A six-legged crawler-walking, high-lifting and spraying firefighting robot for large and complex fire scenes

Abstract

The present invention discloses a six-legged crawler walking, lifting and spraying fire-fighting robot for large and complex fire scenes, comprising a chassis mechanism for walking and a lifting mechanism for extending; a slewing mechanism is provided at one end of the lifting mechanism, and the slewing mechanism drives the lifting mechanism to rotate through a hydraulic system, and the lifting mechanism drives the auxiliary arm frame arranged at one end thereof to extend through the hydraulic system. In the present invention, the support assembly connected by the movement of the bottom end of the support column compensates for the drop existing on the ground surface under the action of the support spring, and fits the ground surface more closely. Under the function of the hydraulic system, the hydraulic assembly in the second swing arm clamps and fixes the support column with two limit bars, and the support assembly movably connected at the bottom end of the support column moves synchronously with the limit bar in the linkage assembly, so that the support assembly in contact with the ground surface is locked, thereby reducing the phenomenon of limited self-walking of the support legs and improving the movement efficiency of the chassis mechanism supporting the self-propelled mechanism.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a six-legged crawler walking, lifting and spraying fire-fighting robot for large and complex fire scenes. Background Art

[0002] Fire accidents frequently occur in hazardous chemical storage tank areas, large-space factory buildings, electrochemical energy storage power stations, and other places. These fires are affected by factors such as high altitude and large spans, resulting in complex disasters, high rescue difficulties, and extremely dangerous consequences, posing a serious threat to the safety of life and property. For such large and complex fire scenes that are difficult for personnel to access, high-rise jet firefighting equipment is often used as one of the main combat equipment. High-rise jet firefighting equipment is usually composed of a boom lifting system, a chassis movement system, a central control system, and a jet firefighting system. By flexibly spraying water or foam from high altitudes and from multiple angles to extinguish fires, it plays an increasingly important role in the field of firefighting.

[0003] Although there are a few high-lift spray fire-fighting robots on the market, they are difficult to adapt to the actual rescue needs and guidance requirements of large and complex fire scenes. The existing equipment is mainly limited by the following aspects: low lifting height, poor maneuverability, low stability, low intelligence level, and heavy weight of the whole machine; therefore, further in-depth research is urgently needed.

[0004] For example, the Chinese patent with publication number CN113457052B, entitled "A Soil-Throwing Hexapod Firefighting Robot", includes a box body, four vertically movable support mechanisms, a hexapod walking mechanism composed of six mechanical legs, two sets of soil-taking mechanisms, two sets of multi-angle soil-throwing mechanisms and four sets of obstacle clearance mechanisms; two soil inlets are formed on the side ring edge of the box body, and each is equipped with a soil inlet box door, and a soil storage vertical cavity is provided in the box body corresponding to the two soil inlets; the four vertically movable support mechanisms are connected to the four sides of the lower end of the box body bottom plate; the six mechanical legs are evenly distributed along the circumferential direction and connected to the top plate of the box body, and each mechanical leg consists of three sections: upper, middle and lower; the two sets of soil-taking mechanisms are installed on two mechanical legs that are 180° opposite to each other, and each set of soil-taking mechanisms includes a soil crushing part and a soil shoveling part; the soil shoveling part's soil-exporting end is aligned with the soil inlet on the box body; the multi-angle soil-throwing mechanism consists of an upper soil-lifting part and an outer soil-throwing part; and the other four sets of mechanical legs are each equipped with a set of obstacle clearance mechanisms.

