A firefighting robot chassis capable of climbing large slopes and overcoming obstacles

Abstract

The present invention relates to the field of fire-fighting robots, and specifically to a fire-fighting robot chassis that can achieve large-angle climbing and obstacle crossing. It includes a chassis shell, a motor, a motor reducer, and a walking structure. The walking structure includes a crawler track, a driving wheel group, a wheel group mounting plate, a road wheel group, a towing wheel group, and a guide wheel group. The driving wheel group includes a fork-shaped bracket, a driving shaft, a driving sprocket, a passive sprocket, a driving wheel, a driven shaft and a chain. The fork-shaped bracket includes a fork handle and a U-shaped fixing frame. The U-shaped fixing frame is fixed to the bottom end of the fork handle, and the top end of the fork handle is rotatably fixed on the road wheel group adjacent to the driving wheel group. Compared with the existing fire-fighting robot chassis, the present invention increases the ground contact length of the crawler track through the driving wheel group, and the driving wheel group is interconnected with the adjacent road wheel group, which greatly improves the robot's own climbing and obstacle crossing capabilities.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting robots, and in particular to a fire-fighting robot chassis capable of climbing slopes at large angles and crossing obstacles. Background Art

[0002] With the rapid development of social economy, the particularity of construction and enterprise production has led to an increase in the potential for leakage of hazardous chemicals and radioactive substances, as well as combustion, explosion, and collapse, and the probability of accidents has also increased accordingly. Once a disaster occurs, firefighters face hazardous environments such as high temperature, darkness, toxicity, and thick smoke. If they rush into the scene without the corresponding equipment, they will not only fail to complete the task, but also increase casualties. In response to this situation, firefighting robots came into being. Firefighting robots are a type of special robots that play an increasingly important role in firefighting and emergency rescue.

[0003] The fire scene environment is complex. In order to extinguish fires and rescue, firefighting robots need to constantly climb slopes and cross various obstacles. However, the existing firefighting robot chassis has a relatively small climbing angle, and can only climb a slope of about 35° at most, and the maximum obstacle height is about 200mm, which limits the robot's operation in some special environments. Summary of the invention

[0004] The present invention provides a firefighting robot chassis capable of climbing slopes and overcoming obstacles at large angles, the purpose of which is to improve the climbing and obstacle overcoming capabilities of the firefighting robot.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] The present invention provides a firefighting robot chassis capable of climbing a slope at a large angle and overcoming obstacles, comprising a chassis shell, a motor arranged in the chassis shell and a motor reducer whose input end is connected to the output shaft of the motor, a left walking structure arranged on the left side of the chassis shell, and a right walking structure arranged on the right side of the chassis shell. The left walking structure is symmetrical and identical to the right walking structure.

[0007] The left walking structure and the right walking structure both include tracks, a driving wheel group for driving the tracks to walk, a wheel group mounting plate fixed on one side of the chassis shell, and a plurality of load-bearing wheel groups arranged on the wheel group mounting plate for supporting the overall weight of the fire-fighting robot, a plurality of traction wheel groups for supporting the tracks, and a guide wheel group for guiding the tracks.

[0008] The driving wheel group includes a fork-shaped bracket, a driving shaft, a driving sprocket, a driven sprocket, a driving wheel, a driven shaft and a chain. The fork-shaped bracket includes a fork handle and a U-shaped fixing frame, the fork handle is provided with an axial hole, and the fork handle is rotatably arranged on one side of the chassis shell through a driving wheel bearing coaxial with the axial hole. The U-shaped fixing frame is fixed to the bottom end of the fork handle, and the top end of the fork handle is rotatably fixed to the road wheel group adjacent to the driving wheel group and forms a linkage with the road wheel group.

[0009] One end of the driving shaft is connected to the output end of the motor reducer, and the other end passes through the driving wheel bearing and extends out of the shaft hole. The driving sprocket is fixed on the driving shaft. The passive sprocket and the driving wheel are both fixed on the driven shaft, and the driven shaft is rotatably fixed on the U-shaped fixing frame. The driving sprocket is connected to the passive sprocket through the chain, and the driving wheel drives the crawler to move.

