CN214930183U - Crawler-type foam fire-fighting robot suitable for climbing - Google Patents
Crawler-type foam fire-fighting robot suitable for climbing Download PDFInfo
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- CN214930183U CN214930183U CN202120751247.2U CN202120751247U CN214930183U CN 214930183 U CN214930183 U CN 214930183U CN 202120751247 U CN202120751247 U CN 202120751247U CN 214930183 U CN214930183 U CN 214930183U
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- wheel
- climbing
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- crawler
- wheel carrier
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Abstract
The utility model relates to a fire-fighting robot technical field, the crawler-type foam fire-fighting robot that climbing is suitable for is proposed, including the fire-fighting vehicle body, running gear and climbing mechanism, running gear includes the wheel carrier, the track, around establishing in the wheel carrier periphery, the inboard middle part of track is provided with the rack along length direction, the side supporting wheel, set up the one side at the wheel carrier, a track for supporting the side, go up the supporting wheel, a plurality of, the rotation sets up on the wheel carrier, a track for supporting the top, the walking wheel, a plurality of groups, the setting is on the wheel carrier, through track and ground contact, the take-up pulley, remove and set up and keep away from side supporting wheel one end at the wheel carrier, climbing mechanism includes, the hoisting wheel, it sets up in fire-fighting vehicle body below to go up and down. Through above-mentioned technical scheme, the problem that application scope is little among the prior art has been solved.
Description
Technical Field
The utility model relates to a fire-fighting robot technical field, it is specific, relate to the crawler-type foam fire-fighting robot that climbing is suitable for.
Background
Crawler-type fire-fighting robot is used for replacing the fire fighter to get into the scene of a fire depths fire-fighting operation of putting out a fire, has reduced the casualties rate among the conflagration rescue process. The existing crawler-type fire-fighting robot can only be suitable for advancing and retreating in places with slow gradients, and is difficult to deal with ground conditions with large gradients or large obstacles, so that the application range of the robot is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a crawler-type foam fire-fighting robot that climbing is suitable for has solved the little problem of application scope among the correlation technique.
The technical scheme of the utility model as follows:
comprises a fire-fighting truck body, a running gear and a climbing mechanism, wherein the running gear comprises
The wheel frame is provided with a wheel frame,
the crawler belt is wound on the periphery of the wheel carrier, a rack is arranged in the middle of the inner side of the crawler belt along the length direction,
a side supporting wheel arranged at one side of the wheel frame and used for supporting the crawler belt at the side edge,
a plurality of upper supporting wheels which are rotatably arranged on the wheel frame and are used for supporting the upper crawler belt,
a plurality of groups of travelling wheels which are arranged on the wheel carrier and are contacted with the ground through the crawler belt,
the tensioning wheel is movably arranged at one end of the wheel carrier far away from the side supporting wheel,
the climbing mechanism comprises a climbing mechanism and a climbing mechanism,
and the lifting wheel is arranged below the fire fighting truck body in a lifting manner.
Also comprises a plurality of angular walking frames which are arranged on the wheel carrier, the walking wheels are arranged at the two ends of the angular walking frames,
the two walking wheels positioned at one end of the angular walking frame are symmetrically arranged at two sides of the rack.
Also comprises
And the scroll spring is arranged at the connecting shaft of the angular walking frame and the wheel frame, and two ends of the scroll spring are respectively connected with the wheel frame and the connecting shaft of the angular walking frame.
The side supporting wheels and the tensioning wheels are respectively arranged on two sides of the wheel carrier, and the side supporting wheels are meshed with the racks.
Also comprises
The angle-shaped support frame is arranged on the wheel carrier, one end of the angle-shaped support frame is provided with the tensioning wheel, and the other end of the angle-shaped support frame is provided with two walking wheels which are symmetrical relative to the rack.
The climbing mechanism also comprises
A folding leg, the lifting wheel is arranged on the folding leg,
the cylinder body is arranged on the folding frame and used for driving the folding frame to drive the lifting wheels to move up and down.
Also comprises
An adjusting screw rod which is rotationally arranged on the angular support frame,
the adjusting block is movably arranged at one end of the angle-shaped supporting frame, the side supporting wheel is rotatably arranged on the adjusting block, and an internal thread in threaded connection with the adjusting screw rod is arranged in the adjusting block.