[0005] The shortcoming of the existing technology is that when the robot walks on its support legs, the hydraulic system drives the support legs to fit into the ground for support. When there is a drop in the road surface, the support legs cannot support and compensate for the drop in the ground, so that the support angle of the support legs is limited after the support legs fit into the road surface, and the efficiency of the support legs in supporting walking is reduced. Summary of the Invention

[0006] The purpose of the present invention is to provide a six-legged crawler walking, lifting and spraying fire-fighting robot for large and complex fire scenes. The support column in the second swing arm is elastically supported by the support spring, and the support assembly connected to the bottom end of the support column is movably supported by the support spring to compensate for the drop of the ground surface under the action of the support spring, so that the support assembly can fit the ground surface better. The hydraulic assembly in the second swing arm drives the two limit bars to close under the function of the hydraulic system, so that the two limit bars clamp and fix the support column. The support assembly movably connected at the bottom end of the support column moves synchronously with the limit bar in the linkage assembly, so that the support assembly that fits the ground surface is locked, reducing the phenomenon of limited self-walking of the support legs and improving the movement efficiency of the chassis support mechanism of the self-propelled mechanism.

[0007] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a six-legged crawler walking and lifting spraying fire fighting robot for large and complex fire scenes, comprising a chassis mechanism for walking and a lifting mechanism for stretching;

[0008] A rotary mechanism is provided at one end of the lifting mechanism, and the rotary mechanism drives the lifting mechanism to rotate through a hydraulic system. The lifting mechanism drives the auxiliary arm provided at one end thereof to extend through the hydraulic system, and the spraying system provided in the auxiliary arm supplies and sprays materials through a material guide mechanism provided on the lifting mechanism;

[0009] Walking mechanisms are symmetrically provided at both ends of the chassis mechanism, and the walking mechanism drives the first swing arm and the second swing arm to move through the swing arm assembly, and the first swing arm and the second swing arm support the chassis mechanism through the driving of the hydraulic system by a hydraulic rod, and the second swing arm elastically supports the support assembly fixedly connected to the support column through a support spring to compensate for the fit with the ground surface, and drives the limit bar to lock the support column through the hydraulic assembly, and the limit bar self-locks the support assembly connected to the support column through the linkage assembly;

[0010] As a further description of the above technical solution:

[0011] The swing arm assembly includes a swing oil pump, one end of the swing oil pump is transmission-connected to a rotating frame, one end of the rotating frame is movably connected to a first swing arm, one end of the first swing arm is movably connected to a hydraulic rod, and the end of the hydraulic rod away from the first swing arm is rotationally connected to the rotating frame.

[0012] As a further description of the above technical solution:

[0013] The second swing arm includes a rectangular frame, and the rectangular frame is fixed on the first swing arm. Limiting bars are symmetrically arranged in the rectangular frame, and a support column is provided between the two limiting bars. One end of the support column is fixedly connected to a support spring, and the support spring is fixed on the rectangular frame.

[0014] As a further description of the above technical solution:

[0015] The hydraulic assembly includes a hydraulic pump, and the hydraulic pump is fixed on a rectangular frame. Telescopic rods are symmetrically provided at both ends of the hydraulic pump. One end of the telescopic rod is fixedly connected to a directional block. One end of the directional block is symmetrically provided with a connecting bar. The end of the connecting bar away from the directional block is provided with a connecting shaft, and one end of the connecting shaft is rotatably connected to the limit bar.

[0016] As a further description of the above technical solution:

[0017] The linkage assembly includes a pull rod, one end of which is fixed on a limiting bar, and the other end of which is sleeved on a movable rod. Both ends of the movable rod are fixedly connected to fixed bars, and the fixed bars pass through the support column; the bottom end of the support column is rotatably connected to a connecting block, and a movable frame is provided on the top of the connecting block, and the movable frame is sleeved on the support column.

[0018] As a further description of the above technical solution:

[0019] A clamp is fixedly connected inside the movable frame, and the clamp is adapted to the movable frame. The bottom end of the movable frame is fixedly connected to a connecting plate, the bottom end of the connecting plate is fixedly connected to a rack, the top end of the rack is engaged with a gear plate, and the gear plate is rotatably connected to the connecting block.