[0010] Furthermore, track tension adjustment structures are respectively provided on both sides of the U-shaped fixing frame.

[0011] Furthermore, the track tension adjustment structure includes a tension adjustment fixing block, an adjustment screw, an adjustment nut, a driven shaft fixing plate and a waist-shaped hole arranged on the U-shaped fixing frame.

[0012] Furthermore, the road wheel assembly includes a sickle-shaped bracket, a first shock absorbing mechanism, a second shock absorbing mechanism, a first road wheel, a first rotating rod and a first fixing rod.

[0013] Furthermore, the towing wheel assembly includes an L-shaped bracket and a towing wheel.

[0014] Furthermore, the guide wheel group includes a T-shaped bracket, a guide wheel, a second load-bearing wheel, a second rotating rod, a second fixed rod and a third shock absorbing mechanism.

[0015] The beneficial effects achieved by the present invention are:

[0016] Compared with the existing fire-fighting robot chassis, the present invention increases the ground contact length of the crawler track through the driving wheel group, and the driving wheel group is interconnected with the adjacent load-bearing wheel group, which greatly improves the robot's own climbing and obstacle-crossing capabilities.

[0017] After testing, the present invention is able to climb a maximum steep slope of about 42° and cross obstacles with a height of more than 300 mm, which greatly improves the robot's ability to adapt to the working environment and allows it to go up and down ordinary stairs with ease. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a stereogram of the present invention.

[0019] Figure 2It is a top view of the present invention.

[0020] Figure 3 It is a side view of the present invention.

[0021] Figure 4 It is a three-dimensional diagram of the walking structure after removing the tracks.

[0022] Figure 5 It is a three-dimensional diagram of the driving wheel group.

[0023] Figure 6 It is a top view of the driving wheel set.

[0024] Figure 7 This is a partial enlarged view of the fork bracket, with the driven shaft fixing plate hidden.

[0025] Figure 8 It is a three-dimensional diagram of the road wheel group.

[0026] Fig. 9 It is a side view of the road wheel assembly.

[0027] Fig.10 It is a stereoscopic diagram of the towing wheel assembly.

[0028] Fig.11 It is a side view of the traction wheel assembly.

[0029] Fig.12 It is a stereoscopic diagram of the guide wheel assembly.

[0030] Fig.13 It is a side view of the guide wheel assembly.

[0031] In the figure, 1, chassis housing; 2, motor; 21, motor reducer; 3, driving wheel set; 31, driving sprocket; 32, chain; 33, fork-shaped bracket; 331, passive sprocket; 332, driving driving wheel; 333, tension adjustment fixing block; 334, adjusting screw; 335, adjusting nut; 336, driven shaft; 337, driven shaft fixing plate; 338, waist-shaped hole; 34, driving wheel bearing; 4, road wheel set; 41 , sickle-shaped bracket; 42, the first shock-absorbing mechanism; 43, the second shock-absorbing mechanism; 44, the first load-bearing wheel; 45, the first rotating rod; 46, the first fixed rod; 5, the towing wheel group; 51, the L-shaped bracket; 52, the towing wheel; 6, the guide wheel group; 61, the T-shaped bracket; 62, the guide wheel; 63, the second load-bearing wheel; 64, the second rotating rod; 65, the second fixed rod; 66, the third shock-absorbing mechanism; 7, the crawler track; 8, the wheel assembly mounting plate. DETAILED DESCRIPTION

[0032] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0033] like Figures 1 to 3As shown, the present invention provides a firefighting robot chassis that can achieve large-angle climbing and obstacle crossing, including a chassis shell 1, a motor 2 and a motor reducer 21 arranged in the chassis shell 1, a left walking structure arranged on the left side of the chassis shell 1, and a right walking structure arranged on the right side of the chassis shell 1. The chassis shell 1 is a rectangular box with a large opening on the top to facilitate the installation of various parts. The number of the motor 2 and the motor reducer 21 are both two, and the input end of the motor reducer 21 is connected to the output shaft of the motor 2. The left walking structure is symmetrical and identical to the right walking structure, and one walking structure corresponds to one motor 2, so as to obtain more sufficient power and better turning performance.

