Collection robots and fire-fighting equipment transport robots

Abstract

The purpose of this invention is to disclose a retrieval robot and a fire-fighting equipment transport robot, relating to the field of fire-fighting equipment technology. The robot includes a vehicle body, a walking section, and a retrieval section. The walking section includes tracks and a chassis, with the vehicle body positioned above the chassis. The retrieval section includes a first lifting arm, a second lifting arm, and a support frame. A first lifting arm and a second lifting arm are positioned on both sides of the support frame. The vehicle body has a notch, with the first lifting arm positioned within the notch and its bottom attached to the chassis. One end of the second lifting arm is hinged to the support frame, and the other end is hinged to the first lifting arm. The first and second lifting arms support the retrieval section. Technical advantages: The retrieval robot uses tracks for walking, enabling it to adapt to uneven terrain and possess a certain wading capability. It can perform retrieval and unloading operations on complex road surfaces and can transport fire-fighting equipment such as fire exhaust fans, fire pumps, and fire monitors, demonstrating strong adaptability.

Description

Technical Field

[0001] This invention relates to the field of fire-fighting equipment technology, and in particular to a hauling robot and a fire-fighting equipment transport robot. Background Technology

[0002] When retracting fire hoses, fire trucks typically need to gradually retract them while driving, storing the hoses inside the truck bed. However, in more complex terrain conditions, such as uneven ground or areas with deep water, fire trucks obviously cannot retract the hoses while driving, rendering current hose retraction systems inoperable. In such situations, manual retraction is often required, which is time-consuming and labor-intensive.

[0003] When laying hoses on uneven ground or in areas with deep water, fire trucks cannot lay hoses while driving. In such cases, manual reeling in of the hoses is required, which is time-consuming and labor-intensive.

[0004] In addition, given the diverse nature of the situations faced by firefighters, it may be necessary to move fire-fighting equipment such as fire exhaust fans, fire pumps, and fire monitors at the fire scene. These fire-fighting equipment are heavy, and there are difficulties in loading, unloading, and transportation, especially when encountering uneven ground or ground with deep water, the transportation of these fire-fighting equipment will be even more difficult.

[0005] In view of this, it is necessary to develop a collection robot and a fire-fighting equipment transport robot to overcome the shortcomings of existing technologies. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention aims to disclose a belt-retrieving robot and a fire-fighting equipment transport robot, which realizes belt-retrieving, belt-releasing, and fire-fighting equipment transport under complex working conditions by setting a belt-retrieving or lifting part on a tracked chassis.

[0007] The first objective of this invention is to provide a collection robot.

[0008] The second objective of this invention is to provide a fire-fighting equipment transport robot.

[0009] To achieve the first objective mentioned above, the present invention provides a take-up robot, comprising a vehicle body, a walking part, and a take-up part;

[0010] The running gear includes tracks and a chassis, and the vehicle body is disposed on top of the chassis;

[0011] The belt take-up section includes a first lifting arm, a second lifting arm, and a bracket, with a first lifting arm and a second lifting arm provided on both sides of the bracket;

[0012] The vehicle body has a notch, the first lifting arm is disposed in the notch and the bottom of the first lifting arm is disposed on the chassis;

[0013] One end of the second lifting arm is hinged to the bracket, and the other end of the second lifting arm is hinged to the first lifting arm;

[0014] The first lifting arm and the second lifting arm lift the winding section.

[0015] Preferably, the winding section includes a winding reel and a winding bracket, wherein the winding reel is mounted above the winding bracket via bearings;

[0016] A first friction wheel and a second friction wheel are provided on the top of the bracket, and a transmission rod is provided between the first friction wheel and the second friction wheel. The transmission rod passes through the first friction wheel and is driven to rotate by a motor.

[0017] The first friction wheel and the second friction wheel drive the first winding wheel and the second winding wheel of the winding reel, respectively.

[0018] Preferably, a first swing arm and a second swing arm are respectively provided at both ends of the bracket, and both ends of the transmission rod pass through the first swing arm and the second swing arm respectively;

[0019] A first cylinder is provided on the side of the first swing arm, and the first cylinder drives the first swing arm to swing with the bracket as the fulcrum.

[0020] A second cylinder is provided on the side of the second swing arm, and the second cylinder drives the second swing arm to swing with the bracket as the fulcrum.

[0021] Preferably, the winding bracket includes a horizontal portion and a first support portion and a second support portion disposed on both sides of the horizontal portion;

[0022] The winding reel is supported by bearings on the first support portion and the second support portion.

[0023] Preferably, both the first friction wheel and the second friction wheel are wear-resistant rubber wheels.