[0020] As a further description of the above technical solution:

[0021] One end of the gear plate is fixedly connected to a connecting rod, the connecting rod sleeve is provided with an arc ring, the bottom end of the arc ring is fixedly connected to a connecting rod, and the bottom end of the connecting rod is fixedly connected to a brake strip.

[0022] As a further description of the above technical solution:

[0023] The bottom end of the connecting block is fixedly connected to a rotating shaft rod, and a support plate is rotatably connected inside the rotating shaft rod. Gear blocks are provided at both ends of the rotating shaft rod, and the gear blocks are fixed on the support plate.

[0024] As a further description of the above technical solution:

[0025] The chassis mechanism includes a chassis frame, and crawlers are symmetrically provided at both ends of the chassis frame, and the crawlers are powered by a power transmission system; a central swivel seat is fixedly connected to the chassis frame, and a support seat is rotatably connected to the central swivel seat.

[0026] As a further description of the above technical solution:

[0027] The lifting mechanism includes a telescopic arm, one end of the telescopic arm is movably connected to an arm tail, and the arm tail is rotatably connected to a support seat, the other end of the telescopic arm is movably connected to a sub-arm, the telescopic arm is fixedly connected to a pipe fixing frame, and a material guiding mechanism is fixedly connected inside the pipe fixing frame.

[0028] The present invention provides a six-legged crawler-walking, lifting and spraying firefighting robot for large and complex fire scenes, which has the following beneficial effects:

[0029] In the present invention, the support column in the second swing arm is elastically supported by the support spring, and the support assembly connected to the bottom end of the support column is used to compensate for the drop of the ground surface under the action of the support spring, so that the support assembly is more closely fitted to the ground surface. The hydraulic assembly in the second swing arm drives the two limit bars to close under the function of the hydraulic system, so that the two limit bars clamp and fix the support column. The support assembly movably connected at the bottom end of the support column moves synchronously with the limit bar in the linkage assembly, so that the support assembly that is in contact with the ground surface is locked, thereby reducing the phenomenon of limited self-propelled movement of the support legs and improving the movement efficiency of the chassis support mechanism of the self-propelled mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural diagram of a six-legged crawler-walking, high-lifting and spraying firefighting robot proposed by the present invention for large and complex fire scenes;

[0031] Figure 2 It is a structural schematic diagram of the lifting mechanism in the present invention;

[0032] Figure 3 It is a structural schematic diagram of the chassis mechanism in the present invention;

[0033] Figure 4 Schematic diagram of the structure of the swing arm assembly in the present invention;

[0034] Figure 5 It is a structural schematic diagram of the hydraulic assembly in the present invention;

[0035] Figure 6 Schematic diagram of the structure of the second swing arm in the present invention;

[0036] Figure 7 Schematic diagram of the structure of the connecting block in the present invention;

[0037] Figure 8 Schematic diagram of the structure of the support assembly in the present invention;

[0038] Figure 9 It is a structural diagram of the movable frame in the present invention;

[0039] Figure 10 Schematic diagram of the structure of the support column in the present invention;

[0040] Figure 11 It is a schematic diagram of the expansion of the chassis mechanism and the lifting mechanism in the present invention.

[0041] Legend: 1. Chassis; 11. Chassis frame; 12. Track; 2. Slewing mechanism; 21. Center slewing seat; 22. Support seat; 3. Lifting mechanism; 31. Telescopic arm frame; 32. Pipe fixing frame; 33. Arm tail; 4. Material guide mechanism; 5. Auxiliary arm frame; 6. Travel mechanism; 61. Swing arm assembly; 611. Swing oil pump; 612. Rotating frame; 62. First swing arm; 63. Second swing arm; 631. Rectangular frame; 632. Limiting bar; 633. Hydraulic assembly; 6331. Hydraulic pump; 6332. Telescopic rod; 6333. Orienting block; 63 34. Connecting bar; 6335. Connecting shaft; 634. Support column; 6341. Groove; 635. Support spring; 64. Hydraulic rod; 641. Control end; 65. Support assembly; 651. Support plate; 652. Rotating shaft rod; 653. Gear block; 654. Braking bar; 655. Linking rod; 656. Arc ring; 657. Connecting rod; 658. Gear plate; 66. Linking assembly; 661. Fixing bar; 662. Movable rod; 663. Pull rod; 664. Movable frame; 665. Clamp; 666. Connecting plate; 667. Rack; 67. Connecting block. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] Reference Figure 1-10 A six-legged crawler walking and lifting spray fire fighting robot for large and complex fire scenes, comprising a chassis mechanism 1 for walking and a lifting mechanism 3 for stretching;

