both ends is separated each other and is the annular setting around organism subassembly 7's whole circumference about and. Simultaneously, elastic wheel 1 is close to one of organism subassembly 7 and serves annular arch 16 that is provided with the interior wheel side of round protrusion wheel body 12, this annular arch 16 can enclose into a pit with the interior wheel side of wheel body 12, like this when installing elastic wheel 1, just can establish elastic wheel 1 through annular arch 16 and be close to the pot head of organism subassembly 7 and install on the buffer block 8 at the left and right sides both ends of organism subassembly 7, in this embodiment promptly, annular arch 16 is used for forming the pit that holds and fixed buffer block 8 on elastic wheel 1, be used for the both ends of parcel protection organism subassembly 7 simultaneously, avoid the both ends of organism subassembly 7 to receive to strike to collide with the damage. This kind of structure, owing to along the whole circumferential direction of elastic wheel 1, on all radial directions of elastic wheel 1 promptly, organism subassembly 7 is located the space that the inboard of elastic wheel 1 corresponds, therefore, this robot is when being jettisoned scene such as conflagration, can ensure that elastic wheel 1 lands earlier all the time, and because elastic wheel 1 has better elasticity again, consequently, the fire-fighting robot is when being jettisoned scene such as conflagration, can withstand most impact force on ground through elastic wheel 1, effectual protection robot inner structure spare and electrical components. Further, the setting of buffer block 8 makes the impact force on the elastic wheel 1 need just can transmit organism subassembly 7 through buffer block 8 to can form further buffering through buffer block 8, just so can realize the second protection of shocking resistance to the spare part in the organism subassembly 7 based on a plurality of buffer blocks 8, thereby further reduce the robot and fall the impact force of in-process to organism subassembly 7.
In the present application, as shown in fig. 12, the inner side of the elastic wheel 1 refers to a region surrounded by a circle having a radius equal to the maximum radius of the elastic wheel 1 with the center of the elastic wheel 1 as the center, that is, the inner and outer sides of the elastic wheel 1 are bounded by the outer wall surface of the elastic wheel 1 contacting the ground, the side located at the center of the circle is the inner side, and the side away from the center of the circle is the outer side. The space corresponding to the inner side of the elastic wheel 1 refers to a region which takes the whole inner side region of the elastic wheel 1 as a cross section and extends along the axial direction of the elastic wheel 1, and the space corresponding to the inner side of the elastic wheel 1 mainly refers to a region which is positioned between the two elastic wheels 1 and does not exceed the outer side wall surface of the elastic wheel 1 along the radial direction of the elastic wheel 1, that is, mainly refers to a region which is projected in the outer contour line of the elastic wheel 1 along the axial direction of the elastic wheel 1.
Preferably, the power supply device 76 is a battery, such as a lithium battery or a rechargeable battery.
Further preferably, as shown in fig. 12 to 15, the fire fighting robot further includes: the communication assembly 92, the communication assembly 92 includes the communication box 922 installed on the upper end face of the machine body assembly 7 and the signal line 924 installed on the upper end face of the machine body assembly 7, the signal line 924 is located outside the communication box 922, and the signal line 924 has elasticity, can bend under the action of external force, and can reset automatically, and in the whole circumferential direction along the elastic wheel 1, the communication box 922 is located in the space corresponding to the inner side of the elastic wheel 1.
In this embodiment, the communication component 92 is mainly used for transmitting the information collected by the electronic control element 74 back to the control terminal, and the communication component 92 mainly transmits and receives the signals through the signal line 924. And signal line 924 has elasticity for signal line 924 can take place the bending when the fire-fighting robot falls to the ground, thereby avoid being broken, and signal line 924 can automatic re-setting after the fire-fighting robot walks, makes signal line 924 can carry out the normal receiving and dispatching of signal after the fire-fighting robot can normally walk, with the communication that realizes fire-fighting robot and external.