[0034] like Figure 3~4 As shown, the left walking structure and the right walking structure both include a crawler 7, a driving wheel group 3 for driving the crawler 7 to walk, a wheel group mounting plate 8 fixed on one side of the chassis shell 1, and a plurality of load-bearing wheel groups 4 arranged on the wheel group mounting plate 8 for supporting the overall weight of the fire-fighting robot, a plurality of traction wheel groups 5 for supporting the crawler 7, and a guide wheel group 6 for guiding the crawler 7.

[0035] Due to the complex environment at the fire scene, the road wheel set 4 needs to bear the weight of the entire robot and bear most of the impact force that the fire robot is subjected to when traveling, so the road wheel set 4 is more easily damaged. When the road wheel set 4 is damaged, in order not to delay rescue and disaster relief, the road wheel set 4 needs to be quickly replaced. Therefore, the present invention adopts the method of installing the road wheel set 4, the traction wheel set 5 and the guide wheel set 6 to the wheel set mounting plate 8, so as to achieve the purpose of quickly replacing the road wheel set 4 as a whole in an emergency, so as to quickly restore the action of the fire robot, and the replaced road wheel set 4 can be repaired at the rear.

[0036] like Figures 5 to 7 As shown, the driving wheel group 3 includes a fork-shaped bracket 33, a driving shaft, a driving sprocket 31, a driven sprocket 331, a driving wheel 332, a driven shaft 336 and a chain 32. The fork-shaped bracket 33 includes a fork handle and a U-shaped fixing frame, and the fork handle is provided with an axial hole. The fork handle is rotatably arranged on one side of the chassis shell 1 through a driving wheel bearing 34 coaxial with the axial hole. The U-shaped fixing frame is fixed to the bottom end of the fork handle, and the top end of the fork handle is rotatably fixed to the top end of the first shock absorbing mechanism 42 of the first load-bearing wheel group 4 described below, so as to form a linkage with the first load-bearing wheel group 4.

[0037] Specifically, when the driving wheel set 3 crosses an obstacle, the driving drive wheel 332 will lift upward, that is, the fork-shaped bracket 33 rotates upward, and the top of the fork handle presses the first shock-absorbing mechanism 42 of the following first load-bearing wheel set 4. Through the buffering of this first shock-absorbing mechanism 42, the pressure is transmitted to the first load-bearing wheel 44 of the following first load-bearing wheel set 4. This first load-bearing wheel 44 presses tightly on the crawler 7, increasing the grip ability of the crawler 7, so as to cross the obstacle more easily. Instead of like a traditional fire-fighting robot chassis, when crossing an obstacle, the load-bearing wheels are prone to suspension, resulting in being stuck by a relatively high obstacle.

[0038] One end of the driving shaft is connected to the output end of the motor reducer 21, and the other end passes through the driving wheel bearing 34 and extends out of the shaft hole. When the fork-shaped bracket 33 rotates through the driving wheel bearing 34, it will not be linked with the driving shaft. The driving sprocket 31 is fixed on the driving shaft. The driven sprocket 331 and the driving drive wheel 332 are both fixed on the driven shaft 336. The driven shaft 336 is rotatably fixed on the U-shaped fixing frame. The driving sprocket 31 is connected to the driven sprocket 331 through the chain 32. When the motor 2 is started, through the transmission of the motor reducer 21 and the driving shaft, the driving sprocket 31 is driven to operate. The driving sprocket 31 drives the driven sprocket 331 to rotate through the chain 32, and then drives the driving drive wheel 322 to rotate. The driving drive wheel 332 drives the crawler 7 to travel.

[0039] Further, in order to facilitate the replacement of the crawler 7, crawler tension adjustment structures are respectively arranged on both sides of the U-shaped fixing frame. The driven shaft 336 is rotatably fixed on the U-shaped fixing frame through the crawler tension adjustment structure.

