Emergency fire-fighting chassis, robot and fire-fighting operation method

Abstract

The invention belongs to the technical field of robots, and relates to an emergency fire-fighting chassis, a robot and a fire-fighting operation method.The emergency fire-fighting chassis comprises a vehicle body assembly and a plurality of chassis assemblies, each chassis assembly comprises a damping device, a driving device and a walking device, one end of each damping device is connected to the vehicle body assembly, and the other end of each damping device is connected to the driving device; the outer end of the driving device is connected with the walking device and used for driving the walking device to rotate to walk or swing to steer. The driving device adopts two sets of power sources to control forward rotation and reverse rotation of the first driving ring tooth and the second driving ring tooth correspondingly, through different forward rotation and reverse rotation combination modes of the two sets of power sources, the walking direction and the swing steering direction of the walking device are adjusted, the two sets of power sources work at the same time, and the power utilization efficiency of the robot is improved. By independently controlling forward or reverse swing steering of the walking device of each chassis assembly, various motion modes of the robot can be achieved, and the power driving power and the operation flexibility and applicability of the robot are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to an emergency firefighting chassis, a robot and a firefighting operation method. Background Art

[0002] As a special type of robot, firefighting robots are playing an increasingly important role in firefighting. They solve the problems faced by firefighters during firefighting operations, such as high temperature, explosion, and difficulty in arranging water hoses. When extinguishing a fire, on-site commanders can first control the firefighting robots to enter the scene, use them for preliminary suppression, and make scientific judgments and decisions on the disaster in a timely manner based on their feedback results.

[0003] The mobile chassis of existing fire-fighting robots are basically driven by wheeled components or tracked components. Compared with tracked components, wheeled components are lighter and simpler in structure, such as a multifunctional fire-fighting robot suitable for high altitudes and its operating method with application number 202110039877.1. However, the wheeled chassis is not as good as the tracked chassis in terms of the ability to overcome obstacles and complex terrain. Fire-fighting robots need to carry heavy-loaded fire cannons and drag multiple water hoses forward. Even during the fire-fighting process, they need to dynamically adjust the position of water hoses and fire cannons according to the intensity or spread of the fire. Current technology faces the following two problems in the above-mentioned operation scenarios:

[0004] 1. In fire-prone places such as mines, chemical plants, residential buildings and warehouses, there are many items stored and the space is small, which hinders the robot from entering the scene to extinguish the fire. The crawler mobile chassis relies on differential steering, such as a building fire-fighting robot disclosed in application number 201811385032.2. In this type of method, the turning radius of the mobile chassis is large and the crawler track is severely worn. When turning, the function of the crawler drive motor on one side needs to be reduced to achieve the speed reduction effect. Especially when dragging a fire hose filled with water at the fire scene, it is very easy to cause the problem of insufficient steering power, which limits the scope of fire fighting application.

[0005] 2. The power drive of the existing crawler mobile chassis is generally driven by the power motors on the left and right sides respectively. To achieve the steering function similar to wheeled omnidirectional or Ackerman flexible steering, an additional driving mechanism needs to be added, such as the electric drive system and deviation correction method for controlling the walking of an eight-track walking mechanism disclosed in application number 202410875925.4. The power and steering motors in this type of driving and steering method act independently, and when traveling straight, they are driven forward and backward closely by the power motor, and the steering motor does not provide any power for straight travel.

[0006] In addition, when it is necessary to increase the operating load or improve the fire-fighting capability, it is usually necessary to increase its own weight or expand the number of track systems to increase friction, which will further increase the length of the chassis body and greatly hinder flexible turning operations in narrow working spaces.

[0007] Therefore, it is necessary to study a fire-fighting robot chassis with flexible steering function, in which the power and steering motors can provide power enhancement in different straight-moving and steering motion modes, make full use of all straight-moving motor functions, and even realize the technology of completing in-situ turning and steering on a tracked mobile platform, thereby increasing the maneuverability and flexibility and high-performance load capacity of the fire-fighting robot. Summary of the invention

[0008] The purpose of the present invention is to provide an emergency fire fighting chassis which can realize multiple motion modes of a robot, has high power utilization efficiency, and has strong flexibility and applicability.