Further preferably, as shown in fig. 12 to 15 and fig. 21 and 22, the fire fighting robot further includes: the rear tail lever assembly 94 is attached to the rear side surface of the body assembly 7, and has a folded state retracted in a space corresponding to the inner side of the elastic wheel 1 and an opened state extended rearward from the rear side surface of the body assembly 7, and the rear tail lever assembly 94 is rotatable between the folded state and the opened state.
In this embodiment, the fire-fighting robot is provided with a rear tail rod assembly 94 capable of rotating freely between a folded state and an opened state, and further provided with a rear tail rod assembly 94 capable of opening automatically from the folded state to the opened state, for example, the rear tail rod assembly 94 can be fixed in the folded state by the elastic wheel 1, and the rear tail rod assembly 94 can be opened automatically after the elastic wheel 1 travels or controlled by a program, so that the rear tail rod assembly 94 can be opened automatically after the fire-fighting robot is thrown for a preset minute, and thus after the robot is thrown to the scene, the balance of the fire-fighting robot can be ensured by the rear tail rod assembly 94 which is opened automatically. Simultaneously, the folding of back tail-bar subassembly 94 is realized with opening the rotation that mainly passes through the tail end of back tail-bar subassembly 94 along the axial direction of elastic wheel 1, rotate to parallel with the rear end face of organism subassembly 7 at back tail-bar subassembly 94 like this, back tail-bar subassembly 94 rotates when folded state promptly, just can accomodate back tail-bar subassembly 94 and install the inboard region at elastic wheel 1, when needs are jettisoned or transport robot or transportation like this, just can protect back tail-bar subassembly 94 at elastic wheel 1 inboardly, avoid back tail-bar subassembly 94 and collision such as ground, thereby can ensure back tail-bar subassembly 94's safety.
Further preferably, as shown in fig. 1, 3 and 12, the annular protrusion 16 of the elastic wheel 1 is provided with a first notch 162, when the tail rod assembly 94 is folded, the tail rod assembly 94 can enter and be fixed in the gap between the annular protrusion 16 and the buffer block 8 through the first notch 162, and the tail rod assembly 94 can automatically rotate from the folded state to the unfolded state through the first notch 162 during the rotation of the elastic wheel 1.
In this embodiment, when the rear rail assembly 94 is in the folded state, the first notch 162 of the elastic wheel 1 is aligned with the rear rail assembly 94, and then the elastic wheel 1 is rotated so that one end of the rear rail assembly 94 is fixed between the annular protrusion 16 of the elastic wheel 1 and the buffer block 8. Meanwhile, the structure of the back tail rod assembly 94 can be reasonably arranged, so that the back tail rod assembly 94 can automatically pop up from the first notch 162 when being aligned with the first notch 162 of the elastic wheel 1, for example, the back tail rod assembly 94 can be arranged to be a structure comprising the back tail rod 96 and a reset piece, and the reset piece can be specifically a spring and other structures, so that the back tail rod assembly 94 can automatically reset under the action of the spring and other reset pieces when being aligned with the first notch 162 on the annular protrusion 16. Further preferably, the return member is a torsion spring 98. Of course, in other embodiments, the back rod assembly 94 may also be of an electric structure, and in this case, the reset rebound of the back rod assembly 94 may be realized through electric control. Meanwhile, the first notch 162 is also used for installing the fixed buffer block 8, so that screws can be conveniently threaded and other tools can be conveniently used.
Further preferably, as shown in fig. 13 and 15, a second notch 82 is provided on the bumper 8' disposed corresponding to the folded state of the rear tail bar assembly 94, and the second notch 82 can avoid the rear tail bar assembly 94 when the rear tail bar assembly 94 is fixed in the gap between the annular protrusion 16 and the bumper 8. This kind of setting makes back tail-bar assembly 94 when being in folded condition, can be through the second breach 82 on buffer block 8 'and more be close to back panel 782' and set up, just so can hide back tail-bar assembly 94 and install more inboard at elastic wheel 1, prevent that back tail-bar 96 from being blockked outside by buffer block 8.