[0040] The crawler tension adjustment structure includes a tension adjustment fixing block 333, an adjustment screw 334, adjustment nuts 335, a driven shaft fixing plate 337, and a waist-shaped hole 338 arranged on the U-shaped fixing frame. A screw hole is arranged on the tension adjustment fixing block 333, and the tension adjustment fixing block 333 is fixed on one side of the U-shaped fixing frame. One end of the adjustment screw 334 is screwed into the screw hole, and the other end is fixed to one side of the driven shaft fixing plate 337. The number of the adjustment nuts 335 is two, and the internal threads are opposite. The adjustment nuts 335 are sleeved on the adjustment screw 334, and these two adjustment nuts 335 clamp the tension adjustment fixing block 333 in the middle. The width of the waist-shaped hole 338 is greater than the diameter of the driven shaft 336. Both ends of the driven shaft 336 extend out from the waist-shaped holes 338 on both sides of the U-shaped fixing frame and are rotatably fixed on the driven shaft fixing plate 337.

[0041] By rotating the two adjusting nuts 335, the distance between the driven shaft 336 and the driving sprocket 31 is adjusted, that is, the tightness of the chain 32 and the crawler 7 is adjusted. When the chain 32 or crawler 7 needs to be installed, the distance needs to be reduced; and when the installation is completed, the distance is increased, and the chain 32 or crawler 7 can be tightened.

[0042] The road wheel group 4 is used to support the fire fighting robot, and the road wheel group 4 is arranged on the wheel group mounting plate 8 at the same interval. The present invention takes three road wheel groups 4 as an example, and the three road wheel groups 4 are evenly arranged between the driving wheel group 3 and the guide wheel group 6. And according to the distance from the driving wheel group 3, the three road wheel groups 4 are named the first road wheel group 4, the second road wheel group 4 and the third road wheel group 4 in sequence. Among them, the first road wheel group 4 is closest to the driving wheel group 3.

[0043] like Figures 8 and 9 As shown, the road wheel assembly 4 includes a sickle-shaped bracket 41, a first shock absorbing mechanism 42, a second shock absorbing mechanism 43, a first road wheel 44, a first rotating rod 45 and a first fixed rod 46. The sickle-shaped bracket 41 includes a short rod and a long rod perpendicular to each other, and the long rod is at the bottom and the short rod is at the top during installation. The sickle-shaped bracket 41 is rotatably arranged on the wheel assembly mounting plate 8 through the first rotating rod 45, and one end of the first rotating rod 45 is fixed at the junction of the short rod and the long rod. One end of the first shock absorbing mechanism 42 is rotatably fixed to the long rod, and the other end is fixed to the wheel assembly mounting plate 8 through the first fixed rod 46. The first road wheel 44 is rotatably fixed to the bottom end of the long rod. One end of the second shock absorbing mechanism 43 is rotatably fixed to the top end of the short rod, and the other end is fixed to the wheel assembly mounting plate 8 through the first fixed rod 46. When the first road wheel 44 is lifted upward, the sickle-shaped bracket 41 rotates, and the first shock absorbing mechanism 42 and the second shock absorbing mechanism 43 are both compressed. On the one hand, they buffer the impact force, and on the other hand, they press the track 7 tightly against the obstacle to increase the gripping ability, so as to overcome the obstacle and prevent being stuck by the obstacle.

[0044] Among them, the first road wheel group 4 is different from the second and third road wheel groups 4. The top of the first shock absorbing mechanism 42 of the first road wheel group 4 is not fixed on the wheel group mounting plate 8, but is rotatably connected to the top of the fork handle to realize the linkage between the driving wheel group 3 and the first road wheel group 4.

[0045] The traction wheel set 5 is arranged above the road wheel set 4, and the traction wheel set 5 is used to hold up the crawler track 7, increase the tightness of the crawler track 7, and prevent the crawler track 7 from being too loose and collapsing.

