A front drive assembly for a firefighting robot

Abstract

The utility model discloses a kind of front drive assembly for fire-fighting robot belongs to fire-fighting robot technical field.The assembly includes chassis, two drive wheels symmetrically arranged in the front part of chassis, independent drive unit respectively driving each drive wheel, suspension damping mechanism connecting chassis and drive wheel and track wrapping drive wheel and guide wheel.Each drive unit includes drive motor fixed to chassis and reducer connecting motor and drive wheel, and drive wheel is supported on the axle fixed to chassis by bearing.Suspension damping mechanism uses Christy independent suspension, and integrated adjustable tensioning mechanism.The utility model improves the climbing and obstacle-crossing ability of robot, steering flexibility and terrain adaptability by double-motor independent front drive, independent suspension and modular design, while having the advantages of compact structure, high reliability, easy maintenance.

Description

Technical Field

[0001] This utility model relates to the field of fire-fighting robot technology, specifically to a drive mechanism for fire-fighting robots, and in particular a front-drive assembly. Background Technology

[0002] The walking drive system of a firefighting robot is the core of its mobility, directly determining the robot's passability, obstacle-crossing ability, and operating range in complex fire environments. The drive assembly typically includes drive wheels, a power source, a transmission mechanism, and related support and tensioning components. Its design and layout have a decisive impact on the overall traction performance, stability, and reliability of the robot.

[0003] Currently, small and medium-sized firefighting robots generally adopt motor-driven tracked locomotives. Common drive layouts include rear-mounted drive (drive wheels located at the rear of the vehicle), mid-mounted drive, or four-wheel drive. Rear-mounted drive is simple in structure, but when the robot climbs steep slopes or obstacles, the center of gravity shifts rearward, reducing the ground pressure on the rear drive wheels, easily leading to insufficient traction, slippage, and stalling, severely limiting its climbing angle (usually difficult to exceed 25°) and obstacle-crossing height. While mid-mounted or four-wheel drive solutions improve traction, they often result in complex transmission structures, high costs, and insufficient steering flexibility in confined spaces. Furthermore, existing drive assemblies are often rigidly connected to the vehicle chassis or use simple suspensions, offering limited cushioning when crossing ditches and embankments, with impact loads directly transmitted to the motor and reducer, affecting their lifespan.

[0004] In summary, the existing drive assemblies of firefighting robots have the following main shortcomings: First, the traditional rear-drive layout has insufficient traction performance when dealing with terrains such as steep slopes and ruins commonly found at fire scenes, limiting its passability; second, the complex multi-drive schemes adopted to improve performance have redundant structures, are inconvenient to maintain, and are costly; third, the rigid or inefficient buffer connection between the drive system and the chassis is not conducive to absorbing shocks, affecting the reliability and durability of key components.

[0005] Therefore, there is an urgent need for a dedicated drive assembly that is compact, has strong traction, and is highly reliable, in order to fundamentally improve the terrain adaptability of firefighting robots. Summary of the Invention

[0006] This utility model aims to overcome the aforementioned shortcomings of existing fire-fighting robot drive systems and provide a compact, terrain-adaptable, and highly reliable front-drive assembly for fire-fighting robots. Specifically, the purpose of this utility model is: 1. A drive layout is provided that can effectively optimize the overall vehicle center of gravity distribution and significantly improve the robot's climbing and obstacle-crossing capabilities; 2. Design a modular and easy-to-maintain drive structure to improve the maintainability and power redundancy of the system; 3. Through integrated suspension and drive design, the robot's stability and ability to navigate complex terrain are enhanced.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A front-mounted drive assembly for a firefighting robot includes a chassis, a walking mechanism, a drive unit, and a suspension and shock absorption mechanism. The walking mechanism includes two drive wheels symmetrically arranged on either side of the front of the chassis, and tracks surrounding the drive wheels and at least one guide wheel. Each drive wheel is driven by an independent drive unit, which includes a drive motor fixedly mounted on the front of the chassis and a reducer connected between the drive motor and the corresponding drive wheel, thus forming two independent and parallel power outputs. A suspension and shock absorption mechanism is connected between the chassis and the drive wheels to buffer travel shocks.

[0008] Furthermore, each of the drive wheels is supported on an axle by a bearing assembly, and the axle is fixedly mounted on the chassis.

[0009] Furthermore, the drive motor is a permanent magnet synchronous servo motor, which is fixedly connected to the chassis via a bearing housing.