[0044] A rotary mechanism 2 is provided at one end of the lifting mechanism 6. The rotary mechanism 2 drives the lifting mechanism 3 to rotate through a hydraulic system. The lifting mechanism 3 drives the auxiliary arm 5 provided at one end thereof to extend through the hydraulic system. The spraying system provided in the auxiliary arm 5 supplies the material for spraying through the material guide mechanism 4 provided on the lifting mechanism 3.

[0045] The chassis mechanism 1 is symmetrically provided with a walking mechanism 6 at both ends. The walking mechanism 6 drives the first swing arm 62 and the second swing arm 63 to move through the swing arm assembly 61. The first swing arm 62 and the second swing arm 63 support the chassis mechanism 1 through the hydraulic system drive of the hydraulic rod 64. The second swing arm 63 elastically supports the support column 634 through the support spring 635 to compensate for the contact degree with the ground surface. The support column 634 is locked by driving the limit bar 632 through the hydraulic assembly 633. The limit bar 632 self-locks the support assembly 65 connected to the support column 634 through the linkage assembly 66.

[0046] Specifically, the chassis mechanism 1 includes a vehicle body with crawler tracks 12, a walking mechanism 6, an engine, a battery, a hydraulic system, a control system and other parts; a rotating lifting mechanism 3 is connected to the chassis, and the lifting mechanism 3 can be extended and retracted. The crawler tracks 12 are responsible for movement, forward, backward, steering, speed change, etc. The walking mechanism 6 is usually retracted on both sides of the vehicle body, and stretches out when starting to walk, supporting both sides of the vehicle body and walking in a foot-like manner; after being in place, the six legs support the vehicle body to support the level on uneven roads, and the crawler tracks 12 are off the ground to ensure that the vehicle body is level, and the telescopic arms The frame 31 rotates, stretches, and rises to finally reach the highest height; at this time, the walking mechanism 6 acts as a supporting and stabilizing leg for the extension, stably supporting the entire fuselage and the telescopic arm frame 31 on the ground, resisting various disturbing forces and moments such as gravity, jet force, wind force, vibration, etc., forming a stable support surface to ensure the operation of the system; the walking mechanism 6 symmetrically arranged at both ends of the chassis mechanism 1 respectively comprises a first swing arm 62 and a second swing arm 63 to form a supporting structure, and the slewing mechanism 2 fixedly connected at the bottom end of the chassis mechanism 1 itself is driven to rotate by a driving device; the slewing mechanism 2 at the slewing mechanism 2 is symmetrically arranged at both ends of the chassis mechanism 1, and the slewing mechanism 2 is fixedly connected to the bottom end of the chassis mechanism 1 and is driven to rotate by a driving device; The lifting mechanism 3 connected therein is extended through the hydraulic system so as to extend the auxiliary arm frame 5 connected to one end of the lifting mechanism 3 and the material guiding mechanism 4 connected to the spraying system. The first swing arm 62 and the second swing arm 63 in the walking mechanism 6 are connected through the control end 641 of the hydraulic system to drive the hydraulic rod 64 to support the chassis mechanism 1. The support column 634 in the second swing arm 63 is elastically supported by the support spring 635, and the support assembly 65 connected to the bottom end of the support column 634 is movably supported by the support spring 635 to compensate the ground surface. The difference in height between the support assembly 65 and the ground surface is eliminated, so that the support assembly 65 can better fit the ground surface. Under the function of the hydraulic system, the hydraulic assembly 633 in the second swing arm 63 drives the two limit bars 632 to close, so that the two limit bars 632 clamp the support column 634. The support assembly 65 movably connected at the bottom end of the support column 634 moves synchronously with the limit bar 632 in the linkage assembly 66, so that the support assembly 65 that fits the ground surface is locked, thereby improving the stability of the self-propelled mechanism when supporting the chassis mechanism 1;

