A high-temperature resistant reducer for firefighting robots

Abstract

This invention discloses a high-temperature resistant reducer for fire-fighting robots. Through an oil cooling circulation system, cooling oil enters from the inlet of the oil passage support shaft, flows through the floating oil seal into the cooling oil circulation chamber, and then flows out from the return port of the oil passage support shaft. This creates a strong cooling and heat exchange effect on the oil passage support shaft, the floating oil seal, and the first bearing, removing heat transferred from the outside into the reducer as well as heat generated by the reducer itself. The rigid connection insulation layer isolates the conducted heat through a zirconia-yttrium oxide thermal barrier coating, reducing the temperature rise of the reducer. The heat-insulating protective cover ensures that when the reducer is in a high-temperature environment, some of the external heat is first reflected by the anti-radiation steel plate cover, then partially insulated by the high-temperature resistant heat-insulating coating, and finally completely insulated by the aerogel felt.

Description

Technical Field

[0001] This application relates to the field of engineering machinery transmission device technology, specifically to a high-temperature resistant reducer for fire-fighting robots. Background Technology

[0002] my country has numerous large-scale petrochemical enterprises, tunnels, subways, underground parking garages, and large-span buildings, posing significant fire hazards at all stages of production, transportation, storage, and use. Petrochemical fires are characterized by large burning areas, rapid combustion speeds, and a tendency to spread fires, with core temperatures exceeding 1000℃, making them extremely difficult to extinguish. Fires in large factories, long-span buildings, and subway tunnels spread rapidly, posing a high risk of collapse at the rescue site, as dense smoke and toxic substances cannot dissipate quickly, and the high-temperature smoke at the top can reach over 600℃, making the fire scene difficult to access.

[0003] Therefore, the market needs a high-temperature resistant fire rescue robot product that is highly adaptable to fire scenes, resistant to environmental impact, highly mobile, capable of clearing obstacles, efficient in fire extinguishing and smoke extraction, highly intelligent, capable of autonomous driving and operation, able to cross flowing fires and fire sources, and can replace firefighters on the front line of fire fighting and rescue, and capable of independently and collaboratively completing fire fighting and rescue tasks.

[0004] When firefighting and reconnaissance robots enter fire scenes, they face the challenge of ensuring that their speed reducers can operate normally in high-temperature environments of 1000℃, allowing them to replace firefighters in tasks such as crossing fire lines, reconnaissance, fire rescue, autonomous firefighting, and obstacle removal. Existing speed reducers have low operating temperatures and are extremely prone to damage when ambient temperatures exceed 50℃. This can cause firefighting robots to become unable to operate after entering a fire scene, or even become buried in the fire. Specifically, the following issues arise:

[0005] 1. The speed reducer cannot effectively dissipate heat when subjected to external temperatures exceeding 50℃ and internal temperatures generated during its own operation;

[0006] 2. When the reducer is connected to the track beam and drive wheel, heat will be transferred because the track beam and drive wheel have good thermal conductivity, causing the reducer temperature to rise sharply;

[0007] 3. High external temperatures will cause heat radiation and convection to external components such as the reducer housing and support shaft, resulting in a rapid increase in the reducer temperature. Summary of the Invention

[0008] To address the shortcomings of existing technologies, it is necessary to ensure that the reducer can withstand the high temperatures of an external fire scene while maintaining good internal heat dissipation to keep the internal temperature of the reducer low. This would allow firefighting robots to enter the fire scene at any time for specialized operations.

