Flexible wheel train structure and fire-fighting robot

Abstract

The application discloses a flexible wheel system structure, which comprises a first rotating shaft, a first branch swing arm provided with a driving wheel, a second branch swing arm provided with a small supporting wheel, a torsional elastic member, a front wheel swing arm provided with a front supporting wheel, and a first damper. The first rotating shaft is fixedly connected to a base plate, that is, the first rotating shaft is arranged on a machine body through the base plate. The first branch swing arm and the second branch swing arm are fixedly and crossly connected, and the connection position of the first branch swing arm and the second branch swing arm is rotationally connected to the first rotating shaft. The front wheel swing arm is crossly arranged with the second branch swing arm and is used for rotationally limiting the second branch swing arm. The driving wheel is arranged at the front end of a track. One end of the torsional elastic member is connected to the second branch swing arm, and the torsional elastic member is used for keeping the second branch swing arm and the front wheel swing arm at a preset included angle. The application further provides a fire-fighting robot provided with the flexible wheel system structure.

Description

Technical Field

[0001] This application relates to firefighting robots, and more specifically, to a flexible wheel system structure and a firefighting robot using the flexible wheel system structure. Background Technology

[0002] Firefighting robots have advantages such as strong obstacle-crossing ability and large ground contact area, and are increasingly being used at fire and disaster relief sites. The ground conditions at fire scenes are generally very complex, with many obstacles. When the road surface is poor or obstacles need to be traversed, the firefighting robot will be subjected to external impacts, causing vibrations in its vehicle body. This directly affects the stable operation and reliable functioning of the equipment installed on the vehicle, and sometimes even damages internal electrical components, leading to equipment malfunction. Summary of the Invention

[0003] In view of the prior art, the technical problem solved by this application is to provide a flexible wheel system structure and a firefighting robot that can reduce the vibration of the body during the walking process so as to make the vehicle body move smoothly.

[0004] To address the aforementioned technical problems, in a first aspect, this application provides a flexible wheel system structure applied to a track, wherein the track has a front end and a rear end, and the flexible wheel system structure includes:

[0005] First pivot;

[0006] A first branch swing arm and a second branch swing arm are fixedly connected and intersecting. The connection between the first branch swing arm and the second branch swing arm is rotatably connected to the first rotating shaft. The first branch swing arm is provided with a drive wheel located at the front end, and the second branch swing arm is provided with a small support wheel.

[0007] The front wheel swing arm intersects with the second branch swing arm and is rotatably connected to the first rotating shaft. The front wheel swing arm is provided with a front support wheel and is used to limit the rotation of the second branch swing arm.

[0008] The twisting elastic element is connected at one end to the second branch swing arm and is used to maintain the second branch swing arm and the front wheel swing arm at a preset angle. The small support wheel is closer to the front end than the front support wheel.

[0009] One end is connected to the first damper of the front wheel swing arm.

[0010] In the flexible wheel system structure, because the smaller support wheel is closer to the front end than the front support wheel, when encountering a bumpy road surface or obstacle, the smaller support wheel will contact the bumpy ground or obstacle first. The second branch swing arm can limit displacement. The impact of the external force causes the second branch swing arm to rotate around the first axis, compressing the torsional elastic element. When the external force is small, the torsional elastic element acts as a primary buffer and shock absorber. When the bumpy ground or obstacle continues to exert force on the smaller support wheel on the second branch swing arm, the second branch swing arm pushes against the rear front wheel swing arm. When the external force causes the front wheel swing arm to continue swinging backward, it needs to overcome the forces of the torsional elastic element that maintains the angle between the second branch swing arm and the front wheel swing arm, and the second damper connecting the front wheel swing arm. The torsional elastic element and the second damper are used to absorb the forward impact and walking vibration energy, acting as a secondary buffer and shock absorber. Therefore, this flexible wheel system structure can reduce the vibration of the firefighting robot when encountering bumps or obstacles while walking on tracks.

[0011] Based on the first aspect, in one possible implementation, the flexible wheel system structure further includes at least one central damping unit located between the front end and the rear end; each central damping unit includes a second rotating shaft, a central wheel swing arm connected to the second rotating shaft, a V-shaped connecting arm, two central support wheels, and a second damper; the top end of the middle part of the connecting arm is rotatably connected to one end of the central wheel swing arm away from the second rotating shaft, and both ends of the connecting arm are provided with a central support wheel, and the second damper is connected to the central wheel swing arm.