[0024] Preferably, the first lifting arm includes a first lifting cylinder, a first lifting plate, and a second lifting plate, wherein the first lifting cylinder is disposed between the first lifting plate and the second lifting plate;

[0025] The second lifting arm includes a second lifting cylinder, a third lifting plate, and a fourth lifting plate, with the second lifting cylinder disposed between the third lifting plate and the fourth lifting plate;

[0026] A first hinge plate is provided between the first lifting plate and the third lifting plate, one end of the first hinge plate is hinged to the first lifting plate, and the other end of the first hinge plate is fixed to the third lifting plate;

[0027] A second hinge plate is provided between the second lifting plate and the fourth lifting plate. One end of the second hinge plate is hinged to the second lifting plate, and the other end of the second hinge plate is fixed to the fourth lifting plate.

[0028] A first hinge shaft is provided between the first hinge plate and the second hinge plate;

[0029] The bottom of the first lifting cylinder is hinged to the chassis, and the top of the first lifting cylinder is hinged to the first hinge shaft.

[0030] Preferably, a first fixing plate and a second fixing plate are provided on the bracket;

[0031] A third hinge plate is provided between the first fixed plate and the third lifting plate, one end of the third hinge plate is fixed to the third lifting plate, and the other end of the third hinge plate is hinged to the first fixed plate.

[0032] A fourth hinge plate is provided between the second fixed plate and the fourth lifting plate, one end of the fourth hinge plate is fixed to the fourth lifting plate, and the other end of the fourth hinge plate is hinged to the second fixed plate;

[0033] A second hinge shaft is provided between the top of the first lifting plate and the top of the second lifting plate;

[0034] A third hinge shaft is provided between the first fixing plate and the second fixing plate;

[0035] The two ends of the second lifting cylinder are respectively hinged to the second hinge shaft and the third hinge shaft.

[0036] Based on the same inventive principle, in order to achieve the second inventive objective mentioned above, the present invention provides a fire-fighting equipment transport robot, including a vehicle body, a walking part and a lifting part;

[0037] The running gear includes tracks and a chassis, and the vehicle body is disposed on top of the chassis;

[0038] The lifting part includes a first lifting arm, a second lifting arm, and a bracket, with the first lifting arm and the second lifting arm arranged on both sides of the bracket;

[0039] The vehicle body has a notch, the first lifting arm is disposed in the notch and the bottom of the first lifting arm is disposed on the chassis;

[0040] One end of the second lifting arm is hinged to the bracket, and the other end of the second lifting arm is hinged to the first lifting arm;

[0041] The first and second lifting arms lift the fire-fighting equipment.

[0042] Preferably, the first lifting arm includes a first lifting cylinder, a first lifting plate, and a second lifting plate, wherein the first lifting cylinder is disposed between the first lifting plate and the second lifting plate;

[0043] The second lifting arm includes a second lifting cylinder, a third lifting plate, and a fourth lifting plate, with the second lifting cylinder disposed between the third lifting plate and the fourth lifting plate;

[0044] A first hinge plate is provided between the first lifting plate and the third lifting plate, one end of the first hinge plate is hinged to the first lifting plate, and the other end of the first hinge plate is fixed to the third lifting plate;

[0045] A second hinge plate is provided between the second lifting plate and the fourth lifting plate. One end of the second hinge plate is hinged to the second lifting plate, and the other end of the second hinge plate is fixed to the fourth lifting plate.

[0046] A first hinge shaft is provided between the first hinge plate and the second hinge plate;

[0047] The bottom of the first lifting cylinder is hinged to the chassis, and the top of the first lifting cylinder is hinged to the first hinge shaft;

[0048] A first fixing plate and a second fixing plate are provided on the bracket;

[0049] A third hinge plate is provided between the first fixed plate and the third lifting plate, one end of the third hinge plate is fixed to the third lifting plate, and the other end of the third hinge plate is hinged to the first fixed plate.

[0050] A fourth hinge plate is provided between the second fixed plate and the fourth lifting plate, one end of the fourth hinge plate is fixed to the fourth lifting plate, and the other end of the fourth hinge plate is hinged to the second fixed plate;

[0051] A second hinge shaft is provided between the top of the first lifting plate and the top of the second lifting plate;

[0052] A third hinge shaft is provided between the first fixing plate and the second fixing plate;

[0053] The two ends of the second lifting cylinder are respectively hinged to the second hinge shaft and the third hinge shaft.

[0054] Preferably, the fire-fighting equipment is one of the following: a fire exhaust fan, a fire pump, or a fire monitor.

[0055] Compared with the prior art, the technical effects of the present invention are as follows:

[0056] (1) The tape-collecting robot uses tracked walking, which can adapt to uneven road surfaces and has a certain water wading ability. It can perform tape collection and release operations under complex road conditions and has strong adaptability.