[0009] The technical solution adopted by the present invention to solve the technical problem is: an emergency fire chassis, including a vehicle body component and a plurality of chassis components symmetrically installed on both sides of the vehicle body component;

[0010] Each group of chassis components includes a shock absorbing device, a driving device and a traveling device, one end of the shock absorbing device is connected to the vehicle body component, and the other end is connected to the driving device, and the outer end of the driving device is connected to the traveling device for driving the traveling device to rotate or swing;

[0011] The driving device includes a driving body, a power source, a power distribution unit, a power reversing driving unit, a power output unit, a guiding mechanism, and a supporting mechanism. The power source is fixedly installed on the driving body, the power distribution unit and the power reversing driving unit are arranged in the driving body, the output end of the power source is connected with the power reversing driving unit through the power distribution unit, the power reversing driving unit is connected with the traveling device through the power output unit, the power reversing driving unit is used to control the rotation walking or swing steering of the traveling device, the power reversing driving unit is installed with a guiding mechanism, and the guiding mechanism is also fixedly connected with the power output unit, the guiding mechanism is used to guide, support and limit the power reversing driving unit, and assist the power reversing driving unit to control the rotation walking or swing steering of the traveling device, and multiple groups of supporting mechanisms are installed on the driving body, and the supporting mechanism is used to provide limiting support for the power reversing driving unit and the guiding mechanism.

[0012] Furthermore, the shock absorbing device includes an elastic shock absorbing element and a fixed body fixedly connected to the vehicle body assembly, the top of the elastic shock absorbing element is fixedly connected to the fixed body, the bottom of the elastic shock absorbing element is connected to a sliding body, and the sliding body is connected to the driving device.

[0013] Further, the power source includes a first power source and a second power source arranged side by side, the power distribution unit includes a first power distribution module and a second power distribution module, and the power reversing drive unit includes a first drive ring gear and a second drive ring gear that are symmetrical and horizontally arranged up and down;

[0014] The output end of the first power source is fixedly connected to the input end of the first power distribution module, the output end of the first power distribution module is meshed and connected with the first drive ring gear, and the first power source drives the first drive ring gear to rotate horizontally through the first power distribution module; the output end of the second power source is fixedly connected to the input end of the second power distribution module, the output end of the second power distribution module is meshed and connected with the second drive ring gear, and the second power source drives the second drive ring gear to rotate horizontally through the second power distribution module;

[0015] The power reversing drive unit also includes a synchronous drive shaft, which is located between the first drive ring gear and the second drive ring gear. One end of the synchronous drive shaft that rotates toward the power distribution unit is sleeved with a synchronous follower auxiliary bevel gear, and one end of the synchronous drive shaft that faces the walking device is fixedly connected with a synchronous follower main bevel gear. The synchronous follower auxiliary bevel gear and the synchronous follower main bevel gear are both meshed and connected with the first drive ring gear and the second drive ring gear. The front end of the synchronous follower main bevel gear is fixedly connected to the power output unit, and the power output unit is fixedly connected to the walking device.

[0016] The first power source and the second power source rotate in the same direction, respectively driving the first drive ring gear and the second drive ring gear to rotate in the opposite direction, thereby driving the synchronous follower main bevel gear and the synchronous drive shaft to rotate, further driving the power output unit to rotate, thereby driving the walking device to rotate and walk;

[0017] The first power source and the second power source rotate in opposite directions, respectively driving the first drive ring gear and the second drive ring gear to rotate in the same direction. During the same-direction rotation, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, and the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing in the same direction with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing in the same direction, thereby driving the walking device to swing and turn.