[0012] Based on the first aspect, in one possible implementation, the central damping unit further includes a positioning connecting block fixedly disposed on the central wheel swing arm, and the top end of the connecting arm is provided with a groove; one end of the positioning connecting block is embedded in the groove and rotatably connected to the connecting arm, and the second damper is connected to the positioning connecting block.

[0013] Based on the first aspect, in one possible implementation, the top of the V-shaped connecting arm is set at an obtuse angle.

[0014] Based on the first aspect, in one possible implementation, the middle wheel swing arm is a bent structure that bends toward the front end, including a first arm portion with one end fixedly connected to the positioning connecting block and a second arm portion fixedly connected to the other end of the first arm portion, the other end of the second arm portion being rotatably connected to the second rotating shaft; the second damper is located on the side of the middle wheel swing arm facing the rear end.

[0015] Based on the first aspect, in one possible implementation, a spoon-shaped structure is obliquely provided at the connection between the first branch swing arm and the second branch swing arm. The first rotating shaft passes through the spoon-shaped area of ​​the spoon-shaped structure, and a protrusion is provided on the end of the first rotating shaft that is rotatably connected to the front wheel swing arm. During the rotation of the second branch swing arm or the front wheel swing arm, the spoon-shaped head of the spoon-shaped structure and the protrusion on the end of the second branch swing arm are used to cooperate with the rotation limit in the first direction, and the handle tail of the spoon-shaped structure and the arm of the second branch swing arm are used to cooperate with the rotation limit in the second direction.

[0016] Based on the first aspect, in one possible implementation, the diameter of the small support wheel is smaller than the diameter of the front support wheel, and the preset included angle is an acute angle.

[0017] Based on the first aspect, in one possible implementation, the flexible wheel system structure further includes a rear damping unit disposed near the rear end. The rear damping unit includes a third pivot, a rear wheel swing arm rotatably connected to the third pivot, a rear support wheel disposed on the rear wheel swing arm at the end away from the third pivot, and a third damper connected to the rear wheel swing arm.

[0018] Secondly, this application provides a firefighting robot, comprising:

[0019] Body

[0020] Tracks disposed on one side of the machine body; and,

[0021] A flexible wheel system structure applied to the track, wherein the first rotating shaft is fixedly mounted on the machine body, and the first damper is connected to the machine body. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a structural diagram of the fire-fighting robot according to an embodiment of this application;

[0024] Figure 2 This is a side view of a flexible gear train structure connected to a substrate according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a track with a flexible wheel system passing through an obstacle according to an embodiment of this application;

[0026] Figure 4This is a schematic diagram of a track with a flexible wheel system descending a slope according to an embodiment of this application.

[0027] Figure 5 This is a schematic diagram of a track with a flexible wheel system going uphill according to an embodiment of this application;

[0028] Figure 6 This is a connection structure diagram of the first branch swing arm, the second branch swing arm, the front wheel swing arm, and the first damper connected to the substrate according to an embodiment of this application.

[0029] Figure 7 This is a schematic diagram of the spoon-shaped structure at the connection between the first and second branch swing arms and the protrusion on the front wheel swing arm, according to an embodiment of this application.

[0030] Figure 8 This is a schematic diagram of the structure of the central damping unit in an embodiment of this application. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] The flexible wheel system structure and fire-fighting robot of this application are now described in detail with reference to the accompanying drawings.

[0036] Please refer to Figure 1 The firefighting robot 400 provided in this application embodiment includes a body 300, a base plate 301, a track 200, and a flexible wheel system 100. The base plate 301 is fixedly connected to one side of the body 300, and the track 200 is located on the side of the base plate 301 away from the body 300. The flexible wheel system 100 is applied to the track 200 for ground walking to achieve shock absorption on bumpy roads, slopes, and obstacles. The flexible wheel system 100 is connected to the body 300 through the base plate 301. The track 200 is defined with a front end and a rear end, which refer to the front and rear ends when the firefighting robot 400 is walking. When the body 300 of the firefighting robot 400 moves along the track 200 and encounters the aforementioned obstacles, the front end of the track 200 contacts the obstacle first.

[0037] Combined with reference Figures 1 to 3 The flexible wheel system structure 100 includes a first rotating shaft 10, a first branch swing arm 20 on which a drive wheel 21 is disposed, a second branch swing arm 30 on which a small support wheel 31 is disposed, a torsion elastic element 50, a front wheel swing arm 40 on which a front support wheel 41 is disposed, and a first damper 60.