[0057] (2) It has lifting and lowering functions, which can remove or put the whole roll of fire hose from the car body, avoiding the need for manual loading and unloading of the whole roll of fire hose.

[0058] (3) A notch is provided in the body of the retrieval robot. The notch is located at the front end of the body and the first lifting arm is located in the notch. When both the first and second lifting arms are retracted, the entire first lifting arm retracts into the notch and most of the second lifting arm also retracts into the notch, making the retrieval robot body short and the center of gravity of the retrieval robot in the retracted state concentrated on the chassis, making the body stable and flexible. Attached Figure Description

[0059] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0060] Figure 1 This is a three-dimensional structural diagram of the robot of the present invention.

[0061] Figure 2 This is a three-dimensional structural diagram of the robot of the present invention.

[0062] Figure 3 This is a three-dimensional structural diagram of the strap-gathering or lifting part of the present invention.

[0063] Figure 4 This is a three-dimensional structural diagram of the strap-gathering or lifting part of the present invention.

[0064] Figure 5 This is a schematic diagram of the robot's lifting state according to the present invention.

[0065] Among them, 1. Vehicle body part; 11. Notch; 2. Traveling part; 21. Crawler belt; 22. Chassis; 3. Belt-receiving part; 31. First lifting arm; 311. First lifting cylinder; 312. First lifting plate; 313. Second lifting plate; 314. First hinge plate; 315. Second hinge plate; 316. First hinge shaft; 317. Second hinge shaft; 32. Second lifting arm; 321. Second lifting cylinder; 322. Third lifting plate; 323. Fourth lifting plate; 324. Third hinge plate; 325. Fourth hinge plate; 33. Support; 331. First lifting arm; 332. Second lifting arm; 333. First friction wheel; 334. Second friction wheel; 335. Transmission rod; 336. Motor; 337. First swing arm; 3371. First cylinder; 338. Second swing arm; 3381. Second cylinder; 4. Reeling part; 41. Reeling disc; 411. First reeling wheel; 412. Second reeling wheel; 42. Reeling support; 421. Horizontal part; 422. First support part; 423. Second support part; 43. Bearing; 5. Lifting part; 6. First fixing plate; 7. Second fixing plate; 8. Third hinge shaft. Embodiment

[0066] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. It should be noted, however, that these embodiments are not limitations on the present invention, and any equivalent transformation or substitution in terms of function, method, or structure made by those of ordinary skill in the art based on these embodiments shall fall within the protection scope of the present invention.

[0067] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention. Embodiment 1

[0068] Refer Figures 1 to 5 As shown, this embodiment discloses a specific implementation manner of a belt-receiving robot.

[0069] This embodiment provides a take-up robot, including a vehicle body 1, a walking part 2, and a take-up part 3. The walking part 2 includes a track 21 and a chassis 22, and the vehicle body 1 is disposed above the chassis 22. The take-up part 3 includes a first lifting arm 31, a second lifting arm 32, and a support 33. A first lifting arm 331 and a second lifting arm 332 are disposed on both sides of the support 33. Both the first lifting arm 331 and the second lifting arm 332 are L-shaped. The vehicle body 1 has a notch 11. The first lifting arm 31 is disposed in the notch 11, and the bottom of the first lifting arm 31 is disposed on the chassis 22. One end of the second lifting arm 32 is hinged to the support 33, and the other end of the second lifting arm 32 is hinged to the first lifting arm 31. The first lifting arm 331 and the second lifting arm 332 lift the take-up part 4.

[0070] Specifically, to address the inability of current fire trucks to operate on uneven terrain or in areas with deep water, a haul-up robot was developed. Its implementation principle is as follows: [See details] Figures 1 to 5 The cable-hauling robot uses tracked movement, enabling it to adapt to uneven terrain and has a certain water-wading capability. It can perform cable hauling and unhauling operations in complex road conditions, demonstrating strong adaptability. It has lifting and lowering functions, allowing it to remove or place entire rolls of fire hose from or into the vehicle, avoiding manual loading and unloading of whole rolls. Specifically, when both the first lifting arm 31 and the second lifting arm 32 are extended, the winding section 4 is raised to its highest position. (See...) Figure 5 At this point, loading or unloading operations can be performed on the take-up reel 41. When both the first lifting arm 31 and the second lifting arm 32 are in the retracted state, the take-up section 4 is lowered to the ground. (See below) Figure 1 At this time, the robot can carry the take-up reel 41 and move around, completing the take-up or unload operation during the movement. The body 1 of the take-up robot is provided with a notch 11, which is located at the front end of the body 1. The first lifting arm 31 is located in the notch 11. When both the first lifting arm 31 and the second lifting arm 32 are retracted, the entire first lifting arm 31 is retracted into the notch 11, and most of the second lifting arm 32 is also retracted into the notch 11, making the take-up robot short and compact. This allows the center of gravity of the take-up robot in the retracted state to be concentrated on the chassis 22, making the robot stable and flexible.