[0009] According to one aspect of this application, a high-temperature resistant reducer for a fire-fighting robot includes an oil cooling circulation system, a first rigid connection heat insulation layer, a second rigid connection heat insulation layer, a first heat insulation protective cover, a second heat insulation protective cover, a high-temperature resistant drive wheel, an internal gear ring, and a planetary mechanism. The high-temperature resistant reducer is mounted on the track beam mounting plate of the fire-fighting robot. The oil cooling circulation system is fixedly connected to the track beam mounting plate. A first rigid connection heat insulation layer is provided between the oil cooling circulation system and the track beam mounting plate. A bearing seat is provided in the oil cooling circulation system, and an internal gear ring is fixedly mounted on the bearing seat. A high-temperature resistant drive wheel is installed on the outer side of the internal gear ring. A second rigid connection heat insulation layer is provided between the connection between the high-temperature resistant drive wheel and the internal gear ring. A drive shaft is provided in the oil cooling circulation system. The planetary mechanism in the high-temperature reducer is connected to the internal gear ring and the drive shaft respectively through gear meshing to form a gear transmission type. A first heat insulation protective cover is provided on the outer side of the oil cooling circulation system. The first heat insulation protective cover is fixedly installed on one side of the high-temperature resistant drive wheel. A second heat insulation protective cover is provided on the outer side of the internal gear ring. The second heat insulation protective cover is fixedly installed on the other side of the high-temperature resistant drive wheel.

[0010] Preferably, the oil cooling circulation system includes a brake, an oil passage support shaft, a floating oil seal, a bearing housing, a first bearing, a cooling oil circulation chamber, a drive shaft, a base, a second bearing, and a lock nut. The oil passage support shaft is fixed to the track beam mounting plate by bolts, and a first rigid connection heat insulation layer is provided between the oil passage support shaft and the track beam mounting plate. The brake is fixed to the oil passage support shaft. A pair of first bearings are mounted on the outer side of the oil passage support shaft. The bearing housing is mounted on the oil passage support shaft via the first bearings. An oil seal seat is provided at the connection between the bearing housing located at the upper position of the first bearing and the oil passage support shaft, and an oil seal seat is installed inside the oil seal seat. The system includes a floating oil seal, a drive shaft that is meshed and fixed to the brake, a base that is fixed to the oil passage support shaft by a retaining ring, an inner ring of a second bearing that is mounted on the drive shaft, an outer ring of the second bearing that is mounted on the inner hole of the base, an external thread on the outer side of the oil passage support shaft located at the position of the first bearing on the lower side, and the oil passage support shaft is connected to a lock nut with an internal thread by a threaded connection to press the first bearing on the lower side, a cooling oil circulation chamber is provided inside the oil passage support shaft, an oil inlet is provided on one circumferential side of the oil passage support shaft and communicates with the cooling oil circulation chamber, and an oil return port is provided on the other circumferential side of the oil passage support shaft and communicates with the cooling oil circulation chamber.

[0011] Preferably, both the oil inlet and the oil return port are provided through the floating oil seal, and the cooling oil circulation chamber is connected to the first bearing mounting location.

[0012] Preferably, the floating oil seal is a pure fluororubber sealing ring.

[0013] Preferably, the first bearing is a tapered roller bearing.

[0014] Preferably, the first heat insulation shield is disposed on the outer surface of the oil passage support shaft and the bearing seat, and the first heat insulation shield is connected to the high-temperature drive wheel by bolts. The second heat insulation shield is disposed on the outer surface of the internal gear ring that meshes with the planetary mechanism, and the second heat insulation shield is connected to the high-temperature drive wheel by bolts. The internal gear ring is connected to the bearing seat by bolts. The first heat insulation shield and the second heat insulation shield form a complete heat insulation structure for the high-temperature reduction mechanism.

[0015] Preferably, both the first and second heat-insulating protective covers include a radiation-resistant steel plate cover, a high-temperature heat-insulating coating, and an aerogel felt. The high-temperature heat-insulating coating is sprayed onto the inner wall of the radiation-resistant steel plate cover, and the aerogel felt is fixed to the inner wall of the radiation-resistant steel plate cover with high-temperature adhesive and adhered to the surface of the high-temperature heat-insulating coating.

[0016] Preferably, both the first rigid connection insulation layer and the second rigid connection insulation layer are composed of multiple rigid insulation plates stacked together.

[0017] Preferably, the rigid heat insulation board includes a zirconium oxide-yttrium oxide thermal barrier coating and a heat-resistant alloy steel plate, wherein the zirconium oxide-yttrium oxide thermal barrier coating is applied to the outer surface of the heat-resistant alloy steel plate by plasma spraying.

[0018] Preferably, the high-temperature resistant drive wheel is made of H13 mold steel through a second high-temperature oil quenching and high-temperature tempering treatment.