The utility model discloses a theory of operation and beneficial effect do:
1. the utility model discloses in, the wheel carrier is used for supporting the installation of side supporting wheel, last supporting wheel, walking wheel and take-up pulley, and side supporting wheel and last supporting wheel are used for supporting the track side and the higher authority makes it be unlikely to collapse, and the walking wheel is located the below, supports the walking of fire control automobile body. The tensioning wheel is used for adjusting the tightness of the track. The climbing mechanism is adapted such that, when a stepped obstacle is encountered, the lifting wheels are lowered to cause the front portion of the track to be supported off the ground, being able to approach the stepped obstacle, thereby causing it to continue to advance past the obstacle, and then the lifting wheels are raised up as an obstacle not to stop the track from advancing. The application range of the fire fighting truck can be enlarged by arranging the climbing mechanism.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the track of the present invention;
FIG. 3 is a schematic view of the track rack structure of the present invention;
FIG. 4 is a schematic view of the angle-shaped walking frame of the present invention;
FIG. 5 is a schematic view of the connection structure of the volute spiral spring of the present invention;
FIG. 6 is a schematic view of the folding frame of the present invention;
FIG. 7 is a schematic view of the structure of the adjusting screw of the present invention;
in the figure: 1-fire fighting truck body, 2-wheel carrier, 3-track, 4-rack, 5-side supporting wheel, 6-upper supporting wheel, 7-walking wheel, 8-tensioning wheel, 9-lifting wheel, 10-angular walking frame, 11-volute spiral spring, 12-angular supporting frame, 13-folding frame, 14-air cylinder, 15-adjusting screw rod and 16-adjusting block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive work, are related to the scope of the present invention.
As shown in fig. 1 to 7, the embodiment provides a crawler-type foam fire-fighting robot suitable for climbing, which includes a fire-fighting truck body 1, a traveling mechanism and a climbing mechanism, wherein the traveling mechanism includes
The wheel carrier 2 is provided with a plurality of wheels,
a track 3 wound on the periphery of the wheel carrier 2, a rack 4 arranged in the middle of the inner side of the track 3 along the length direction,
a side supporting wheel 5 arranged at one side of the wheel frame 2 for supporting the side track 3,
a plurality of upper supporting wheels 6 which are rotatably arranged on the wheel carrier 2 and are used for supporting the upper crawler 3,
the traveling wheels 7 are arranged on the wheel carrier 2 and are contacted with the ground through the crawler 3,
a tension wheel 8 movably arranged at one end of the wheel carrier 2 far away from the side supporting wheel 5,
the climbing mechanism comprises a climbing mechanism and a climbing mechanism,
lifting wheels 9 are arranged below the fire fighting truck body 1 in a lifting mode.
In this embodiment, the wheel carrier 2 is used for supporting the installation of the side supporting wheel 5, the upper supporting wheel 6, the walking wheel 7 and the tension wheel 8, the side supporting wheel 5 and the upper supporting wheel 6 are used for supporting the side edge and the upper edge of the crawler 3 so as to prevent the side edge and the upper edge from being loosened, and the walking wheel 7 is located below and supports the fire fighting truck body 1 to walk. The tension wheel 8 is used for adjusting the tightness of the crawler 3. The climbing mechanism is adapted such that, when a stepped obstacle is encountered, the lifting wheels 9 are lowered so that the front portion of the track 3 is supported off the ground, can approach the stepped obstacle so as to continue to advance over the obstacle, and then the lifting wheels 9 are raised not as an obstacle to the travel of the track 3. The application range of the fire fighting truck can be enlarged by arranging the climbing mechanism.
Further comprises a plurality of angular walking frames 10 which are arranged on the wheel carrier 2, walking wheels 7 are arranged at the two ends of the angular walking frames 10,
two walking wheels 7 positioned at one end of the angular walking frame 10 are symmetrically arranged at two sides of the rack 4.
In this embodiment, each of the angular walking frames 10 is provided with 2 sets of 4 walking wheels 7, and each two walking wheels 7 are symmetrically arranged on two sides of the angular walking frame 10 and clamped on two sides of the rack 4 of the track 3. The included angle of the angular walking frame 10 is an acute angle, which can provide better support for the walking wheels 7.
Further, also comprises
And the scroll spring 11 is arranged at the connecting shaft of the angular walking frame 10 and the wheel frame 2, and two ends of the scroll spring 11 are respectively connected with the connecting shafts of the wheel frame 2 and the angular walking frame 10.
In this embodiment, the angular walking frame 10 has a certain rotation margin, and under normal conditions, the two sets of walking wheels 7 are uniformly stressed by the acting force of the spiral spring 11, and the angular walking frame 10 is located at a position symmetrical to the ground normal. When the road condition with uneven ground is met, the spiral spring 11 can enable the angular walking frame 10 to slightly rotate, so that the crawler 3 is attached to the ground, and the service life of the crawler is prolonged.
Further, the side support wheel 5 and the tension wheel 8 are respectively arranged at both sides of the wheel carrier 2, and the side support wheel 5 is engaged with the rack 4.
In this embodiment, the side support wheels 5 have teeth, and engage with the rack 4 of the crawler 3, so that the crawler 3 can be restricted from being separated from the road wheels 7.
Further, also comprises
The angular support frame 12 is arranged on the wheel carrier 2, one end of the angular support frame 12 is provided with a tension wheel 8, and the other end of the angular support frame 12 is provided with two walking wheels 7 which are symmetrical relative to the rack 4.
In this embodiment, the angle of the angle support frame 12 is an acute angle, one end of the horizontal arrangement is provided with a tension wheel 8, and the other end is provided with a group of walking wheels 7. The tensioning wheel 8 moves on the angular support 12 to adjust the tightness of the track 3.
Furthermore, the climbing mechanism also comprises
A folding frame 13, a lifting wheel 9 is arranged on the folding frame 13,
and the cylinder body 14 is arranged on the folding frame 13 and is used for driving the folding frame 13 so as to drive the lifting wheel 9 to move up and down.