[0038] Specifically, the first rotating shaft 10 is fixedly connected to the base plate 301, that is, the first rotating shaft 10 is mounted on the machine body 300 via the base plate 301. The first branch swing arm 20 and the second branch swing arm 30 are fixedly intersecting and connected, and the connection between the first branch swing arm 20 and the second branch swing arm 30 is rotatably connected to the first rotating shaft 10. The front wheel swing arm 40 is intersecting with the second branch swing arm 30 and is used to limit the rotation of the second branch swing arm 30. The drive wheel 21 is located at the front end of the track 200. One end of the torsional elastic element 50 is connected to the second branch swing arm 30. The torsional elastic element 50 is used to maintain the second branch swing arm 30 and the front wheel swing arm 40 at a preset angle. The torsional elastic element 50 can be, but is not limited to, a torsion spring. The small support wheel 31 is closer to the front end than the front support wheel 41. One end of the first damper 60 is connected to the front wheel swing arm 40 and the other end is used to connect to the base plate 301.

[0039] Understandably, the drive wheel 21, the small support wheel 31, and the front support wheel 41 are all connected to the track 200 for transmission and are used to support and tension the track 200. The rear end of the track 200 is provided with a drive wheel that is connected to the track 200 for transmission. The drive wheel is connected to an external drive device, and the drive device drives the drive wheel to rotate. The drive device can be, but is not limited to, a motor.

[0040] In the flexible wheel system structure 100, since the small support wheel 31 is closer to the front end than the front support wheel 41, when encountering a bumpy road surface or obstacle in front, the small support wheel 31 will first touch the bumpy ground or obstacle in front. The second branch swing arm 30 can limit the displacement. The external force causes the second branch swing arm 30 to rotate around the first pivot 10, compressing the torsional elastic element 50. When the external force is small, the torsional elastic element 50 plays a primary buffering and shock absorption role. When the bumpy ground or obstacle in front continuously exerts a force on the small support wheel 31 on the second branch swing arm 30, the second branch swing arm 30 pushes against the rear front wheel swing arm 40. When the external force causes the front wheel swing arm 40 to continue to swing backward, it needs to overcome the force of the torsional elastic element 50 and the second damper connecting the front wheel swing arm 40, which maintain the angle between the second branch swing arm 30 and the front wheel swing arm 40. The torsional elastic element 50 and the second damper are used to absorb the forward impact and walking vibration energy, playing a secondary buffering and shock absorption role.

[0041] And, as Figure 4 As shown, in downhill conditions, the front wheel swing arm 40 is twisted in advance. Driven by the front support wheel arm 41, the climbing angle of the wheel system decreases, and the effective contact area increases, preventing the equipment from tipping over while going downhill. For example... Figure 5 As shown, in the uphill state, the first branch swing arm 20 twists forward in advance under the action of resistance, reducing the contact angle and increasing the adhesion, ensuring that the equipment climbs the slope well.

[0042] In one embodiment, the diameter of the small support wheel 31 is smaller than the diameter of the front support wheel 41. Normally, to facilitate obstacle crossing and hill climbing, the track 200 extends downwards towards the ground in a downward convex arc shape. The driven wheel tensions the track 200 at the front end. Setting the diameter of the small support wheel 31 to be smaller than the diameter of the front support wheel 41 can accommodate the aforementioned arc shape of the track 200.

[0043] In one embodiment, the preset angle is an acute angle. In order to maintain the movement of the track 200, the arc area maintained at the front end of the track 200 cannot be too large. Therefore, the second branch swing arm 30 and the front wheel swing arm 40 are set at an acute angle, which also allows the first damper 60 connected to the front wheel swing arm 40 to take effect more quickly when an external force impacts it.

[0044] Refer to together Figure 6 and Figure 7A spoon-shaped structure 80 is inclinedly provided at the connection between the first branch swing arm 20 and the second branch swing arm 30. The first rotating shaft 10 passes through the spoon-shaped area of ​​the spoon-shaped structure 80. A protrusion 42 is provided on the end of the first rotating shaft 10 that is connected to the rotation of the front wheel swing arm 40. During the rotation of the second branch swing arm 30 or the front wheel swing arm 40, the head 81 of the spoon-shaped structure 80 and the protrusion 42 on the end of the second branch swing arm 30 are used to cooperate with the rotation limit in the first direction, and the tail 82 of the spoon-shaped structure 80 and the arm of the second branch swing arm 30 are used to cooperate with the rotation limit in the second direction. The first direction and the second direction are opposite to each other.