Further preferably, as shown in fig. 14, 18 and 19, the body assembly 7 includes: the electric cabinet 72, the left and right ends of the electric cabinet 72 are provided with at least one mounting groove 7220; a plurality of electrical control elements 74 disposed within the electrical cabinet 72; a power supply device 76 provided in the electric cabinet 72; the panel assembly 78 comprises a plurality of panels 782 and sealing strips 784, the panels 782 are correspondingly arranged on a plurality of outer surfaces of the electric cabinet 72 in the circumferential direction in a one-to-one manner and can be detachably mounted, and one sealing strip 784 is mounted between any two adjacent panels 782; wherein, panel components 78's both ends all stretch out preset length from electric cabinet 72 left and right ends about, and a plurality of buffer 8 are installed at panel components 78's both ends about symmetrically.
In this embodiment, the body assembly 7 includes an electric cabinet 72, an electric control element 74 provided in the electric cabinet 72, and a power supply device 76 for supplying power. The electric control element 74 is mainly used for detecting information required by field rescue such as fire, the panel assembly 78 is composed of a plurality of panels 782 and a plurality of sealing strips 784, each panel 782 is sealed by the sealing strips 784, and thus the panels 782 and the sealing strips 784 can form a hollow upright column, so that the electric control box 72 is protected. During installation, the electric control element 74, the power supply device 76, and the like may be installed in the electric cabinet 72, and then the plurality of panels 782 may be installed on a plurality of surfaces of the electric cabinet 72, which are circumferentially arranged, in a one-to-one correspondence. Preferably, during installation, two rows of screw holes are drilled in the middle of the panel 782, and then the panel 782 is fixed to each of the peripheral surfaces of the electric cabinet 72 by means of screws. Thereafter, the wheel assembly is installed, then the shaft end assemblies of the wheel assembly are inserted into the mounting grooves 7220 installed at the left and right sides of the electric cabinet 72 so that a plurality of wheel assemblies can be installed at the left and right sides of the body assembly 7 accordingly, and finally the communication assembly 92 can be installed at the upper surface of the body assembly 7, so that the installation of the entire fire fighting robot can be completed. This kind of structure, in the in-process that fire-fighting robot fell, when the impact force that falls transmitted panel 782, sealing strip 784 and panel 782 can outwards bulge like the bamboo joint, form deformation, produce elastic deformation, thereby it competes mutually with the impact force to produce elasticity like the bamboo joint by self, just so can utilize a plurality of panels 782 and sealing strip 784 buffering to fall the impact damage that striking etc. produced to electric cabinet 72 self inner structure device. Simultaneously, sealing strip 784 and panel 782 cooperate the extrusion each other, can also play sealed effect to can improve fire-fighting robot's waterproof dustproof performance. Simultaneously, this kind of setting can also be through the elasticity of the casing that a plurality of panels 782 constituted, the inside impact force of buffering digestion robot self, the impact damage of dissolving robot self inside, protects inner structure device, improves the shock resistance and life and the product quality of robot. And panel components 78 all stretches out preset length from the left and right ends of electric cabinet 72 about both ends, and the casing length that panel components 78 encloses will be greater than electric cabinet 72's length promptly, just so can reserve the space of installation axle subassembly in the left and right sides of electric cabinet 72 to can increase the hidden protection to the axle sleeve subassembly through panel components 78. Preferably, the panel assembly 78 is longer, so that the panel assembly 78 is in direct contact with the wheel body 12 of the elastic wheel 1.
Further preferably, as shown in fig. 15, a plurality of buffer blocks 8 are mounted on the panel 782 by means of threaded connectors, each buffer block 8 is provided with a counter bore 80 for receiving the threaded connector, and the panel 782 is provided with screw mounting holes corresponding to the counter bores 80. Preferably, the number of the counter bores 80 is two, and the two counter bores 80 are arranged at intervals in the circumferential direction of the elastic wheel 1.