[0071] See Figures 1 to 4The working principle of the hose reel robot for taking in and unwinding hoses is as follows: The take-up section 4 includes a take-up reel 41 and a take-up bracket 42. The take-up reel 41 is mounted above the take-up bracket 42 via bearings 43. The take-up bracket 42 includes a horizontal section 421 and a first support section 422 and a second support section 423 disposed on both sides of the horizontal section 421. A first lifting arm 331 and a second lifting arm 332 support the horizontal section 421. The take-up reel 41 is supported by the first support section 422 and the second support section 423 via bearings 43. The take-up or unwinding of the fire hose is performed by rotating the take-up reel 41. The top of the bracket 33 is provided with a first friction wheel 333 and a second friction wheel 334. A transmission rod 335 is provided between the first friction wheel 333 and the second friction wheel 334. The transmission rod 335 passes through the first friction wheel 333 and is driven to rotate by a motor 336, thereby driving the first friction wheel 333 and the second friction wheel 334 to rotate. The first friction wheel 333 and the second friction wheel 334 respectively drive the first winding wheel 411 and the second winding wheel 412 of the winding reel 41. The winding shaft is located between the first winding wheel 411 and the second winding wheel 412, and the fire hose is wound up on the winding shaft. When the tape needs to be taken up, the motor 336 drives the transmission rod 335 to rotate, which in turn drives the first friction wheel 333 and the second friction wheel 334 to rotate. The first friction wheel 333 drives the first take-up wheel 411 to rotate, and the second friction wheel 334 drives the second take-up wheel 412 to rotate. The first take-up wheel 411 and the second take-up wheel 412 drive the take-up shaft to rotate. During the movement of the tape-taking robot, the motor 336 is started to rotate forward to achieve tape taking up while moving; when the tape needs to be unloaded, the motor 336 is started to rotate in reverse to achieve tape unloading while moving.

[0072] To ensure that the first friction wheel 333 presses more tightly against the first take-up roller 411, and the second friction wheel 334 presses more tightly against the second take-up roller 412, both the first friction wheel 333 and the second friction wheel 334 are wear-resistant rubber wheels. These wear-resistant rubber wheels provide high friction and low noise when driving the first take-up roller 411 and the second take-up roller 412. (See also...) Figure 2 and Figure 4A first swing arm 337 and a second swing arm 338 are respectively provided at both ends of the bracket 33, and both ends of the transmission rod 335 pass through the first swing arm 337 and the second swing arm 338 respectively. A first cylinder 3371 is provided on the side of the first swing arm 337, and the first cylinder 3371 drives the first swing arm 337 to swing with the bracket 33 as the fulcrum. A second cylinder 3381 is provided on the side of the second swing arm 338, and the second cylinder 3381 drives the second swing arm 338 to swing with the bracket 33 as the fulcrum. When it is necessary to take up or unwind the tape, the first cylinder 3371 and the second cylinder 3381 are activated simultaneously, so that the first swing arm 337 and the second swing arm 338 swing synchronously, thereby driving the first friction wheel 333 and the second friction wheel 334 to simultaneously approach and press against the first take-up wheel 411 and the second take-up wheel 412 respectively.

[0073] See Figures 1 to 5 The working principle of the lifting and lowering robot is as follows: The first lifting arm 31 includes a first lifting cylinder 311, a first lifting plate 312, and a second lifting plate 313, with the first lifting cylinder 311 disposed between the first lifting plate 312 and the second lifting plate 313; the second lifting arm 32 includes a second lifting cylinder 321, a third lifting plate 322, and a fourth lifting plate 323, with the second lifting cylinder 321 disposed between the third lifting plate 322 and the fourth lifting plate 323; a first hinge plate 314 is provided between the first lifting plate 312 and the third lifting plate 322, with one end of the first hinge plate 314 hinged... The first lifting plate 314 is connected to the first lifting plate 312, and the other end of the first hinge plate 314 is fixed to the third lifting plate 322; a second hinge plate 315 is provided between the second lifting plate 313 and the fourth lifting plate 323, one end of the second hinge plate 315 is hinged to the second lifting plate 313, and the other end of the second hinge plate 315 is fixed to the fourth lifting plate 323; a first hinge shaft 316 is provided between the first hinge plate 314 and the second hinge plate 315; the bottom of the first lifting cylinder 311 is hinged to the chassis 22, and the top of the first lifting cylinder 311 is hinged to the first hinge shaft 316.