[0045] It is worth noting that the design of the structure and positional relationship of the spoon-shaped structure 80, the protrusion 42, the first rotating shaft 10, the first branch swing arm 20, the second branch swing arm 30, and the front wheel swing arm 40 ensures that when encountering bumpy ground or obstacles that cause the second branch swing arm 30 and the front wheel swing arm 40 to rotate, the small support wheel 31 and the front wheel support wheel will not collide, while the elastic element 50 and the first damper 60 will be twisted to achieve a shock absorption effect. Specifically, for example, when the second branch swing arm 30 rotates clockwise and the head 81 of the spoon-shaped structure 80 collides with the protrusion 42 on the end of the front wheel swing arm 40, the second branch swing arm 30 can no longer rotate clockwise. At this time, when the external force continues to act, the first damper 60 will take effect. For example, when the second branch swing arm 30 rotates counterclockwise and the tail 82 of the spoon-shaped structure 80 touches the arm of the second branch swing arm 30, the second branch swing arm 30 can no longer rotate counterclockwise. At this time, when the external force continues to act, the first damper 60 will take effect. Furthermore, during the rearward swing of the front wheel swing arm 40, when the protrusion 42 touches the head 81 of the spoon-shaped structure 80, the front wheel support arm can no longer swing rearward, thus preventing excessive swing from impacting the wheel of the rear support track 200.

[0046] Further combined with reference Figure 2 and Figure 8 The flexible wheel system structure 100 also includes at least one central damping unit 70 located between the front and rear ends; each central damping unit 70 includes a second rotating shaft 71, a central wheel swing arm 72 connected to the second rotating shaft 71, a V-shaped connecting arm 73, two central support wheels 74, and a second damper 75. Specifically, the second rotating shaft 71 is fixedly mounted on the base plate 301, that is, the second rotating shaft 71 is connected to the body 300 through the base plate 301. The top end of the middle part of the V-shaped connecting arm 73 is rotatably connected to the end of the central wheel swing arm 72 away from the second rotating shaft 71, and a central support wheel 74 is provided at both ends of the connecting arm 73. The second damper 75 is connected to the central wheel swing arm 72. In application, one end of the second damper 75 is connected to the central wheel swing arm 72 and the other end is connected to the base plate 301, that is, the other end of the second damper 75 is connected to the body 300 through the base plate 301.

[0047] When the track 200 encounters a bumpy surface or obstacle at its midpoint, the bumpy surface or obstacle will exert a force on the middle support wheel 74 of the connecting arm 73. When the obstacle is small or the degree of bump is small, the connecting arm 73 rotates, and the obstacle passes smoothly through the rotating lever of the connecting arm 73, thus achieving a primary shock absorption effect. When the obstacle is large or the degree of bump is large, the impact force needs to overcome the action of the second damper 75, thus achieving a secondary shock absorption effect.

[0048] like Figure 8 As shown, the central damping unit 70 also includes a positioning connecting block 76 fixedly mounted on the central wheel swing arm 72, and a groove 731 is provided at the top of the connecting arm 73. One end of the positioning connecting block 76 is embedded in the groove 731 and rotatably connected to the connecting arm 73, and the second damper 75 is connected to the positioning connecting block 76.

[0049] Understandably, as mentioned earlier, when an external force causes the connecting arm 73 to rotate, this is equivalent to one end of the positioning connecting block 76 embedded in the groove 731 rotating and sliding along the inner wall of the groove 731. This allows the rotating lever of the connecting arm 73 to pass smoothly through obstacles or areas with minimal bumps, achieving a shock-absorbing effect. It also limits excessive rotation of the connecting arm 73 through the action of the groove 731 and the positioning connecting block 76, as excessive rotation might affect the tension of the track 200. When the connecting arm 73 can no longer rotate due to the limiting effect of the groove 731 and the positioning connecting block 76, excessive external force will compress the second damper 75, which effectively provides shock absorption. In one embodiment, the groove 731 is arc-shaped.

[0050] In one embodiment, the top of the V-shaped connecting arm 73 is set at an obtuse angle, which can appropriately increase the distance between the two central support wheels 74 that connect the two ends of the connecting arm 73, so as to increase the area of ​​the track 200 jointly supported by the two central support wheels 74.

[0051] The middle wheel swing arm 72 is a bent structure that bends towards the front end. Specifically, the middle wheel swing arm 72 includes a first arm portion with one end fixedly connected to the positioning connecting block 76 and a second arm portion fixedly connected to the other end of the first arm portion. The other end of the second arm portion is rotatably connected to the second rotating shaft 71. Furthermore, the second damper 75 is located on the rear-facing side of the middle wheel swing arm 72.