On the basis of any of the above embodiments, the panel 782 is a carbon fiber panel, and the sealing strip 784 is a rubber strip. The carbon fiber panel and the rubber strip with good elasticity and moderate hardness are adopted, so that the processing working hour is saved, the waste of materials is reduced, the processing cost is saved, and the self weight of the robot can be reduced to improve the shock resistance.
Further preferably, as shown in fig. 13 to 18, a plurality of buffer blocks 8 are symmetrically installed at both left and right ends of the panel assembly 78. Preferably, the cross section of the electric cabinet 72 is square or rectangular, and in this case, the number of the panels 782 and the sealing strips 784 is 4. At this time, the panel 782 includes 4 panels in front, rear, left, and right. Of course, the cross section of the electric cabinet 72 may be a diamond or other regular polygon structure.
In addition to the above, preferably, as shown in fig. 16 and 17, the sealing strip 784 includes a strip portion 7842 between two adjacent panels 782 and a plurality of press-fitting portions 7844 extending between the panels 782 and the electric cabinet 72 and pressed by the panels 782, and the plurality of press-fitting portions 7844 can be symmetrically disposed at both ends of both sides of the strip portion 7842. During installation, the sealing strip 784 is placed on the electric cabinet 72 at the right position, the panel 782 is placed on the corresponding surface of the electric cabinet 72, the press-fitting part 7844 of the sealing strip 784 is pressed through the panel 782, meanwhile, a hole is formed in the press-fitting part 7844 of the sealing strip 784, and the electric cabinet 72 is fixed through the hole in the panel 782 and the hole in the press-fitting part 7844 in sequence by using screws.
Further preferably, as shown in fig. 18, a clamping groove 726 is provided at a connection of any two adjacent outer surfaces of the electric cabinet 72 arranged along the circumferential direction, a sealing strip 784 is fixedly installed at the clamping groove 726, and the shape of the sealing strip 784 is matched with the shape of the clamping groove 726. The clamping groove 726 is used for preliminarily positioning and installing the sealing strip 784, so that the position of the sealing strip 784 can be quickly determined at the beginning of installing the sealing strip 784 and the panel 782, the sealing strip 784 is limited in the installation process, the sealing strip 784 is prevented from sliding off, and the installation convenience of the panel assembly 78 is improved.
On the basis of the above solution, preferably, as shown in fig. 19 and 20, the electric cabinet 72 includes: the box seat 722 comprises a plurality of framework beams 7227 and a plurality of partition plates 7228, and the box seat 722 is divided into a plurality of mutually separated cabin bodies with one open end by the plurality of partition plates 7228; the cover plates are correspondingly arranged at the openings of the bin bodies one by one; the plurality of cartridges includes an audio/video cartridge 7224, a main control cartridge 7226 and a power supply cartridge 7222 for mounting a power supply 76, and the plurality of electrical control elements 74 includes an audio/video device 742 mounted in the audio/video cartridge 7224 and a main control board 744 mounted in the main control cartridge 7226.