[0019] This application discloses a high-temperature resistant reducer for a fire-fighting robot. Through an oil cooling circulation system, cooling oil enters from the inlet of the oil passage support shaft, flows through the floating oil seal into the cooling oil circulation chamber, and then exits from the return port of the oil passage support shaft. This creates a strong cooling and heat exchange effect on the oil passage support shaft, the floating oil seal, and the first bearing, carrying away heat transferred from the outside into the reducer and the heat generated by the reducer itself during operation, thus achieving good and effective heat dissipation. Furthermore, the application utilizes a first rigid connection heat insulation layer and a second rigid connection heat insulation layer respectively installed at the connection points between the reducer and the track beam mounting plate and the high-temperature resistant drive wheel. The heat conducted by the track beam mounting plate and high-temperature resistant drive wheel to the external high-temperature environment is isolated by the zirconia-yttrium oxide thermal barrier coating, thereby reducing the temperature rise of the reducer. By setting the first and second heat insulation protective covers on the outer surface of the reducer, when the reducer is in a high-temperature environment, the heat from the external environment is first reflected by the anti-radiation steel plate cover, then partially insulated by the high-temperature resistant heat insulation coating, and finally completely insulated by the aerogel felt. This avoids the external high-temperature environment from radiating and convection heat to the external components of the reducer, which would cause the reducer to heat up rapidly. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a high-temperature resistant reducer for a fire-fighting robot according to an embodiment of this application.

[0021] Figure 2 yes Figure 1 The structural cross-sectional view at point AA.

[0022] Figure 3 This is a schematic diagram of the oil cooling circulation system of a high-temperature resistant reducer for a fire-fighting robot according to an embodiment of this application.

[0023] Figure 4 This is a schematic diagram of the rigid connection heat insulation layer of a high-temperature resistant reducer for a fire-fighting robot according to an embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the structure of a first and second heat-insulating protective cover for a high-temperature resistant reducer for a fire-fighting robot according to an embodiment of this application.

[0025] Reference numerals: 1. Oil cooling circulation system; 101. Brake; 102. Oil passage support shaft; 103. Floating oil seal; 104. Bearing housing; 105. First bearing; 106. Cooling oil circulation chamber; 107. Drive shaft; 108. Base; 109. Second bearing; 110. Lock nut; 111. Oil inlet; 112. Oil return port; 2. First rigid connection heat insulation layer; 201. Rigid heat insulation plate; 2011. Zirconia-yttrium oxide thermal barrier coating; 2012. Heat-resistant alloy steel plate; 3. Second rigid connection heat insulation layer; 4. First heat insulation protective cover; 401. Anti-radiation steel plate cover; 402. High-temperature heat insulation coating; 403. Aerogel felt; 5. Second heat insulation protective cover; 6. High-temperature drive wheel; 7. Internal gear ring; 8. Planetary mechanism; 9. Track beam mounting plate. Detailed Implementation

[0026] To make the content of this application easier to understand, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the accompanying drawings. Figure 3 In this context, the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively. Furthermore, terms such as "first," "second," etc., are used for descriptive purposes only and should not be interpreted as indicating or implying relative importance.

[0027] like Figures 1-2As shown, a high-temperature resistant reducer for a fire-fighting robot includes an oil cooling circulation system 1, a first rigid connection heat insulation layer 2, a second rigid connection heat insulation layer 3, a first heat insulation protective cover 4, a second heat insulation protective cover 5, a high-temperature resistant drive wheel 6, an internal gear ring 7, and a planetary mechanism 8. The high-temperature resistant reducer is bolted to the track beam mounting plate 9 of the fire-fighting robot. The oil cooling circulation system 1 is fixedly connected to the track beam mounting plate 9. A first rigid connection heat insulation layer 2 is provided between the oil cooling circulation system 1 and the track beam mounting plate 9. A bearing seat 104 is provided in the oil cooling circulation system 1. An internal gear ring 7 is fixedly connected to the bearing seat 104 by bolts. The high-temperature resistant drive wheel 6 is bolted to the outside of the internal gear ring 7. A second rigid connection heat insulation layer 3 is provided between the connection between the high-temperature drive wheel 6 and the internal gear ring 7. A drive shaft 107 is provided in the oil cooling circulation system 1. The planetary mechanism 8 in the high-temperature reducer is connected to the internal gear ring 7 and the drive shaft 107 through gear meshing to form a gear transmission type. A first heat insulation protective cover 4 is provided on the outside of the oil cooling circulation system 1. The first heat insulation protective cover 4 is fixedly installed on one side of the high-temperature drive wheel 6 by bolt connection. A second heat insulation protective cover 5 is provided on the outside of the internal gear ring 7. The second heat insulation protective cover 5 is fixedly installed on the other side of the high-temperature drive wheel 6 by bolt connection. In the specific design, the high-temperature drive wheel 6 is made of H13 mold steel through two high-temperature oil quenching and high-temperature tempering treatments.