[0047] The swing arm assembly 61 includes a swing oil pump 611, one end of which is transmission-connected to a rotating frame 612, one end of which is movably connected to a first swing arm 62, one end of which is movably connected to a hydraulic rod 64, and one end of the hydraulic rod 64 away from the first swing arm 62 is rotatably connected to the rotating frame 612;

[0048] Specifically, the swing oil pump 611 in the swing arm assembly 61 uses the hydraulic system function to make the rotating frame 612 connected to one end of the swing oil pump 611 swing back and forth to both ends. The first swing arm 62 connected to one end of the rotating frame 612 swings synchronously with the hydraulic rod 64. The first swing arm 62, the hydraulic rod 64 and the rotating frame 612 form a triangular structure. The hydraulic rod 64 drives the first swing arm 62 and the second swing arm 63 fixedly connected to it to move along the connection between the rotating frame 612, so that the first swing arm 62 and the second swing arm 63 can support the chassis mechanism 1 fixedly connected to the swing oil pump 611.

[0049] The second swing arm 63 includes a rectangular frame 631, and the rectangular frame 631 is fixed to the first swing arm 62. The rectangular frame 631 is symmetrically provided with limit bars 632. A support column 634 is provided between the two limit bars 632. One end of the support column 634 is fixedly connected to a support spring 635, and the support spring 635 is fixed to the rectangular frame 631.

[0050] The hydraulic assembly 633 includes a hydraulic pump 6331, which is fixed to the rectangular frame 631. Telescopic rods 6332 are symmetrically provided at both ends of the hydraulic pump 6331. One end of the telescopic rod 6332 is fixedly connected to an orientation block 6333. One end of the orientation block 6333 is symmetrically provided with a connecting bar 6334. The end of the connecting bar 6334 away from the orientation block 6333 is provided with a connecting shaft 6335, and one end of the connecting shaft 6335 is rotatably connected to the limit bar 632.

[0051] Specifically, the rectangular frame 631 in the second swing arm 63 is fixedly connected to the first swing arm 62, and the limit bars 632 are symmetrically slidably connected in the rectangular frame 631. The directional blocks 6333 at both ends are driven to move by a hydraulic pump 6331 fixedly connected to one end of the rectangular frame 631. The connecting bars 6334 symmetrically connected in the directional blocks 6333 are respectively movably connected to the limit bars 632. When the telescopic rod 6332 drives the directional blocks 6333 to move in a directional manner, the connecting bars 6334 connected to the directional blocks 6333 push the respectively connected limit bars 632 to move, so that the two limit bars 632 separate to the two ends, so that the support column 634 can drive the movably connected support assembly 65 to fit the ground surface under the elastic action of the support spring 635.

[0052] The linkage assembly 66 includes a pull rod 663, one end of which is fixed to the limit bar 632, and the other end of which is sleeved on the movable rod 662. The two ends of the movable rod 662 are fixedly connected to the fixing bars 661, and the fixing bars 661 pass through the support column 634; the bottom end of the support column 634 is rotatably connected to the connecting block 67, and the top end of the connecting block 67 is provided with a movable frame 664, and the movable frame 664 is sleeved on the support column 634;

[0053] A clamp 665 is fixedly connected to the movable frame 664, and the clamp 665 is adapted to the movable frame 664. The bottom end of the movable frame 664 is fixedly connected to a connecting plate 666, and the bottom end of the connecting plate 666 is fixedly connected to a rack 667. The top end of the rack 667 is engaged with a gear plate 658, and the gear plate 658 is rotatably connected to the connecting block 67.