In this embodiment, the electric cabinet 72 includes an electric cabinet 72, and an electric control element 74 and a power supply device 76 that are installed in the electric cabinet 72, and further, the electric cabinet 72 includes a cabinet seat 722 and a plurality of cover plates, a plurality of mutually separated cabin bodies are provided on the cabinet seat 722, the cover plates are correspondingly covered on the plurality of cabin bodies, and a mounting cavity for accommodating the electric control element 74 or the power supply device 76 is formed with the corresponding plurality of cabin bodies. The parts such as the electric control element 74 and the power supply device 76 of the electric control board can be sequentially arranged in different bins in the electric control box 72. And the main parts of the electronic control element 74 include an audio-video device 742, a main control board 744, and the like. During installation, the cover plate can be opened, the main control board 744, the audio and video equipment 742 or the power supply device 76 and the like which need to be placed are placed into the corresponding plurality of bin bodies, and then the cover plate is covered. Further, the box base 722 is composed of a plurality of skeleton beams 7227 and a plurality of partition plates 7228, the plurality of skeleton beams 7227 are the skeleton of the whole box base 722, and the partition plates 7228 are mainly used for forming a plurality of independent cabin bodies. And adjacent limit between a plurality of storehouse bodies all is a thicker skeleton roof beam 7227, just like the skeleton of cage, the intensity of whole structure has been supported, and each storehouse body all is relatively more confined, just certain isolated electromagnetic interference's effect has been played, this kind of structure can all integrate a great part of core electron device in electric cabinet 72 simultaneously, a module has been formed, make full use of the space, effectively compressed inside the robot, thereby make the robot more miniaturized, save the material, the processing man-hour cost is reduced. In addition, the configuration of the housing 722 in a cage-like configuration improves the impact resistance of the central core structure and protects the core electronics from impact. And each electronic device in the box seat 722 is placed in a separate bin, so that a certain electromagnetic interference isolation effect is achieved.
Preferably, the frame beams 7227 and the partition plates 7228 are made of high-strength light-weight magnesium-aluminum alloy, and the wall thickness between the multiple bin bodies is about 0.6mm to 1.6mm, preferably about 0.8mm to 1 mm.
Further preferably, as shown in fig. 18 and 19, the cover plates include a power supply device cover 7242, a main control cover 7244 and an audio/video cover 7246, a power supply device bin 7222 with an open lower end is disposed at the bottom of the box holder 722, the power supply device cover 7242 is mounted at an opening at the lower end of the power supply device bin 7222 in a covering manner, an open main control bin 7226 is disposed at the front side or the rear side of the box holder 722, the main control cover 7244 is mounted at an opening of the main control bin 7226 in a covering manner, both the left and right ends of the main control bin 7226 are open, the main control board 744 is mounted in the main control bin 7226, both the left and right ends of the main control board 744 extend out from both the left and right ends of the main control bin 7226, a bin 7224 with an open upper end is disposed at the top of the box holder 722, the audio/video cover 7246 is mounted at an opening of the audio/video bin 7224 in a.
In any of the above embodiments, preferably, as shown in fig. 21 and 22, the rear side of the body assembly 7 is provided with a second mounting hole 7822, and the second mounting hole 7822 is preferably rectangular. Meanwhile, the rear tail rod assembly 94 includes a support plate 940, a rotary connector 942, a rear tail rod 946 and a torsion spring 948, wherein one end of the support plate 940 is fixed in the body assembly 7, and optionally directly fixed to the rear panel 782', the other end of the support plate 940 passes through the second mounting hole 7822 and extends to the rear of the body assembly 7, the other end of the support plate 940 is provided with a third mounting hole 9402, the rotary connector 942 is provided with a fourth mounting hole 9422, the third mounting hole 9402, the fourth mounting hole 9422 and the torsion spring 948 are aligned during installation, then one end of the second pin shaft 944 without a limiting plate passes through the rotary connector 942, the support plate 940 and the torsion spring 948 from top to bottom or from bottom to top through the third mounting hole 9402 and the fourth mounting hole 9422, and then the locking of the second pin shaft 944 is achieved through a snap spring, a split pin or a retaining ring 949. Meanwhile, the first torsion arm of the torsion spring 948 is fixed to the rear tail 946, the second torsion arm of the torsion spring 948 abuts against the rear side of the body component 7, and the torsion spring 948 needs to be installed in a specified direction during installation, so that the torsion spring 948 is not installed reversely. With the structure, after the rear tail lever assembly 94 is installed, the rear tail lever 946 and the rotary connector 942 can rotate together around the second pin shaft 944, so that when the rear tail lever assembly 94 needs to be folded, the rear tail lever 946 can be rotated until the rear tail lever 946 is flush with the rear panel 782', and thus the rear tail lever 946 can be folded and installed inside the elastic wheel 1 in the falling process of the robot, so that the rear tail lever 946 is prevented from being damaged by collision in the falling process. Meanwhile, according to the structure, when the tail rod 946 is in the folded state, the torsion spring 948 is in the torsional deformation state, and thus the torsion spring 948 can always generate a return elastic force when the tail rod 946 is in the folded state, so that after the robot starts to walk after falling to the ground, for example, when the elastic wheel 1 rotates by a certain angle to enable the first notch 162 of the elastic wheel 1 to be aligned with the tail rod 946, the limitation of the elastic wheel 1 on the tail rod 946 is removed, and at the moment, the tail rod 946 can automatically reset under the elastic force action of the torsion spring 948, so that the tail rod 946 can be automatically unfolded after the robot falls to the ground, and the unfolded tail rod 946 can support the ground, so that the stability of the robot during walking detection information can be maintained.