[0046] like Figures 10-11As shown, the traction wheel group 5 includes an L-shaped bracket 51 and a traction wheel 52. The L-shaped bracket 51 is fixed on the wheel group mounting plate 8, and the traction wheel 52 is rotatably arranged at the other end of the L-shaped bracket 51, and the traction wheel 52 lifts up the crawler 7.

[0047] The guide wheel group 6 is arranged at the end of the fire-fighting robot, and the guide wheel group 6 is used for guiding the crawler 7.

[0048] like Figures 12-13 As shown, the guide wheel group 6 includes a T-shaped bracket 61, a guide wheel 62, a second road wheel 63, a second rotating rod 64, a second fixed rod 65 and a third shock absorbing mechanism 66. The T-shaped bracket 61 includes an arc-shaped support rod and a center rod. When installed, the arc-shaped support rod is at the bottom and the center rod is facing upward. The upper end of the arc-shaped support rod is rotatably fixed to the wheel group mounting plate 8 through the second rotating rod 64, and the lower end of the arc-shaped support rod is connected to the second road wheel 63, and the guide wheel 62 is arranged at the top of the center rod. There are two third shock absorbing mechanisms 66, one end of which can be rotatably fixed to the center rod, and the other end is fixed to the wheel group mounting plate 8 through the second fixed rod 65.

[0049] When the second load-bearing wheel 63 is lifted upward, the T-shaped bracket 61 rotates, and the third shock-absorbing mechanism 66 is compressed. The third shock-absorbing mechanism applies a reaction force to the T-shaped bracket 61, and the crawler 7 is pressed tightly against the obstacle through the second load-bearing wheel 63, thereby increasing the gripping ability, so as to pass over the obstacle and prevent being stuck by the obstacle. At the same time, the guide wheel 62 moves upward to keep the crawler 7 tight, further improving the gripping ability of the crawler 7.

[0050] The first shock absorbing mechanism 42, the second shock absorbing mechanism 43 and the third shock absorbing mechanism 66 have the same structure, and all include a compression spring and a buffer cylinder.

[0051] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A firefighting robot chassis capable of climbing large slopes and overcoming obstacles, characterized in that: It includes a chassis housing (1), a motor (2) disposed within the chassis housing (1), and a motor reducer (21) whose input end is connected to the output shaft of the motor (2), a left traveling structure disposed on the left side of the chassis housing (1), and a right traveling structure disposed on the right side of the chassis housing (1); the left traveling structure and the right traveling structure are symmetric and identical; Both the left traveling structure and the right traveling structure include a crawler (7), a driving wheel set (3) for driving the crawler (7) to travel, a wheel set mounting plate (8) fixed to one side of the chassis housing (1), and a number of load-carrying wheel sets (4) provided on the wheel set mounting plate (8) for supporting the overall weight of the fire-fighting robot, a number of idler wheel sets (5) for lifting the crawler (7), and a guide wheel set (6) for guiding the crawler (7); The driving wheel set (3) includes a fork-shaped bracket (33), a driving shaft, a driving sprocket (31), a driven sprocket (331), a driving drive wheel (332), a driven shaft (336), and a chain (32); the fork-shaped bracket (33) includes a fork handle and a U-shaped fixing frame, a shaft hole is provided on the fork handle, and the fork handle is rotatably disposed on one side of the chassis housing (1) through a driving wheel bearing (34) coaxial with the shaft hole; the U-shaped fixing frame is fixed to the bottom end of the fork handle, and the top end of the fork handle is rotatably fixed to a load-carrying wheel set (4) adjacent to the driving wheel set (3) and forms a linkage with this load-carrying wheel set (4); One end of the driving shaft is connected to the output end of the motor reducer (21), and the other end passes through the driving wheel bearing (34) and extends out of the shaft hole, and the driving sprocket (31) is fixed to the driving shaft; both the driven sprocket (331) and the driving drive wheel (332) are fixed to the driven shaft (336), and the driven shaft (336) is rotatably fixed to the U-shaped fixing frame; the driving sprocket (31) is connected to the driven sprocket (331) through the chain (32), and the driving drive wheel (332) drives the crawler (7) to travel; The load-bearing wheel assembly (4) comprises a sickle-shaped bracket (41), a first shock absorbing mechanism (42), a second shock absorbing mechanism (43), a first load-bearing wheel (44), a first rotating rod (45) and a first fixed rod (46); the sickle-shaped bracket (41) comprises a short rod and a long rod perpendicular to each other, and when installed, the long rod is at the bottom and the short rod is at the top; the sickle-shaped bracket (41) is rotatably arranged on the wheel assembly mounting plate (8) via the first rotating rod (45), and one end of the first rotating rod (45) is fixed at the intersection of the short rod and the long rod; the load-bearing wheel assembly adjacent to the driving wheel assembly (3) is The top end of the first shock absorbing mechanism (42) of the wheel group (4) is rotatably connected to the top end of the fork handle, the top end of the first shock absorbing mechanism (42) of the other road wheel group (4) is fixed to the wheel group mounting plate (8) through the first fixing rod (46), and the bottom end of the first shock absorbing mechanism (42) is rotatably fixed to the long rod; the bottom end of the long rod is rotatably fixed with the first road wheel (44); one end of the second shock absorbing mechanism (43) is rotatably fixed to the top end of the short rod, and the other end is fixed to the wheel group mounting plate (8) through the first fixing rod (46).