[0018] Further, the first power distribution module includes a first power input tooth, a first primary transmission tooth and a first final output tooth, the output end of the first power source is fixedly connected to one end of the first power input tooth, the other end of the first power input tooth is meshedly connected to the lower end of the first primary transmission tooth, the upper end of the first primary transmission tooth is meshedly connected to the first final output tooth, and the first final output tooth is meshedly connected to the first drive ring tooth;

[0019] The second power distribution module includes a second power input tooth, a second primary transmission tooth and a second final-stage output tooth. The output end of the second power source is fixedly connected to one end of the second power input tooth, the other end of the second power input tooth is meshedly connected to the upper end of the second primary transmission tooth, the lower end of the second primary transmission tooth is meshedly connected to the second final-stage output tooth, and the second final-stage output tooth is meshedly connected to the second drive ring tooth.

[0020] Furthermore, the power reversing drive unit also includes an annular first drive flange and a second drive flange, the first drive flange is located at the top of the first drive ring tooth, and the second drive flange is located at the bottom of the second drive ring tooth, and two groups of synchronous reversing bridges are symmetrically arranged inside the first drive ring tooth and the second drive ring tooth, the synchronous reversing bridge is longitudinally arranged, and the center of the synchronous reversing bridge is provided with a through hole for the synchronous drive shaft to pass through, the top and bottom of the synchronous reversing bridge are respectively fixedly installed on the inner walls of the first drive flange and the second drive flange, and a limiting bearing group is installed on the synchronous reversing bridge, and the limiting bearing group is in rotational contact with the inner walls of the first drive ring tooth and the second drive ring tooth, and the first drive flange, the second drive flange and the synchronous reversing bridge are used to longitudinally and horizontally support and limit the first drive ring tooth and the second drive ring tooth.

[0021] Further, the power output unit comprises a compound power output shaft and a compound power output flange, the compound power output shaft is fixedly connected to the front end of the synchronous follower main bevel gear, the center of the compound power output flange is fixedly sleeved on the outer wall of the compound power output shaft, and the rotation of the synchronous follower main bevel gear drives the compound power output shaft and the compound power output flange to rotate;

[0022] The guide mechanism includes a guide fixing seat, a guide flange and a guide support module. The guide fixing seat is fixedly connected to the walking device, the guide flange is installed in the guide fixing seat, and a first guide bearing is installed between the guide flange and the guide fixing seat. The front end face of the guide flange is fixedly connected to the compound power output flange, and the rotation of the compound power output flange drives the guide flange to rotate. The inner wall of the guide flange is installed with a second guide bearing. The guide support module is longitudinally installed at the center of the first drive ring gear and the second drive ring gear. The top and bottom of the guide support module are both installed with guide support wheel groups, the guide support wheel groups are connected to the inner wall of the second guide bearing, and the guide support wheel groups are used to support and limit the guide flange.

[0023] Furthermore, a through hole is provided at the center of the guide support module for the synchronous drive shaft to pass through, and a synchronous flange is installed at the through hole of the guide support module. The synchronous flange is sleeved on the synchronous drive shaft and fixedly connected to the synchronous drive shaft. A guide center bearing is installed between the synchronous flange and the guide support module, and the rotation of the synchronous drive shaft drives the synchronous flange to rotate; power reversing guide wheels are symmetrically installed on both sides of the guide support module, and the power reversing guide wheels are in sliding contact with the inner walls of the first drive ring gear and the second drive ring gear respectively, and are used to provide limited support for the first drive ring gear and the second drive ring gear.

[0024] Furthermore, the driving body includes a main frame and a sub-frame that are relatively arranged, the main frame is fixedly installed on the vehicle body assembly, the rear end of the main frame is fixedly connected to the power source, and the rear end of the main frame is provided with a mounting hole for connecting the power source and the power distribution unit, the power distribution unit is installed in the main frame, the power reversing drive unit is installed between the main frame and the sub-frame, the front end of the main frame is provided with a first slot for rotationally connecting the power distribution unit and the power reversing drive unit, the front end of the sub-frame is provided with a second slot for the power reversing drive unit to drive the power output unit to turn, and connecting ribs are respectively provided at both ends of the second slot.