[0054] One end of the gear plate 658 is fixedly connected to a connecting rod 657, and the connecting rod 657 is sleeved with an arc ring 656. The bottom end of the arc ring 656 is fixedly connected to a connecting rod 655, and the bottom end of the connecting rod 655 is fixedly connected to a brake bar 654.

[0055] The bottom end of the connecting block 67 is fixedly connected to a rotating shaft rod 652, and the rotating shaft rod 652 is rotatably connected to the support plate 651. Gear blocks 653 are provided at both ends of the rotating shaft rod 652, and the gear blocks 653 are fixed to the support plate 651.

[0056] Specifically, the pull rod 663 in the linkage assembly 66 is movably connected to the limit bar 632, and the pull rod 663 and the limit bar 632 move synchronously. A movable rod 662 is provided in the groove 6341 symmetrically opened on both sides of the support column 634. The two ends of the movable rod 662 are fixedly connected to the fixed bar 661, and the fixed bar 661 and the movable rod 662 are distributed on the support column 634 in a rectangular structure. The movable frame 664 set at the bottom end of the support column 634 is movably provided on the connecting block 67, and the clamp 665 fixedly connected in the movable frame 664 is adapted to the movable rod 662. When the pull rod 663 drives the movable rod 662 of the rectangular structure to move under the drive of the limit bar 632, the movable rod 66 2. The clamp 665 and its movable frame 664 are in conflict with each other and move in a directional manner. The rack 667 fixedly connected to the bottom end of the movable frame 664 is driven to move in a directional manner through the connecting plate 666. During the movement of the rack 667, the gear plate 658 engaged with the rack 667 rotates synchronously. The connecting rod 657 fixedly connected to one end of the gear plate 658 moves away from the central axis. The connecting rod 657 acts as an eccentric shaft to drive the arc ring 656 to move up and down in a directional manner, so that the connecting rod 655 fixedly connected to the bottom end of the arc plate and the brake bar 654 brake and lock the gear block 653, so that the support plate 651 is locked after being in contact with the ground surface, thereby improving the stability of the support plate 651 and the ground surface.

[0057] The chassis mechanism 1 includes a chassis frame 11, with crawlers 12 symmetrically provided at both ends of the chassis frame 11, and the crawlers 12 are powered by a power transmission system; a central swivel seat 21 is fixedly connected to the chassis frame 11, and a support seat 22 is rotatably connected to the central swivel seat 21;

[0058] The lifting mechanism 3 includes a telescopic arm 31, one end of the telescopic arm 31 is movably connected to an arm tail 33, and the arm tail 33 is rotatably connected to the support base 22, the other end of the telescopic arm 31 is movably connected to the auxiliary arm 5, the telescopic arm 31 is fixedly connected to a pipe fixing frame 32, and the pipe fixing frame 32 is fixedly connected to a material guide mechanism 4;

[0059] Specifically, the symmetrically arranged crawler tracks 12 in the chassis frame 11 in the chassis mechanism 1 are used to move the equipment, thereby improving the passability of the equipment on unpaved roads. The telescopic arm frame 31 in the lifting mechanism 3 adopts a 5+1 structure, and the telescopic method is a mature single-stage hydraulic cylinder + 3 sets of telescopic plate chains, with two built-in cable drag chains and external telescopic aluminum alloy water pipes and dry powder pipes on the right side; the five-section synchronously telescopic straight arm structure has a hexagonal cross-section, and the stability of the cover plate and web is increased by local plate-attaching and reinforcing ribs to avoid buckling.