[0074] See Figures 1 to 5, a first fixed plate 6 and a second fixed plate 7 are arranged on the bracket 33; a third hinge plate 324 is arranged between the first fixed plate 6 and the third lifting plate 322, one end of the third hinge plate 324 is fixed to the third lifting plate 322, and the other end of the third hinge plate 324 is hinged to the first fixed plate 6; a fourth hinge plate 325 is arranged between the second fixed plate 7 and the fourth lifting plate 323, one end of the fourth hinge plate 325 is fixed to the fourth lifting plate 323, and the other end of the fourth hinge plate 325 is hinged to the second fixed plate 7; a second hinge shaft 317 is arranged between the top of the first lifting plate 312 and the top of the second lifting plate 313; a third hinge shaft 8 is arranged between the first fixed plate 6 and the second fixed plate 7; both ends of the second lifting cylinder 321 are respectively hinged to the second hinge shaft 317 and the third hinge shaft 8.

[0075] When it is necessary to lift the winding part 4, the first lifting cylinder 311 and the second lifting cylinder 321 are started synchronously. The first lifting cylinder 311 drives the first hinge plate 314 and the second hinge plate 315 to swing upward with the chassis 22 as a fulcrum through the first hinge shaft 316, so that the third lifting plate 322 and the fourth lifting plate 324 swing upward; the second lifting cylinder 321 drives the first fixed plate 6 and the second fixed plate 7 to swing upward with the second hinge shaft 317 as a fulcrum through the third hinge shaft 8, so as to drive the bracket 33 to lift upward and forward, so that the first supporting arm 331 and the second supporting arm 332 are always parallel to the ground, realizing the upward and forward lifting of the winding part 4. For the lifting state, see Figure 5 .

[0076] See Figure 1 , when it is necessary to lower the winding part 4 to the ground, the first lifting cylinder 311 and the second lifting cylinder 321 are synchronously started to contract. The first lifting cylinder 311 drives the first hinge plate 314 and the second hinge plate 315 to swing downward with the chassis 22 as a fulcrum through the first hinge shaft 316, so that the third lifting plate 322 and the fourth lifting plate 324 swing downward; the second lifting cylinder 32​​​​​​​​As shown in the figure, this embodiment discloses a specific implementation of a fire-fighting equipment transport robot.

[0078] This embodiment provides a fire-fighting equipment transport robot, including a vehicle body 1, a walking section 2, and a lifting section 5. The walking section 2 includes tracks 21 and a chassis 22, and the vehicle body 1 is disposed above the chassis 22. The lifting section 5 includes a first lifting arm 31, a second lifting arm 32, and a support 33. The first lifting arm 331 and the second lifting arm 332 are disposed on both sides of the support 33, and both the first lifting arm 331 and the second lifting arm 332 are L-shaped. The vehicle body 1 has a notch 11, and the first lifting arm 31 is disposed in the notch 11 with its bottom disposed on the chassis 22. One end of the second lifting arm 32 is hinged to the support 33, and the other end of the second lifting arm 32 is hinged to the first lifting arm 31. The first lifting arm 331 and the second lifting arm 332 lift fire-fighting equipment.

[0079] Specifically, to address the inability of current fire trucks to operate on uneven terrain or in areas with deep water, a fire equipment transport robot has been developed. The specific implementation principle is as follows: [See details] Figures 1 to 5 ,

[0080] The fire equipment transport robot uses tracked movement, enabling it to adapt to uneven terrain and has a certain wading capability. It can transport fire equipment such as fire exhaust fans, fire pumps, and fire monitors in complex road conditions, demonstrating strong adaptability. It has lifting and lowering functions, allowing it to unload or load fire equipment such as fire exhaust fans, fire pumps, and fire monitors from the vehicle body, avoiding manual loading and unloading. It can also travel and transport fire equipment on uneven and flooded roads. Specifically, when both the first lifting arm 31 and the second lifting arm 32 are extended, the lifting section 5 is raised to its highest position. (See...) Figure 5 At this time, fire-fighting equipment such as fire exhaust fans, fire pumps, and fire monitors can be loaded or unloaded. When both the first lifting arm 31 and the second lifting arm 32 are in the retracted state, the lifting unit 5 is lowered to the ground for transportation. See [link / reference]. Figure 1 The fire equipment transport robot has a notch 11 at the front end of its body section 1. The first lifting arm 31 is located inside the notch 11. When both the first lifting arm 31 and the second lifting arm 32 are retracted, the entire first lifting arm 31 retracts into the notch 11, and most of the second lifting arm 32 also retracts into the notch 11. This makes the fire equipment transport robot short and compact, and concentrates the center of gravity of the retracted fire equipment transport robot on the chassis 22, making the robot stable and flexible.