In this embodiment, the folding leg 13 is used to drive the lifting wheel 9 to ascend and descend. The cylinder 14 is used for driving the deformation of the folding leg 13 so as to lift and lower the lifting wheel 9.
Further, also comprises
An adjusting screw rod 15 is rotationally arranged on the angular support frame 12,
the adjusting block 16 is movably arranged at one end of the angle-shaped supporting frame 12, the side supporting wheel 5 is rotatably arranged on the adjusting block 16, and an internal thread in threaded connection with the adjusting screw rod 15 is arranged in the adjusting block 16.
In this embodiment, the angle support frame 12 is provided with the fixed block, the adjusting screw 15 is rotatably disposed on the fixed block, the adjusting block 16 slides on the angle support frame 12, the adjusting screw 15 passes through the adjusting block 16, and the adjusting block 16 slides towards or away from the track 3 by rotating the adjusting screw 15, so as to adjust the tightness.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The crawler-type foam fire-fighting robot suitable for climbing is characterized by comprising a fire-fighting vehicle body (1), a traveling mechanism and a climbing mechanism, wherein the traveling mechanism comprises
A wheel carrier (2),
a track (3) wound on the periphery of the wheel carrier (2), a rack (4) arranged in the middle of the inner side of the track (3) along the length direction,
a side supporting wheel (5) arranged at one side of the wheel carrier (2) and used for supporting the side track (3),
a plurality of upper supporting wheels (6) which are rotatably arranged on the wheel carrier (2) and are used for supporting the upper crawler belt (3),
a plurality of groups of travelling wheels (7) which are arranged on the wheel carrier (2) and are contacted with the ground through the crawler belt (3),
a tension wheel (8) movably arranged at one end of the wheel carrier (2) far away from the side supporting wheel (5),
the climbing mechanism comprises a climbing mechanism and a climbing mechanism,
and the lifting wheel (9) is arranged below the fire fighting truck body (1) in a lifting manner.
2. The crawler-type foam fire-extinguishing fire-fighting robot suitable for climbing according to claim 1, characterized by further comprising a plurality of angular walking frames (10) arranged on the wheel carrier (2), wherein the walking wheels (7) are arranged at both ends of the angular walking frames (10),
the two walking wheels (7) positioned at one end of the angular walking frame (10) are symmetrically arranged at two sides of the rack (4).
3. The climbing crawler-type foam fire-fighting robot according to claim 2, further comprising
The spiral spring (11) is arranged at the connecting shaft of the angular walking frame (10) and the wheel frame (2), and two ends of the spiral spring (11) are respectively connected with the wheel frame (2) and the connecting shaft of the angular walking frame (10).
4. The climbing crawler-type foam fire-fighting robot according to claim 1, wherein the side support wheels (5) and the tensioning wheels (8) are respectively disposed on both sides of the wheel carrier (2), and the side support wheels (5) are engaged with the rack (4).
5. The climbing crawler-type foam fire-fighting robot according to claim 1, further comprising
The angle-shaped support frame (12) is arranged on the wheel carrier (2), one end of the angle-shaped support frame (12) is provided with the tension wheel (8), and the other end of the angle-shaped support frame is provided with two walking wheels (7) which are symmetrical relative to the rack (4).
6. A climbing crawler-type foam fire-fighting robot as recited in claim 1, wherein the climbing mechanism further comprises
A folding leg (13), the lifting wheel (9) is arranged on the folding leg (13),
and the cylinder body is arranged on the folding frame (13) and used for driving the folding frame (13) to drive the lifting wheel (9) to move up and down.
7. The climbing crawler-type foam fire-fighting robot according to claim 5, further comprising
An adjusting screw rod (15) is rotationally arranged on the angular support frame (12),
the adjusting block (16) is movably arranged at one end of the angle-shaped supporting frame (12), the side supporting wheel (5) is rotatably arranged on the adjusting block (16), and an internal thread in threaded connection with the adjusting screw rod (15) is arranged in the adjusting block (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120751247.2U CN214930183U (en) | 2021-04-13 | 2021-04-13 | Crawler-type foam fire-fighting robot suitable for climbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120751247.2U CN214930183U (en) | 2021-04-13 | 2021-04-13 | Crawler-type foam fire-fighting robot suitable for climbing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214930183U true CN214930183U (en) | 2021-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120751247.2U Active CN214930183U (en) | 2021-04-13 | 2021-04-13 | Crawler-type foam fire-fighting robot suitable for climbing |
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| CN (1) | CN214930183U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092275A (en) * | 2022-08-24 | 2022-09-23 | 杭州高卡机械有限公司 | Automatic drive manned trolley |
-
2021
- 2021-04-13 CN CN202120751247.2U patent/CN214930183U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092275A (en) * | 2022-08-24 | 2022-09-23 | 杭州高卡机械有限公司 | Automatic drive manned trolley |
| CN115092275B (en) * | 2022-08-24 | 2022-11-08 | 杭州高卡机械有限公司 | Automatic drive manned trolley |
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