[0060] Working principle: The chassis mechanism 1 includes a vehicle body with crawler tracks 12, a walking mechanism 6, an engine, a battery, a hydraulic system, a control system and other parts; a rotating lifting mechanism 3 is connected to the chassis, which can be extended and retracted, and the crawler tracks 12 are responsible for movement, forward, backward, steering, speed change, etc. The walking mechanism 6 is usually retracted on both sides of the vehicle body, and stretches out when starting to walk, supporting both sides of the vehicle body and walking in a foot-like manner; after being in place, the six legs support the vehicle body to support the level on uneven roads, and the crawler tracks 12 are off the ground to ensure the level of the vehicle body, and the telescopic arms The frame 31 rotates, stretches, and rises to finally reach the highest height; at this time, the walking mechanism 6 acts as a supporting and stabilizing leg for the extension, stably supporting the entire fuselage and the telescopic arm frame 31 on the ground, resisting various disturbing forces and moments such as gravity, jet force, wind force, vibration, etc., forming a stable support surface to ensure the operation of the system. The walking mechanisms 6 symmetrically arranged at both ends of the chassis mechanism 1 are respectively composed of a first swing arm 62 and a second swing arm 63 to form a supporting structure, and the slewing mechanism 2 fixedly connected at the bottom end of the chassis mechanism 1 is driven to rotate by the driving device; the slewing mechanism 2 is located at the bottom end of the chassis mechanism 1. The lifting mechanism 3 connected therein is extended through the hydraulic system so as to extend the auxiliary arm frame 5 connected to one end of the lifting mechanism 3 and the material guiding mechanism 4 connected to the spraying system. The first swing arm 62 and the second swing arm 63 in the walking mechanism 6 are connected through the control end 641 of the hydraulic system to drive the hydraulic rod 64 to support the chassis mechanism 1. The support column 634 in the second swing arm 63 is elastically supported by the support spring 635, and the support assembly 65 connected to the bottom end of the support column 634 is movably supported by the support spring 635 to compensate the ground surface. The height difference between the support assembly 65 and the ground surface is adjusted so that the support assembly 65 can fit more closely to the ground surface. Through the hydraulic assembly 633 in the second swing arm 63, under the function of the hydraulic system, the hydraulic assembly 633 drives the two limit bars 632 to close, so that the two limit bars 632 clamp and fix the support column 634. The support assembly 65 movably connected at the bottom end of the support column 634 moves synchronously with the limit bar 632 in the linkage assembly 66, so that the support assembly 65 that fits the ground surface is locked, thereby improving the stability of the self-propelled mechanism supporting the chassis mechanism 1 when moving.