Further preferably, as shown in fig. 21 and 22, two lug plates 9424 are disposed at an interval along the axial direction of the second pin 944 at one end of the rotary connector 942, which is engaged with the tail rod support, the fourth mounting hole 9422 penetrates through the two lug plates 9424, one end of the tail rod support is located between the two lug plates 9424, the torsion spring 948 has two torsion spring segments 9482, and the two torsion spring segments 9482 are both located outside the two lug plates 9424 and are sleeved on the second pin 944. During installation, the two lug plates 9424 of the rotary connector 942 are clamped on two sides of the support plate 940, the two torsion spring sections 9482 of the torsion spring 948 are respectively aligned and installed on the outer sides of the two lug plates 9424, then the second pin 944 is inserted, and the second pin 944 is locked through the clamp spring or the retaining ring 949 or the split pin. This kind of structure can swivelling joint piece 942 and torsional spring 948 be the symmetry setting about backup pad 940 to can make the mounting structure of back tail 946 more stable firm, and then can improve the installation reliability between back tail 946 and organism subassembly 7.
Further preferably, as shown in fig. 21 and 22, an accommodating cavity 9426 for accommodating the rear tail 946 is provided on the other end of the rotary connector 942, one end of the rear tail 946 is limited in the accommodating cavity 9426, meanwhile, screw mounting holes are provided on both the rotary connector 942 and the rear tail 946, and the rotary connector 942 and the rear tail 946 are connected by screws matched with the screw mounting holes.
Preferably, as shown in fig. 21 and 22, the receiving cavity 9426 is preferably a rectangular slot, and a rectangular insertion portion is provided at the end of the rear tail 946 that mates with the receiving cavity 9426. Preferably, the end of the supporting plate 940 engaged with the rotating connecting member 942 is arc-shaped, and the two ear plates 9424 are arc-shaped, so that the supporting plate 940 and the rotating connecting member 942 have more smooth structures and avoid hooking.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A fire-fighting robot wheel assembly, comprising:
the elastic wheel consists of a wheel body and a wheel shaft, a circle of annular bulge is arranged on the side surface of the inner wheel of the wheel body, and the wheel shaft is arranged on the side surface of the inner wheel of the wheel body and protrudes out of the side surface of the inner wheel of the wheel body;
the wheel body is provided with a wheel axle hole penetrating through the wheel body and the wheel axle, and the wheel axle hole comprises a first axle hole arranged in the wheel body and a second axle hole arranged in the wheel axle.
2. A fire fighting robot wheel assembly according to claim 1,
the annular bulge is provided with a first notch.
3. A fire fighting robot wheel assembly according to claim 1,
the wheel body comprises a hub and a rim, the hub and the rim are connected through a plurality of wheel spokes, the wheel spokes are arc-shaped, and a tire is arranged outside the rim;
the tire comprises a tire body, wherein a plurality of convex strips are arranged on the tire tread of the tire at intervals, each convex strip is arranged along the axial direction of the tire body, a plurality of long circular arcs are symmetrically arranged on the tire body, and the long circular arcs extend to the wheel hub from the tire tread of the tire along the surface of the tire body.