[0028] In one embodiment, combined Figure 2 and Figure 3The oil cooling circulation system 1 includes a brake 101, an oil passage support shaft 102, a floating oil seal 103, a bearing housing 104, a first bearing 105, a cooling oil circulation chamber 106, a drive shaft 107, a base 108, a second bearing 109, and a lock nut 110. The oil passage support shaft 102 is fixed to the track beam mounting plate 9 by bolts, and a first rigid connection heat insulation layer 2 is provided between the oil passage support shaft 102 and the track beam mounting plate 9. The brake 101 is fixed to the oil passage support shaft 102 by bolts. The outer side of the oil passage support shaft 102 is equipped with a first rigid connection heat insulation layer 2 arranged in pairs and distributed vertically. Bearing 105 and bearing housing 104 are mounted on oil passage support shaft 102 via bearing 105. An oil seal seat is provided at the connection between bearing housing 104 (located at the upper position of bearing 105) and oil passage support shaft 102, and a floating oil seal 103 is installed inside the oil seal seat. Drive shaft 107 is fixed to brake 101 via splines. Base 108 is fixed to oil passage support shaft 102 via retaining rings. The inner ring of second bearing 109 is mounted on drive shaft 107, and its outer ring is mounted on the inner hole of base 108. Oil passage support shaft 102 is located at the lower position of bearing 105. The outer side of the 102 is connected to the lock nut 110 via a threaded connection. The lock nut 110 presses against the lower first bearing 105. A cooling oil circulation chamber 106 is provided inside the oil passage support shaft 102. An oil inlet 111 is opened on one circumferential side of the oil passage support shaft 102 and communicates with the cooling oil circulation chamber 106. An oil return port 112 is opened on the other circumferential side of the oil passage support shaft 102 and communicates with the cooling oil circulation chamber 106. Both the oil inlet 111 and the oil return port 112 are equipped with floating oil seals 103. The cooling oil circulation chamber 106 is connected to the mounting location of the first bearing 105. Specifically, the floating... The moving oil seal 103 is a pure fluororubber seal ring, and the first bearing 105 is a tapered roller bearing. In the above design, through the setting of the oil cooling circulation system 1, the cooling oil can enter from the oil inlet 111 of the oil passage support shaft 102, flow into the cooling oil circulation chamber 106 through the floating oil seal 103, and then flow out from the oil return port 112 of the oil passage support shaft 102. This forms a strong cooling and heat exchange effect on the oil passage support shaft 102, the floating oil seal 103, and the first bearing 105, carrying away the heat transferred from the outside to the reducer and the heat generated by the reducer itself during operation, thereby achieving a good and effective heat dissipation effect.

[0029] In one embodiment, refer to Figure 2 and Figure 5 The first heat insulation shield 4 covers the outer surface of the oil passage support shaft 102 and the bearing seat 104, and the second heat insulation shield 5 covers the outer surface of the internal gear ring 7 that meshes with the planetary mechanism 8. The first heat insulation shield 4 and the second heat insulation shield 5 form a complete heat insulation structure for the high temperature resistant deceleration mechanism.