[0061] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A six-legged crawler walking, lifting and spraying fire fighting robot for large and complex fire scenes, characterized by: It includes a chassis mechanism (1) for walking and a lifting mechanism (3) for stretching; The chassis mechanism (1) is symmetrically provided with walking mechanisms (6) at both ends. The walking mechanism (6) drives the first swing arm (62) and the second swing arm (63) to move through the swing arm assembly (61). The first swing arm (62) and the second swing arm (63) support the chassis mechanism (1) through the driving of the hydraulic system via the hydraulic rod (64). The second swing arm (63) elastically supports the support column (634) through the support spring (635). The support assembly (65) fixedly connected thereto compensates for the fit with the ground surface, and drives the limit bar (632) to the support column (634) through the hydraulic assembly (633). 34) is locked, and the limiting strip (632) self-locks the supporting assembly (65) connected to the supporting column (634) through the linkage assembly (66); the second swing arm (63) includes a rectangular frame (631), and the rectangular frame (631) is fixed on the first swing arm (62), the limiting strips (632) are symmetrically arranged in the rectangular frame (631), and a supporting column (634) is provided between the two limiting strips (632), and one end of the supporting column (634) is fixedly connected to a supporting spring (635), and the supporting spring (635) is fixed on the rectangular frame (631); The linkage assembly (66) includes a pull rod (663), one end of the pull rod (663) is fixed on the limit bar (632), and the other end of the pull rod (663) is sleeved on the movable rod (662), and the two ends of the movable rod (662) are fixedly connected to the fixed bar (661), and the fixed bar (661) passes through the support column (634); the bottom end of the support column (634) is rotatably connected to the connecting block (67), and the top of the connecting block (67) is provided with a movable frame (664), and the movable frame (664) is sleeved on the support column (634); the movable frame (664) is fixedly connected with a clamp (665), and the clamp (665) is adapted to the movable frame (664), and the bottom end of the movable frame (664) is fixedly connected to a connecting plate (666), and the connecting plate The bottom end of (666) is fixedly connected to a rack (667), the top end of the rack (667) is meshed with a gear plate (658), and the gear plate (658) is rotatably connected to the connecting block (67); one end of the gear plate (658) is fixedly connected to a connecting rod (657), the connecting rod (657) is sleeved with an arc ring (656), the bottom end of the arc ring (656) is fixedly connected to a connecting rod (655), and the bottom end of the connecting rod (655) is fixedly connected to a brake strip (654); the bottom end of the connecting block (67) is fixedly connected to a rotating shaft rod (652), the rotating shaft rod (652) is rotatably connected to a support plate (651), and gear blocks (653) are provided at both ends of the rotating shaft rod (652), and the gear blocks (653) are fixed to the support plate (651); The hydraulic assembly (633) includes a hydraulic pump (6331), and the hydraulic pump (6331) is fixed on the rectangular frame (631). Telescopic rods (6332) are symmetrically provided at both ends of the hydraulic pump (6331). One end of the telescopic rod (6332) is fixedly connected to a directional block (6333). One end of the directional block (6333) is symmetrically provided with a connecting bar (6334). The end of the connecting bar (6334) away from the directional block (6333) is provided with a connecting shaft (6335), and one end of the connecting shaft (6335) is rotatably connected to the limit bar (632).

2. The six-legged crawler walking, lifting and spraying fire fighting robot for large and complex fire scenes according to claim 1 is characterized in that: The swing arm assembly (61) includes a swing oil pump (611), one end of the swing oil pump (611) is transmission-connected to a rotating frame (612), one end of the rotating frame (612) is movably connected to a first swing arm (62), one end of the first swing arm (62) is movably connected to a hydraulic rod (64), and one end of the hydraulic rod (64) away from the first swing arm (62) is rotatably connected to the rotating frame (612).

3. The six-legged crawler walking, lifting and spraying fire fighting robot for large and complex fire scenes according to claim 1 is characterized in that: A rotary mechanism (2) is provided at one end of the lifting mechanism (6), and the rotary mechanism (2) drives the lifting mechanism (3) to rotate through a hydraulic system. The lifting mechanism (3) drives the auxiliary arm (5) provided at one end thereof to extend through the hydraulic system, and the spraying system provided in the auxiliary arm (5) supplies material for spraying through a material guide mechanism (4) provided on the lifting mechanism (3).

4. The six-legged crawler walking, lifting and spraying fire fighting robot for large and complex fire scenes according to claim 1 is characterized in that: The chassis mechanism (1) comprises a chassis frame (11), crawlers (12) are symmetrically provided at both ends of the chassis frame (11), and the crawlers (12) are powered by a power transmission system; a central slewing seat (21) is fixedly connected to the chassis frame (11), and a support seat (22) is rotatably connected to the central slewing seat (21).

5. The six-legged crawler walking, lifting and spraying fire fighting robot for large and complex fire scenes according to claim 1 is characterized in that: The lifting mechanism (3) includes a telescopic arm (31), one end of the telescopic arm (31) is movably connected to an arm tail (33), and the arm tail (33) is rotatably connected to a support seat (22), the other end of the telescopic arm (31) is movably connected to an auxiliary arm (5), the telescopic arm (31) is fixedly connected to a pipe fixing frame (32), and a material guide mechanism (4) is fixedly connected inside the pipe fixing frame (32).

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