[0025] Furthermore, the support mechanism is provided with four groups, which are disposed on the upper and lower sides of the power reversing drive unit. Each group of the support mechanism includes a support seat, a support beam and a fixed support. One end of the support beam is fixedly connected to the main frame through the support seat, and the other end of the support beam is fixedly connected to the sub-frame through the fixed support.

[0026] Furthermore, the walking device at least includes a fixed frame, a transmission module installed on the fixed frame, and a wheel train connected to the transmission module, the wheel train is installed on the fixed frame, the input end of the transmission module is fixedly connected to the power output unit, and the outer periphery of the wheel train is covered with a track; when the power output unit rotates, the wheel train is driven to rotate through the transmission module, and then the track is driven to rotate to realize the forward or backward movement of the walking device; when the power output unit swings, the walking device is driven to swing and turn synchronously through the fixed transmission module.

[0027] Furthermore, the wheel system includes a track bearing wheel, a track driving wheel and a transmission bearing wheel, the track is covered on the outer circumference of the track bearing wheel, the track driving wheel and the transmission bearing wheel, and the track driving wheel is meshed with the track, the transmission module includes a power input shaft, a power driving wheel and a power driven wheel, the input end of the power input shaft is connected to the composite power output shaft of the power output unit, the output end of the power input shaft is fixedly connected to the transmission bearing wheel, the transmission bearing wheel is fixedly connected to the power driving wheel, the power driving wheel is synchronously connected to the power driven wheel through a transmission kit, the transmission kit can be a synchronous belt or chain, etc., the power driven wheel is fixedly connected to the track driving wheel, the power output unit drives the power input shaft to rotate, and then drives the transmission bearing wheel and the power driving wheel to rotate, drives the power driven wheel and the track driving wheel to rotate synchronously through the transmission kit, and then drives the track to roll through the meshing action of the track driving wheel and the track, and the track bearing wheel and the transmission bearing wheel play a follow-up supporting role for the track.

[0028] Another object of the present invention is to provide a robot, including the above-mentioned emergency fire chassis, the body component of the emergency fire chassis is equipped with a fire extinguishing component, a sensor component and a communication component, and the body component is equipped with a control component and an energy power component; the fire extinguishing component, the sensor component, the communication component and the energy power component are all connected to the control component; the fire extinguishing component is used by the robot to extinguish the fire source; the sensor component is used to identify obstacles around the robot and enable the robot to avoid obstacles; the communication component is used to enable the robot to receive instructions and send collected parameters; the control component is used to realize information fusion, instruction parsing and encoding, motion control and operation of the robot; the energy power component is used to provide energy for the robot's movement and operation.

[0029] The fire-fighting operation method of the robot comprises the following steps:

[0030] (1) Robot movement steps:

[0031] a. The first power source rotates forward, driving the fixed first power input tooth to rotate forward. The lower end of the first primary transmission tooth is meshed and connected with the first power input tooth, and the upper end is meshed and connected with the first final output tooth. The first power input tooth drives the first primary transmission tooth to rotate forward, and then drives the first final output tooth to rotate reversely. The meshing connection of the first final output tooth drives the first drive ring tooth to rotate forward.

[0032] b. The second power source rotates forward, driving the fixed second power input tooth to rotate forward. The upper end of the second primary transmission tooth is meshed and connected with the second power input tooth, and the lower end is meshed and connected with the second final output tooth. The second power input tooth drives the second primary transmission tooth to rotate reversely, thereby driving the second final output tooth to rotate forward. The meshing connection of the second final output tooth drives the second drive ring tooth to rotate reversely.