[0030] Specifically, both the first heat-insulating protective cover 4 and the second heat-insulating protective cover 5 include a radiation-reflecting steel plate cover 401, a high-temperature heat-insulating coating 402, and an aerogel felt 403. The high-temperature heat-insulating coating 402 is sprayed on the inner wall of the radiation-reflecting steel plate cover 401, and the aerogel felt 403 is fixed to the inner wall of the radiation-reflecting steel plate cover 401 with high-temperature adhesive and adheres to the surface of the high-temperature heat-insulating coating 402. In this design, when the reducer is in a high-temperature environment, the heat from the external environment is first reflected by the radiation-reflecting steel plate cover 401, then partially insulated by the high-temperature heat-insulating coating 402, and finally completely insulated by the aerogel felt 403. This avoids the high-temperature environment from causing the reducer to heat up rapidly due to heat radiation and heat convection to the external components of the reducer.

[0031] In one embodiment, combined Figure 4 The first rigid connection heat insulation layer 2 and the second rigid connection heat insulation layer 3 are both composed of multiple rigid heat insulation plates 201 stacked together. The rigid heat insulation plate 201 includes a zirconium oxide-yttrium oxide thermal barrier coating 2011 and a heat-resistant alloy steel plate 2012. The zirconium oxide-yttrium oxide thermal barrier coating 2011 forms a heat insulation layer on the outer surface of the heat-resistant alloy steel plate 2012 by plasma spraying. The heat transmitted from the outside is isolated by the zirconium oxide-yttrium oxide thermal barrier coating 2011, thereby reducing the rapid rise in the temperature of the reducer caused by the high external heat transmitted due to the good thermal conductivity of the track beam mounting plate 9 and the drive wheel.

[0032] Working principle: When the reducer is in a high-temperature environment, some of the heat from the external environment is first reflected by the anti-radiation steel plate cover 401, then some of the heat is insulated by the high-temperature heat-insulating coating 402, and then the residual heat is completely insulated by the aerogel felt 403. In addition, the zirconium oxide-yttrium oxide thermal barrier coating 2011 can also insulate the heat transfer, thereby preventing the external high-temperature environment from radiating and convection heat to the external parts of the reducer, which would cause the reducer to heat up rapidly.

[0033] The above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features, without departing from the spirit and scope defined by the claims of this application.

Claims

1. A high-temperature resistant reducer for a fire-fighting robot, comprising an oil cooling circulation system (1), a first rigid connection heat insulation layer (2), a second rigid connection heat insulation layer (3), a first heat insulation protective cover (4), a second heat insulation protective cover (5), a high-temperature resistant drive wheel (6), an internal gear ring (7), and a planetary mechanism (8), wherein the high-temperature resistant reducer is mounted on the track beam mounting plate (9) of the fire-fighting robot, characterized in that, The oil cooling circulation system (1) is fixedly connected to the track beam mounting plate (9). A first rigid connection heat insulation layer (2) is provided between the oil cooling circulation system (1) and the track beam mounting plate (9). A bearing seat (104) is provided in the oil cooling circulation system (1). An internal gear ring (7) is fixedly installed on the bearing seat (104). A high-temperature resistant drive wheel (6) is installed on the outside of the internal gear ring (7). A second rigid connection heat insulation layer (3) is provided between the high-temperature resistant drive wheel (6) and the internal gear ring (7). A drive shaft (107) is provided in the circulation system (1). The planetary mechanism (8) in the high-temperature reducer is connected to the internal gear ring (7) and the drive shaft (107) respectively through gear meshing to form a gear transmission type. A first heat insulation shield (4) is provided on the outside of the oil cooling circulation system (1). The first heat insulation shield (4) is fixedly installed on one side of the high-temperature drive wheel (6). A second heat insulation shield (5) is provided on the outside of the internal gear ring (7). The second heat insulation shield (5) is fixedly installed on the other side of the high-temperature drive wheel (6). The oil cooling circulation system (1) includes a brake (101), an oil passage support shaft (102), a floating oil seal (103), a bearing housing (104), a first bearing (105), a cooling oil circulation chamber (106), a drive shaft (107), a base (108), a second bearing (109), and a lock nut (110). The oil passage support shaft (102) is fixed to the track beam mounting plate (9) by bolts, and the first bearing (105) is provided between the oil passage support shaft (102) and the track beam mounting plate (9). A rigid heat insulation layer (2) is provided. The brake (101) is fixedly mounted on the oil passage support shaft (102). The outer side of the oil passage support shaft (102) is equipped with a pair of first bearings (105) arranged vertically. The bearing seat (104) is mounted on the oil passage support shaft (102) through the first bearings (105). An oil seal seat is provided at the connection between the bearing seat (104) and the oil passage support shaft (102) at the position of the first bearing (105) on the upper side. The oil seal seat is equipped with an oil seal seat. A floating oil seal (103) is provided. The drive shaft (107) is meshed and fixed with the brake (101). The base (108) is fixed on the oil passage support shaft (102) by a retaining ring. The inner ring of the second bearing (109) is mounted on the drive shaft (107), and the outer ring of the second bearing (109) is mounted on the inner hole of the base (108). The outer side of the oil passage support shaft (102) located at the position of the first bearing (105) on the lower side is provided with an external thread, and the oil passage support shaft (103) is provided with a floating oil seal (103). The drive shaft (107) is meshed and fixed with the brake (101). 2) It is connected to a lock nut (110) with internal threads by a threaded connection. The lock nut (110) presses the first bearing (105) on the lower side. The oil passage support shaft (102) is provided with a cooling oil circulation chamber (106). The oil passage support shaft (102) has an oil inlet (111) on one side of the circumference and is connected to the cooling oil circulation chamber (106). The oil passage support shaft (102) has an oil return port (112) on the other side of the circumference and is connected to the cooling oil circulation chamber (106). Both the oil inlet (111) and the oil return port (112) are provided through the floating oil seal (103), and the cooling oil circulation chamber (106) is connected to the mounting location of the first bearing (105).