[0010] Furthermore, the suspension damping mechanism is a Christie-style independent suspension structure, which includes: a suspension frame fixed to the chassis, a guide wheel installed at the rear of the suspension frame, a plurality of load wheels arranged at lateral intervals, and a hydraulic shock absorber correspondingly disposed above each load wheel.

[0011] Furthermore, the suspension damping mechanism also integrates a track tensioning mechanism, which is connected to the guide wheel and is used to adjust the tension of the track.

[0012] Furthermore, the track tensioning mechanism includes an adjusting screw and a T-nut that cooperates with the wheel axle bracket of the guide wheel. By turning the adjusting screw, the guide wheel is driven to move back and forth.

[0013] Furthermore, the track has a structure in which a flame-retardant rubber matrix is ​​embedded with a reinforcing skeleton.

[0014] Furthermore, it also includes a protective cover that covers the exterior of the drive motor, reducer, and drive wheel.

[0015] Furthermore, the front of the chassis is provided with an integrated mounting plane and connecting part for mounting the drive unit and the suspension damping mechanism.

[0016] Furthermore, the power supply or control circuits of the two drive motors are set independently to achieve differential steering of the fire-fighting robot.

[0017] Compared with the prior art, the present invention has the following significant advantages: 1. Excellent terrain passability: By positioning the drive wheels and powertrain at the front, the center of gravity of the vehicle is shifted to the rear when climbing hills, which greatly increases the traction of the drive wheels, effectively preventing slippage and giving the robot a stronger ability to climb steep slopes (such as 30°) and overcome obstacles.

[0018] 2. Optimized Structure and Handling: Utilizing independent motors for both left and right wheels eliminates the need for a traditional integral drive axle, resulting in a more compact structure and more flexible layout. Simultaneously, this design inherently supports precise differential steering control, enabling small-radius turns and even stationary maneuvers, significantly enhancing maneuverability.

[0019] 3. Enhanced reliability and maintainability: The independent dual-motor drive provides power redundancy; even if one motor fails, the other can still provide power, ensuring basic mobility. The modular drive unit and integrated suspension design facilitate quick assembly and disassembly and maintenance, reducing operating and maintenance costs.

[0020] 4. Enhanced ride smoothness and adaptability: The integrated high-efficiency independent suspension damping system effectively filters the impact of rough roads, protecting the drive unit itself and improving the stability and component life of the whole machine when driving at high speeds or in complex terrain. Attached Figure Description

[0021] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this utility model.

[0022] Figure 1 This is a schematic diagram showing the installation position of the front drive assembly of this utility model on a fire-fighting robot.

[0023] Figure 2 yes Figure 1 A view from another direction.

[0024] Figure 3 This is a three-dimensional structural diagram of the front drive assembly of this utility model installed on the chassis of a fire-fighting robot (one side of the track is omitted).

[0025] Figure 4 This is a three-dimensional structural diagram of the front-drive assembly of this utility model.

[0026] Figure 5 This is a partial sectional view of the drive wheel bearing support structure in this utility model.

[0027] Figure 6 This is a structural schematic diagram of the suspension shock absorption mechanism in this utility model. Detailed Implementation

[0028] The technical solution of this utility model will be described in detail and in a non-limiting manner below with reference to the accompanying drawings. Those skilled in the art should understand that various modifications, equivalent substitutions or improvements can be made to the embodiments without departing from the concept of this utility model.

[0029] Please see Figures 1 to 6 This utility model provides a front-drive assembly for a firefighting robot, which is installed as a highly integrated functional module at the front end of the firefighting robot chassis 1. The core function of this assembly is to provide the robot with strong traction and excellent terrain adaptability. Structurally, it mainly includes a front chassis frame 101 as the load-bearing and mounting base, two sets of independent drive units 200 arranged symmetrically on the left and right, an integrated suspension and shock absorption mechanism 13, and tracks 23 surrounding it.