[0081] See Figures 1 to 5The working principle of the fire equipment transport robot for lifting and lowering is as follows: The first lifting arm 31 includes a first lifting cylinder 311, a first lifting plate 312, and a second lifting plate 313, with the first lifting cylinder 311 disposed between the first lifting plate 312 and the second lifting plate 313; the second lifting arm 32 includes a second lifting cylinder 321, a third lifting plate 322, and a fourth lifting plate 323, with the second lifting cylinder 321 disposed between the third lifting plate 322 and the fourth lifting plate 323; a first hinge plate 314 is provided between the first lifting plate 312 and the third lifting plate 322, and one of the first hinge plates 314... One end of the first lifting plate 314 is hinged to the first lifting plate 312, and the other end of the first lifting plate 314 is fixed to the third lifting plate 322; a second lifting plate 315 is provided between the second lifting plate 313 and the fourth lifting plate 323, one end of the second lifting plate 315 is hinged to the second lifting plate 313, and the other end of the second lifting plate 315 is fixed to the fourth lifting plate 323; a first hinge shaft 316 is provided between the first lifting plate 314 and the second lifting plate 315; the bottom of the first lifting cylinder 311 is hinged to the chassis 22, and the top of the first lifting cylinder 311 is hinged to the first hinge shaft 316.

[0082] See Figures 1 to 5 A first fixing plate 6 and a second fixing plate 7 are provided on the bracket 33; a third hinge plate 324 is provided between the first fixing plate 6 and the third lifting plate 322, one end of the third hinge plate 324 is fixed to the third lifting plate 322, and the other end of the third hinge plate 324 is hinged to the first fixing plate 6; a fourth hinge plate 325 is provided between the second fixing plate 7 and the fourth lifting plate 323, one end of the fourth hinge plate 325 is fixed to the fourth lifting plate 323, and the other end of the fourth hinge plate 325 is hinged to the second fixing plate 7; a second hinge shaft 317 is provided between the top of the first lifting plate 312 and the top of the second lifting plate 313; a third hinge shaft 8 is provided between the first fixing plate 6 and the second fixing plate 7; the two ends of the second lifting cylinder 321 are respectively hinged to the second hinge shaft 317 and the third hinge shaft 8.

[0083] When the lifting unit 5 needs to be lifted, the first lifting cylinder 311 and the second lifting cylinder 321 are activated simultaneously. The first lifting cylinder 311, with the chassis 22 as the fulcrum, drives the first hinge plate 314 and the second hinge plate 315 to swing upward through the first hinge shaft 316, thereby causing the third lifting plate 322 and the fourth lifting plate 324 to swing upward. The second lifting cylinder 321, with the second hinge shaft 317 as the fulcrum, drives the first fixed plate 6 and the second fixed plate 7 to swing upward through the third hinge shaft 8, thereby driving the bracket 33 to lift upward and forward, so that the first lifting arm 331 and the second lifting arm 332 are always parallel to the ground, realizing the upward and forward lifting of the lifting unit 5. See the lifting state. Figure 5 .

[0084] See Figure 1 When the lifting unit 5 needs to be lowered to the ground, the first lifting cylinder 311 and the second lifting cylinder 321 are simultaneously activated for retraction. The first lifting cylinder 311, with the chassis 22 as the fulcrum, drives the first hinge plate 314 and the second hinge plate 315 to swing downward through the first hinge shaft 316, thereby causing the third lifting plate 322 and the fourth lifting plate 324 to swing downward. The second lifting cylinder 321, with the second hinge shaft 317 as the fulcrum, drives the first fixed plate 6 and the second fixed plate 7 to swing downward through the third hinge shaft 8, thereby driving the bracket 33 to retract downward and backward, so that the first lifting arm 331 and the second lifting arm 332 are always parallel to the ground, realizing the downward and backward retraction of the lifting unit 5. See the retraction state. Figure 1 At this time, the entire first lifting arm 31 retracts into the notch 11, and most of the second lifting arm 32 also retracts into the notch 11, making the robot body short and concentrating the center of gravity of the retracted robot on the chassis 22, making the body stable and flexible.