2. The high-temperature resistant reducer for a fire-fighting robot according to claim 1, characterized in that, The floating oil seal (103) is a pure fluororubber sealing ring.

3. The high-temperature resistant reducer for a fire-fighting robot according to claim 1, characterized in that, The first bearing (105) is a tapered roller bearing.

4. The high-temperature resistant reducer for a fire-fighting robot according to claim 1, characterized in that, The first heat insulation shield (4) is disposed on the outer surface of the oil passage support shaft (102) and the bearing seat (104), and the first heat insulation shield (4) is connected to the high temperature drive wheel (6) by bolt connection. The second heat insulation shield (5) is disposed on the outer surface of the internal gear ring (7) that meshes with the planetary mechanism (8), and the second heat insulation shield (5) is connected to the high temperature drive wheel (6) by bolt connection. The internal gear ring (7) is connected to the bearing seat (104) by bolt connection. The first heat insulation shield (4) and the second heat insulation shield (5) form a complete heat insulation structure for the high temperature reduction mechanism.

5. A high-temperature resistant reducer for a fire-fighting robot according to claim 4, characterized in that, Both the first heat insulation shield (4) and the second heat insulation shield (5) include a radiation-resistant steel plate cover (401), a high-temperature heat-resistant coating (402), and an aerogel felt (403). The high-temperature heat-resistant coating (402) is sprayed on the inner wall of the radiation-resistant steel plate cover (401), and the aerogel felt (403) is fixed to the inner wall of the radiation-resistant steel plate cover (401) by high-temperature adhesive and adhered to the surface of the high-temperature heat-resistant coating (402).

6. A high-temperature resistant reducer for a fire-fighting robot according to claim 1, characterized in that, Both the first rigid connection insulation layer (2) and the second rigid connection insulation layer (3) are composed of multiple rigid insulation plates (201) stacked together.

7. A high-temperature resistant reducer for a fire-fighting robot according to claim 6, characterized in that, The rigid heat insulation board (201) includes a zirconia-yttrium oxide thermal barrier coating (2011) and a heat-resistant alloy steel plate (2012). The zirconia-yttrium oxide thermal barrier coating (2011) is applied to the outer surface of the heat-resistant alloy steel plate (2012) by plasma spraying.

8. A high-temperature resistant reducer for a fire-fighting robot according to claim 1, characterized in that, The high-temperature resistant drive wheel (6) is made of H13 mold steel through a second high-temperature oil quenching and high-temperature tempering process.

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