[0030] Specifically, the front frame 101 of the chassis is typically welded or integrally cast from high-strength steel plates, forming a robust "well"-shaped or frame-shaped structure. A connecting flange or mounting holes are provided at the rear for bolting or welding to the robot's main chassis, enabling modular and rapid assembly. Symmetrically arranged on the left and right sides of the front of the frame 101 are motor mounting plates 102 and reducer support seats 103 for mounting the drive units 200. Each independent drive unit 200 consists of a drive motor 31, a reducer 32, and drive wheels 21 connected sequentially. The drive motor 31 is preferably a permanent magnet synchronous servo motor or a high-torque brushless DC motor, which is vertically or horizontally fixed to the motor mounting plate 102 using high-strength hexagonal socket bolts (e.g., M10×40, performance grade 12.9). The output shaft of the drive motor 31 can be connected to the input shaft of the reducer 32 via a flexible coupling. This coupling can be a perforated coupling or a diaphragm coupling, effectively compensating for minor coaxiality deviations and absorbing impact vibrations. The reducer 32 is preferably a planetary gear reducer or a worm gear reducer, which features a compact structure, large reduction ratio, and high output torque. Its housing is fastened to the reducer support 103 by bolts. The output shaft of the reducer 32 directly drives the hub of the drive wheel 21 via a key connection or flange connection.

[0031] The support structure of the drive wheel 21 is a key detail of this assembly. The drive wheel 21 includes an axle 202, which is mounted to the side plate of the front frame 101 of the chassis via bearings. Inside the hub of the drive wheel 21, two sets of deep groove ball bearings are installed, used in pairs to withstand combined radial and axial loads. The inner ring of the bearing mates with the axle 202, and the outer ring is interference-fitted with the bearing housing 203. End caps can be provided on the outer side of the bearings for sealing, and the interior is filled with high-temperature grease to ensure smooth operation even in harsh environments. This discrete bearing support design allows the rotation of the left and right drive wheels 21 to be completely independent and without interference, laying the foundation for differential steering and also facilitating the disassembly and maintenance of individual wheel units.

[0032] The suspension damping mechanism 13 is the core component for improving passability and ride comfort. This invention preferably employs a Christie-type independent suspension structure; however, those skilled in the art will understand that torsion bar, MacPherson strut, and other independent suspensions can also be applied under this concept. Figure 6 As shown, the suspension damping mechanism 13 mainly includes a suspension frame 131 firmly connected to the bottom of the front frame 101 of the chassis. The suspension frame 131 consists of two longitudinal side beams and several transverse connecting beams, forming a robust lower skeleton. At the rear end of the suspension frame 131, guide wheels 22 are mounted via bearing seats. Below the two longitudinal side beams, multiple (e.g., 4-6) load-bearing wheels 133 are arranged transversely at intervals along the length direction. Each load-bearing wheel 133 is connected to the suspension frame 131 via a swing-arm type load-bearing wheel bracket 135. The upper end of the load-bearing wheel bracket 135 is hinged to the suspension frame 131 via a horizontal pivot axis, allowing it to swing up and down around this axis. Above each load-bearing wheel bracket 135, a hydraulic shock absorber 134 is correspondingly provided. The lower end of the hydraulic shock absorber 134 is connected to the load-bearing wheel bracket 135 via bolts and self-locking nuts, while the upper end is also connected to the crossbeam of the suspension frame 131. When the robot travels on uneven surfaces, the road wheels 133 experience vertical displacement upon encountering bumps or depressions, causing the road wheel bracket 135 to swing around its pivot axis, thereby compressing or stretching the hydraulic shock absorbers 134. The oil inside the shock absorbers generates damping force through a valve system, converting the impact kinetic energy into heat energy and dissipating it, thus greatly buffering the vibrations transmitted to the chassis and body. The tracks 23 tightly wrap around the two foremost drive wheels 21, the rear guide wheels 22, and the outer periphery of the row of road wheels 133.

[0033] To ensure that the track 23 maintains appropriate tension under various working conditions and to prevent power loss due to slippage or excessive slack, this assembly integrates a highly efficient track tensioning mechanism 24. Please refer to [link / reference]. Figure 6This mechanism primarily functions on the guide wheel 22. The axles of the guide wheel 22 are mounted at both ends within a sliding axle bracket 241, the tail of which is machined with a long, narrow adjusting groove. A T-nut is embedded in this groove. One end of an adjusting screw 242 with both positive and negative threads passes through a fixed support on the chassis or suspension frame and engages with the T-nut. When the adjusting screw 242 is tightened using a tool, the T-nut 242 drives the entire axle bracket 241 and the guide wheel 22 to move back and forth along the slide rail. Moving forward loosens the track, while moving backward tightens it. After adjustment, the adjusting screw 242 can be secured with a locking nut to prevent it from loosening. This mechanism is simple in structure, precise in adjustment, and highly reliable.

[0034] Furthermore, to protect the precision drive unit and bearing assemblies, the entire front-drive assembly is typically fitted with a protective cover (not shown in the figure). The cover can be stamped from thin steel sheet and connected to the front frame 101 of the chassis via clips or screws, serving to prevent dust, water splashes, and impacts from gravel. A labyrinthine sealing gap is maintained between the drive wheel 21 and the cover, which neither affects track movement nor hinders the movement of contaminants.