Claims

1. A collection robot, characterized in that, Including the body, running gear, and conveyor belt; The running gear includes tracks and a chassis, and the vehicle body is disposed on top of the chassis; The belt take-up section includes a first lifting arm, a second lifting arm, and a bracket, with a first lifting arm and a second lifting arm provided on both sides of the bracket; A notch is provided at the front end of the vehicle body, and the first lifting arm is disposed in the notch and the bottom of the first lifting arm is fixed to the chassis; One end of the second lifting arm is hinged to the bracket, and the other end of the second lifting arm is hinged to the first lifting arm; The first lifting arm and the second lifting arm lift the winding section. When both the first and second lifting arms are in the extended state, the lifting unit is raised to its highest state and the first and second lifting arms enter the fire truck compartment, with the vertical downward projection of the lifting unit moving away from the chassis. When both the first and second lifting arms are in the retracted state, the lifting unit is lowered to the ground for transport, and the vertical downward projection of the lifting unit is away from the chassis. A first friction wheel and a second friction wheel are provided on the top of the bracket, and a transmission rod is provided between the first friction wheel and the second friction wheel. The transmission rod passes through the first friction wheel and is driven to rotate by a motor. The first friction wheel and the second friction wheel drive the first winding wheel and the second winding wheel of the winding reel, respectively; A first swing arm and a second swing arm are respectively provided at both ends of the bracket. The two ends of the transmission rod pass through the first swing arm and the second swing arm respectively. The first swing arm and the second swing arm swing synchronously and drive the first friction wheel and the second friction wheel to approach and press the first winding wheel and the second winding wheel respectively.

2. The take-up robot as described in claim 1, characterized in that, The winding section includes a winding reel and a winding bracket, with the winding reel mounted above the winding bracket via bearings.

3. The take-up robot as described in claim 2, characterized in that, A first cylinder is provided on the side of the first swing arm, and the first cylinder drives the first swing arm to swing with the bracket as the fulcrum. A second cylinder is provided on the side of the second swing arm, and the second cylinder drives the second swing arm to swing with the bracket as the fulcrum.

4. The take-up robot as described in claim 3, characterized in that, The winding bracket includes a horizontal section and a first support section and a second support section disposed on both sides of the horizontal section; The winding reel is supported by bearings on the first support portion and the second support portion.

5. The take-up robot as described in any one of claims 2-4, characterized in that, Both the first friction wheel and the second friction wheel are wear-resistant rubber wheels.

6. The take-up robot as described in claim 5, characterized in that, The first lifting arm includes a first lifting cylinder, a first lifting plate, and a second lifting plate, wherein the first lifting cylinder is disposed between the first lifting plate and the second lifting plate; The second lifting arm includes a second lifting cylinder, a third lifting plate, and a fourth lifting plate, with the second lifting cylinder disposed between the third lifting plate and the fourth lifting plate; A first hinge plate is provided between the first lifting plate and the third lifting plate, one end of the first hinge plate is hinged to the first lifting plate, and the other end of the first hinge plate is fixed to the third lifting plate; A second hinge plate is provided between the second lifting plate and the fourth lifting plate. One end of the second hinge plate is hinged to the second lifting plate, and the other end of the second hinge plate is fixed to the fourth lifting plate. A first hinge shaft is provided between the first hinge plate and the second hinge plate; The bottom of the first lifting cylinder is hinged to the chassis, and the top of the first lifting cylinder is hinged to the first hinge shaft.

7. The take-up robot as described in claim 6, characterized in that, A first fixing plate and a second fixing plate are provided on the bracket; A third hinge plate is provided between the first fixed plate and the third lifting plate, one end of the third hinge plate is fixed to the third lifting plate, and the other end of the third hinge plate is hinged to the first fixed plate. A fourth hinge plate is provided between the second fixed plate and the fourth lifting plate, one end of the fourth hinge plate is fixed to the fourth lifting plate, and the other end of the fourth hinge plate is hinged to the second fixed plate; A second hinge shaft is provided between the top of the first lifting plate and the top of the second lifting plate; A third hinge shaft is provided between the first fixing plate and the second fixing plate; The two ends of the second lifting cylinder are respectively hinged to the second hinge shaft and the third hinge shaft.