4. A fire fighting robot wheel assembly according to claim 1,
the wheel body is in transition connection with the wheel shaft through an arc transition part; and/or
The wheel body and the wheel shaft are of an integrated structure; and/or
The elastic wheel is a rubber wheel.
5. A fire fighting robot wheel assembly as defined in any one of claims 1 to 4, wherein the fire fighting robot further includes a motor assembly including a motor shaft, the wheel assembly further including:
the wheel end fixing seat is positioned on one side of the elastic wheel, which is provided with the wheel shaft, and is used for being installed at one end of the motor assembly, which is provided with the motor shaft, and bearing installation holes which are distributed along the axial direction of the wheel body are formed in the wheel end fixing seat;
the outer bearing sleeve comprises a first end plate and a first shaft sleeve, the first end plate is fixedly arranged on the surface, close to the wheel body, of the wheel end fixing seat, and the first shaft sleeve is arranged on the first end plate and inserted into the bearing mounting hole;
the inner bearing sleeve comprises a second end plate and a second shaft sleeve arranged on one side of the second end plate, the second shaft sleeve is inserted into and mounted in the first shaft sleeve, the second shaft sleeve and the first shaft sleeve are in interference fit, and the second end plate is fixedly mounted on the end face of one end, far away from the first end plate, of the first shaft sleeve;
the second shaft sleeve is provided with a plurality of strip-shaped notches arranged along the axial direction, the strip-shaped notches are arranged at equal intervals along the circumferential direction of the second shaft sleeve, and the wheel shaft is rotatably arranged in the second shaft sleeve.
6. A fire fighting robot wheel assembly as set forth in claim 5, further comprising:
the first end of the connecting shaft assembly is fixedly arranged in the first shaft hole, and the second end of the connecting shaft assembly is arranged in the second shaft hole;
and one end of the motor shaft is in driving connection with the second end of the connecting shaft assembly in the second shaft hole.
7. A fire fighting robot, comprising:
the fire fighting robot wheel assembly of any one of claims 1 to 6;
the left end and the right end of the machine body assembly are respectively provided with at least one mounting groove, and the machine body assembly is positioned in a space corresponding to the inner side of the elastic wheel in the whole circumferential direction of the elastic wheel;
the buffer blocks are symmetrically arranged at the left end and the right end of the machine body assembly, are positioned on a plurality of outer surfaces of the left end and the right end of the machine body assembly arranged along the circumferential direction, and are arranged at intervals;
the motor assemblies are arranged in the machine body assembly, and one ends, which are not provided with motor shafts, of the motor assemblies are fixed in the mounting grooves;
wherein, a plurality of wheel subassemblies are installed symmetrically the left and right sides of organism subassembly to through the connecting axle subassembly with motor element's motor shaft is connected, just wheel subassembly's annular protruding cover is established and is installed and is located outside a plurality of buffer blocks of organism subassembly with the end, and with be located be provided with the clearance between a plurality of buffer blocks of organism subassembly with the end.
8. A fire fighting robot as recited in claim 7, further comprising:
the communication assembly comprises a communication box arranged on the upper end face of the machine body assembly and a signal wire arranged on the upper end face of the machine body assembly, the signal wire is positioned outside the communication box, the signal wire has elasticity, can be bent under the action of external force and can automatically reset, and in the whole circumferential direction of the elastic wheel, the communication box is positioned in a space corresponding to the inner side of the elastic wheel; and/or
And a rear tail bar assembly mounted on a rear side surface of the body assembly, and having a folded state retracted in a space corresponding to an inner side of the elastic wheel and an opened state extended rearward from the rear side surface of the body assembly, the rear tail bar assembly being rotatable between the folded state and the opened state.