2. The firefighting robot chassis capable of climbing large slopes and overcoming obstacles according to claim 1, characterized in that: Track tension adjustment structures are respectively arranged on both sides of the U-shaped fixing frame.

3. The firefighting robot chassis capable of climbing large slopes and overcoming obstacles according to claim 2 is characterized in that: The track tension adjustment structure comprises a tension adjustment fixing block (333), an adjustment screw (334), an adjustment nut (335), a driven shaft fixing plate (337), and a waist-shaped hole (338) arranged on the U-shaped fixing frame; a screw hole is arranged on the tension adjustment fixing block (333), and the tension adjustment fixing block (333) is fixed to one side of the U-shaped fixing frame; one end of the adjustment screw (334) is screwed into the screw hole, and the other end is fixed to one side of the driven shaft fixing plate (337); There are two adjusting nuts (335) with opposite internal threads. The adjusting nuts (335) are sleeved on the adjusting screw (334). The two adjusting nuts (335) sandwich the tension adjustment fixing block (333) in the middle. The width of the waist-shaped hole (338) is greater than the diameter of the driven shaft (336). Both ends of the driven shaft (336) extend out from the waist-shaped holes (338) on both sides of the U-shaped fixing frame and are rotatably fixed on the driven shaft fixing plate (337).

4. The firefighting robot chassis capable of climbing large slopes and overcoming obstacles according to claim 1 is characterized in that: The towing wheel assembly (5) comprises an L-shaped bracket (51) and a towing wheel (52); the L-shaped bracket (51) is fixed on the wheel assembly mounting plate (8), and the towing wheel (52) is rotatably arranged at the other end of the L-shaped bracket (51), and the towing wheel (52) lifts up the crawler (7).

5. The firefighting robot chassis capable of climbing large slopes and overcoming obstacles according to claim 1 is characterized in that: The guide wheel group (6) comprises a T-shaped bracket (61), a guide wheel (62), a second load-bearing wheel (63), a second rotating rod (64), a second fixed rod (65) and a third shock-absorbing mechanism (66); the T-shaped bracket (61) comprises an arc-shaped support rod and a center rod, the upper end of the arc-shaped support rod is rotatably fixed to the wheel group mounting plate (8) via the second rotating rod (64), the lower end of the arc-shaped support rod is connected to the second load-bearing wheel (63), and the guide wheel (62) is arranged at the top end of the center rod; the number of the third shock-absorbing mechanisms (66) is two, one end of each of the third shock-absorbing mechanisms (66) is rotatably fixed to the center rod, and the other end is fixed to the wheel group mounting plate (8) via the second fixed rod (65).

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