8. A collection robot, characterized in that, Including the body, running gear, and conveyor belt; The running gear includes tracks and a chassis, and the vehicle body is disposed on top of the chassis; The belt take-up section includes a first lifting arm, a second lifting arm, and a bracket, with a first lifting arm and a second lifting arm provided on both sides of the bracket; A notch is provided at the front end of the vehicle body, and the first lifting arm is disposed in the notch and the bottom of the first lifting arm is fixed to the chassis; One end of the second lifting arm is hinged to the bracket, and the other end of the second lifting arm is hinged to the first lifting arm; The first lifting arm and the second lifting arm lift the winding section. When both the first and second lifting arms are in the extended state, the lifting unit is raised to its highest state and the first and second lifting arms enter the fire truck compartment, with the vertical downward projection of the lifting unit moving away from the chassis. When both the first and second lifting arms are in the retracted state, the lifting unit is lowered to the ground for transport, and the vertical downward projection of the lifting unit is away from the chassis. The winding section includes a winding reel and a winding bracket, with the winding reel mounted above the winding bracket via bearings; A first friction wheel and a second friction wheel are provided on the top of the bracket, and a transmission rod is provided between the first friction wheel and the second friction wheel. The transmission rod passes through the first friction wheel and is driven to rotate by a motor. The first friction wheel and the second friction wheel drive the first winding wheel and the second winding wheel of the winding reel, respectively; A first swing arm and a second swing arm are respectively provided at both ends of the bracket, and both ends of the transmission rod pass through the first swing arm and the second swing arm respectively; A first cylinder is provided on the side of the first swing arm, and the first cylinder drives the first swing arm to swing with the bracket as the fulcrum. A second cylinder is provided on the side of the second swing arm, and the second cylinder drives the second swing arm to swing with the bracket as the fulcrum. The first lifting arm includes a first lifting cylinder, a first lifting plate, and a second lifting plate, wherein the first lifting cylinder is disposed between the first lifting plate and the second lifting plate; The second lifting arm includes a second lifting cylinder, a third lifting plate, and a fourth lifting plate, with the second lifting cylinder disposed between the third lifting plate and the fourth lifting plate; A first hinge plate is provided between the first lifting plate and the third lifting plate, one end of the first hinge plate is hinged to the first lifting plate, and the other end of the first hinge plate is fixed to the third lifting plate; A second hinge plate is provided between the second lifting plate and the fourth lifting plate. One end of the second hinge plate is hinged to the second lifting plate, and the other end of the second hinge plate is fixed to the fourth lifting plate. A first hinge shaft is provided between the first hinge plate and the second hinge plate; The bottom of the first lifting cylinder is hinged to the chassis, and the top of the first lifting cylinder is hinged to the first hinge shaft.

9. A fire-fighting equipment transport robot, characterized in that, Including the body, running gear, and lifting mechanism; The running gear includes tracks and a chassis, and the vehicle body is disposed on top of the chassis; The lifting part includes a first lifting arm, a second lifting arm, and a bracket, with the first lifting arm and the second lifting arm arranged on both sides of the bracket. A notch is provided at the front end of the vehicle body, and the first lifting arm is disposed in the notch and the bottom of the first lifting arm is fixed to the chassis; One end of the second lifting arm is hinged to the bracket, and the other end of the second lifting arm is hinged to the first lifting arm; The first and second lifting arms lift the fire-fighting equipment. When both the first and second lifting arms are in the extended state, the lifting unit is raised to its highest state and the first and second lifting arms enter the fire truck compartment, with the vertical downward projection of the lifting unit moving away from the chassis. When both the first and second lifting arms are in the retracted state, the lifting unit is lowered to the ground for transport, and the vertical downward projection of the lifting unit is away from the chassis. The first lifting arm includes a first lifting cylinder, a first lifting plate, and a second lifting plate, wherein the first lifting cylinder is disposed between the first lifting plate and the second lifting plate; The second lifting arm includes a second lifting cylinder, a third lifting plate, and a fourth lifting plate, with the second lifting cylinder disposed between the third lifting plate and the fourth lifting plate; A first hinge plate is provided between the first lifting plate and the third lifting plate, one end of the first hinge plate is hinged to the first lifting plate, and the other end of the first hinge plate is fixed to the third lifting plate; A second hinge plate is provided between the second lifting plate and the fourth lifting plate. One end of the second hinge plate is hinged to the second lifting plate, and the other end of the second hinge plate is fixed to the fourth lifting plate. A first hinge shaft is provided between the first hinge plate and the second hinge plate; The bottom of the first lifting cylinder is hinged to the chassis, and the top of the first lifting cylinder is hinged to the first hinge shaft.

10. The fire-fighting equipment transport robot as described in claim 9, characterized in that, A first fixing plate and a second fixing plate are provided on the bracket; A third hinge plate is provided between the first fixed plate and the third lifting plate, one end of the third hinge plate is fixed to the third lifting plate, and the other end of the third hinge plate is hinged to the first fixed plate. A fourth hinge plate is provided between the second fixed plate and the fourth lifting plate, one end of the fourth hinge plate is fixed to the fourth lifting plate, and the other end of the fourth hinge plate is hinged to the second fixed plate; A second hinge shaft is provided between the top of the first lifting plate and the top of the second lifting plate; A third hinge shaft is provided between the first fixing plate and the second fixing plate; The two ends of the second lifting cylinder are respectively hinged to the second hinge shaft and the third hinge shaft.

11. The fire-fighting equipment transport robot as described in claim 10, characterized in that, The fire-fighting equipment mentioned is one of the following: fire exhaust fan, fire pump, and fire monitor.

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