9. A fire fighting robot as recited in claim 8,
the annular bulge of the elastic wheel is provided with a first notch, when the rear tail rod assembly is folded, the rear tail rod assembly can enter and be fixed into a gap between the annular bulge and the buffer block through the first notch, and the rear tail rod assembly can automatically rotate from the folded state to the unfolded state through the first notch in the rotation process of the elastic wheel;
correspond be provided with the second breach on the buffer block that the fold condition of back tail-bar subassembly set up, the second breach can back tail-bar subassembly is fixed to annular protruding with dodge out when in the clearance between the buffer block back tail-bar subassembly.
10. A fire fighting robot as recited in any one of claims 7 to 9, wherein the airframe assembly includes:
the electric cabinet is provided with at least one mounting groove at the left end and the right end;
a plurality of electric control elements arranged in the electric cabinet;
the power supply device is arranged in the electric cabinet;
the panel assembly comprises a plurality of panels and sealing strips, the panels are in one-to-one correspondence and can be detachably mounted on a plurality of outer surfaces of the electric cabinet, the outer surfaces are arranged along the circumferential direction, and one sealing strip is mounted between any two adjacent panels;
the left end and the right end of the panel component extend out of the left end and the right end of the electric cabinet by preset lengths, and the plurality of buffer blocks are symmetrically arranged at the left end and the right end of the panel component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020063949.7U CN211994974U (en) | 2020-01-13 | 2020-01-13 | Fire-fighting robot wheel subassembly and fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020063949.7U CN211994974U (en) | 2020-01-13 | 2020-01-13 | Fire-fighting robot wheel subassembly and fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211994974U true CN211994974U (en) | 2020-11-24 |
Family
ID=73425729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020063949.7U Expired - Fee Related CN211994974U (en) | 2020-01-13 | 2020-01-13 | Fire-fighting robot wheel subassembly and fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211994974U (en) |
-
2020
- 2020-01-13 CN CN202020063949.7U patent/CN211994974U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106151827A (en) | A kind of removable screen formula display | |
| CN211994974U (en) | Fire-fighting robot wheel subassembly and fire-fighting robot | |
| CN111332066A (en) | Driving wheel assembly and fire-fighting robot | |
| CN211986764U (en) | Fire-fighting robot | |
| CN211986765U (en) | Fire-fighting robot | |
| CN211710966U (en) | Two-wheeled robot | |
| CN211994975U (en) | Driving wheel assembly and fire-fighting robot | |
| CN211710540U (en) | Driving wheel assembly and fire-fighting robot | |
| CN111267995B (en) | Two-wheeled robot | |
| CN211710965U (en) | Two-wheeled robot | |
| CN211986766U (en) | Machine body assembly and fire-fighting robot | |
| CN111231651A (en) | Driving wheel assembly and fire-fighting robot | |
| CN111265804B (en) | Machine body assembly and fire-fighting robot | |
| CN111717401B (en) | Quick separation mechanism for parachute at tail of aircraft and aircraft | |
| CN106335458B (en) | The mechanical full linkage quick-fried glass device assembly of car | |
| CN215816144U (en) | Explosion-proof plastic shell of lead-acid storage battery | |
| CN205872483U (en) | Unmanned aerial vehicle load upset jack | |
| CN212861870U (en) | Unmanned aerial vehicle's carry thing frame mechanism of throwing | |
| CN211526024U (en) | Test equipment mounting structure | |
| CN218477648U (en) | Tilting mechanism and aircraft | |
| CN221080852U (en) | Cable protection ring | |
| CN213609795U (en) | Fighting robot | |
| CN211032444U (en) | Separated power interface device for unmanned vehicle | |
| CN210525095U (en) | Lightweight modular bottom transverse turning combat robot | |
| CN219866132U (en) | Differential mechanism planetary gear shaft and differential mechanism planetary gear shaft limiting tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201124 |