[0035] The working principle and process of this utility model are as follows: When the fire-fighting robot needs to move forward, the control system sends commands to the left and right drive motors 31. The motors 31 output high-speed, low-torque rotation, which is then directly transmitted to the drive wheels 21 after being reduced in speed and increased in torque by the reducer 32. The drive wheels 21 drive the tracks 23 to move by meshing with the ground, thereby generating a traction force that propels the robot forward. Because the power source is directly in front and the robot's center of gravity naturally shifts backward when climbing, the ground pressure of the drive wheels 21 is significantly increased, and the adhesion is enhanced, effectively overcoming the problem of slipping when climbing. When turning is required, the control system can implement differential speed control on the left and right drive motors 31. For example, if the speed of the left motor is lower than that of the right motor, the robot turns to the left, and vice versa, achieving flexible and precise steering with a minimum turning radius much smaller than that of traditional structures. During travel, the suspension damping mechanism 13 works continuously, independently adapting to the terrain undulations on each side, ensuring that the load-bearing wheels 133 always remain in contact with the ground, maintaining the maximum ground contact area and traction, while ensuring the stability of the equipment and the vehicle body. During maintenance, the protective cover can be easily removed, and the track 23 can be replaced after the tensioning mechanism 24 is loosened; the motor 31 or reducer 32 of a single drive unit 200 can also be removed and inspected independently, which greatly improves maintainability.

[0036] In summary, this utility model, through its integrated design of "dual-motor independent front drive + independent suspension + integrated tensioning," not only fundamentally improves the firefighting robot's ability to traverse extreme terrains and its maneuverability, but also brings significant advancements in modularity, reliability, and maintainability. This specific embodiment has fully disclosed the technical solution, enabling those skilled in the art to implement and benefit from it.

Claims

1. A front drive assembly for a firefighting robot, characterized by, include: Chassis (1); Two drive wheels (21) are symmetrically arranged on both sides of the front of the chassis (1); Two drive motors (31) are respectively configured to correspond one-to-one with the two drive wheels (21), and the drive motors (31) are fixedly installed at the front of the chassis (1); A speed reducer (32) is disposed between each of the drive motors (31) and the corresponding drive wheel (21) to form an independent drive unit; A suspension damping mechanism (13) is connected between the chassis (1) and the drive wheel (21); and Tracks (23) surround the two drive wheels (21) and at least one guide wheel (22).

2. The pre-drive assembly of claim 1, wherein, Each of the drive wheels (21) is supported on an axle by a bearing assembly, the axle being fixedly mounted on the chassis (1).

3. The pre-drive assembly of claim 1, wherein, The drive motor (31) is a permanent magnet synchronous servo motor, which is fixedly connected to the chassis (1) through a bearing seat.

4. The pre-drive assembly of claim 1, wherein, The suspension damping mechanism (13) is a Christie-type independent suspension structure, which includes: The suspension frame (131) is fixed to the chassis (1). The guide wheel (22) is installed at the rear of the suspension frame (131); Multiple load-bearing wheels (133) are arranged at transverse intervals. A hydraulic shock absorber (134) is correspondingly installed above each load wheel (133).

5. The pre-drive assembly of claim 4, wherein, The suspension damping mechanism (13) also integrates a track tensioning mechanism (24), which is connected to the guide wheel (22) and is used to adjust the tension of the track (23).

6. The pre-drive assembly of claim 5, wherein, The track tensioning mechanism (24) includes an adjusting screw (242) and a T-nut that cooperates with the wheel axle bracket of the guide wheel (22). The guide wheel (22) is moved back and forth by turning the adjusting screw (242).

7. The front-drive assembly according to claim 1, characterized in that, The track (23) is a structure in which a flame-retardant rubber matrix is ​​embedded with a reinforcing skeleton.

8. The pre-drive assembly of claim 1, wherein, It also includes a protective cover that covers the exterior of the drive motor (31), the reducer (32) and the drive wheel (21).

9. The front-drive assembly according to claim 1, characterized in that, The front of the chassis (1) is provided with an integrated mounting plane and connecting part for mounting the drive unit and the suspension damping mechanism (13).

10. The pre-drive assembly of claim 1, wherein, The power supply or control lines of the two drive motors (31) are set independently to achieve differential steering of the fire-fighting robot.

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