[0052] like Figure 2As shown, the flexible wheel system structure 100 also includes a rear damping unit 90 located near the rear end. The rear damping unit 90 includes a third rotating shaft 91, a rear wheel swing arm 92 rotatably connected to the third rotating shaft 91, a rear support wheel 94 located at the end of the rear wheel swing arm 92 away from the third rotating shaft 91, and a third damper 93 connected to the rear wheel swing arm 92. One end of the third damper 93 is connected to the rear wheel swing arm 92, and the other end is connected to the base plate 301, that is, the third damper 93 is connected to the body 300 through the base plate 301.

[0053] When the rear support wheel 94 is subjected to bumpy ground or obstacles, the rear wheel swing arm 92 rotates around the first pivot 10. During this process, the third damper 93 is used to absorb the energy of forward impact and walking vibration, and plays a role in buffering and shock absorption.

[0054] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A flexible wheel system structure applied to a track, wherein the track has a front end and a rear end, characterized in that, The flexible gear train structure includes: First pivot; A first branch swing arm and a second branch swing arm are fixedly connected and intersecting. The connection between the first branch swing arm and the second branch swing arm is rotatably connected to the first rotating shaft. The first branch swing arm is provided with a drive wheel located at the front end and the second branch swing arm is provided with a small support wheel. The front wheel swing arm intersects with the second branch swing arm and is rotatably connected to the first rotating shaft. The front wheel swing arm is provided with a front support wheel and is used to limit the rotation of the second branch swing arm. The twisting elastic element is connected at one end to the second branch swing arm and is used to maintain the second branch swing arm and the front wheel swing arm at a preset angle. The small support wheel is closer to the front end than the front support wheel. One end is connected to the first damper of the front wheel swing arm; A spoon-shaped structure is inclinedly provided at the connection between the first branch swing arm and the second branch swing arm. The first rotating shaft passes through the spoon-shaped area of ​​the spoon-shaped structure. A protrusion is provided on the end of the first rotating shaft that is rotatably connected to the front wheel swing arm. During the rotation of the second branch swing arm or the front wheel swing arm, the spoon-shaped head of the spoon-shaped structure and the protrusion on the end of the second branch swing arm are used to cooperate with the rotation limit in the first direction. The handle tail of the spoon-shaped structure and the arm of the second branch swing arm are used to cooperate with the rotation limit in the second direction. The diameter of the small support wheel is smaller than the diameter of the front support wheel, and the preset included angle is an acute angle.

2. The flexible gear train structure as described in claim 1, characterized in that, The flexible wheel system structure further includes at least one central damping unit located between the front end and the rear end; each central damping unit includes a second rotating shaft, a central wheel swing arm connected to the second rotating shaft, a V-shaped connecting arm, two central support wheels, and a second damper; the top end of the middle part of the connecting arm is rotatably connected to the end of the central wheel swing arm away from the second rotating shaft, and a central support wheel is provided at both ends of the connecting arm; the second damper is connected to the central wheel swing arm.

3. The flexible gear train structure as described in claim 2, characterized in that, The central damping unit also includes a positioning connecting block fixedly mounted on the central wheel swing arm, and the top end of the connecting arm is provided with a groove; one end of the positioning connecting block is embedded in the groove and rotatably connected to the connecting arm, and the second damper is connected to the positioning connecting block.

4. The flexible gear train structure as described in any one of claims 2 or 3, characterized in that, The top of the V-shaped connecting arm is set at an obtuse angle.

5. The flexible gear train structure as described in claim 3, characterized in that, The middle wheel swing arm is a bent structure that bends toward the front end, including a first arm that is fixedly connected to the positioning connecting block at one end and a second arm that is fixedly connected to the other end of the first arm. The other end of the second arm is rotatably connected to the second rotating shaft. The second damper is located on the side of the middle wheel swing arm facing the rear end.

6. The flexible gear train structure as described in claim 1, characterized in that, The flexible wheel system structure also includes a rear shock absorber unit located near the rear end. The rear shock absorber unit includes a third pivot, a rear wheel swing arm rotatably connected to the third pivot, a rear support wheel located at the end of the rear wheel swing arm away from the third pivot, and a third damper connected to the rear wheel swing arm.

7. A firefighting robot, characterized in that, include: Body Tracks are installed on one side of the machine body; as well as The flexible wheel system structure as described in any one of claims 1 to 6, applied to the track, wherein the first rotating shaft is fixedly disposed on the machine body, and the first damper is connected to the machine body.

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