[0033] c. The first drive ring gear rotates forward, and the second drive ring gear rotates reversely, driving the synchronous follower main bevel gear meshing with the first drive ring gear and the second drive ring gear to rotate forward in its original position, and the synchronous follower sub-bevel gear rotates reversely in its original position, and the synchronous follower main bevel gear drives the synchronous drive shaft to rotate forward in the synchronous follower sub-bevel gear. At the same time, the synchronous follower main bevel gear drives the compound power output shaft to rotate forward, and then drives the gear train to rotate forward through the transmission module, so that the walking device can move forward;

[0034] d. The first power source and the second power source of each chassis assembly rotate forward at the same time, and each walking device moves forward synchronously, driving the robot as a whole to move forward;

[0035] e. Similarly, the first power source reverses and drives the first drive ring gear to reverse, and the second power source reverses and drives the second drive ring gear to rotate forward, driving the synchronous follower main bevel gear meshing with the first drive ring gear and the second drive ring gear to reverse itself in situ, and the synchronous follower sub-bevel gear follows itself to rotate forward in situ, and the synchronous follower main bevel gear drives the synchronous drive shaft to reverse in the synchronous follower sub-bevel gear. At the same time, the synchronous follower main bevel gear drives the composite power output shaft to reverse, and then drives the gear train to reverse through the transmission module, so that the walking device can walk backward; the first power source and the second power source of each group of chassis components reverse at the same time, and each group of walking devices walks backward synchronously, driving the robot as a whole to walk backward;

[0036] (2) Robot turning steps:

[0037] a. The first power source rotates forward, driving the fixed first power input tooth to rotate forward. The lower end of the first primary transmission tooth is meshed and connected with the first power input tooth, and the upper end is meshed and connected with the first final output tooth. The first power input tooth drives the first primary transmission tooth to rotate forward, and then drives the first final output tooth to rotate reversely. The meshing connection of the first final output tooth drives the first drive ring tooth to rotate forward.

[0038] b. The second power source rotates in reverse, driving the fixed second power input tooth to rotate in reverse. The upper end of the second primary transmission tooth is meshed and connected with the second power input tooth, and the lower end is meshed and connected with the second final output tooth. The second power input tooth drives the second primary transmission tooth to rotate forward, and then drives the second final output tooth to rotate in reverse. The meshing connection of the second final output tooth drives the second drive ring tooth to rotate forward.

[0039] c. The first drive ring gear rotates forward, the second drive ring gear rotates forward, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing forward along with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing forward, thereby driving the walking device to swing and turn forward;

[0040] d. Similarly, the first power source reverses to drive the first drive ring gear to reverse, and the second power source rotates forward to drive the second drive ring gear to reverse, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, and the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing in the opposite direction with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing forward and reverse, thereby driving the walking device to swing and turn in the opposite direction;

[0041] e. By individually controlling the forward or reverse swing steering of the walking device of each chassis assembly, a variety of motion modes of the robot can be realized, including but not limited to: a mode in which the front walking device moves in parallel and the rear walking device turns in an oblique direction, a mode in which the rear walking device moves in parallel and the front walking device turns in an oblique direction, an oblique translation mode, an oblique diagonal arrangement spinning or self-locking mode, and an Ackerman steering mode;

[0042] (3) Fire extinguishing steps:

[0043] According to the on-site environment, the robot is controlled to adopt the appropriate motion mode to reach the working position. During the operation, the sensor component identifies the obstacles around the robot in real time and feeds back the collected information to the control component. The communication component receives instructions and sends the collected parameters in real time. The control component integrates the robot information, parses and encodes instructions, controls motion and operates, and controls the fire extinguishing component to perform jet fire extinguishing operations on the fire source.

[0044] The present invention has the following beneficial effects:

[0045] The emergency firefighting chassis of the present invention can realize the rotational walking and swinging steering of the walking device through the cooperation of the driving device and the walking device of the chassis assembly. By individually controlling the forward or reverse swinging steering of the walking device of each group of chassis assemblies, a variety of robot motion modes can be realized. The robot motion mode can be flexibly adjusted according to the usage scenario, thereby improving the power driving power of the robot and the flexibility and applicability of the operation.

[0046] The emergency fire fighting chassis of the present invention adopts two sets of power sources to respectively control the forward rotation and reverse rotation of the first drive ring gear and the second drive ring gear. Through the different forward and reverse rotation combinations of the two sets of power sources, the walking direction and the swing steering direction of the walking device can be adjusted. The two sets of power sources can work simultaneously to realize power forward and backward drive without idle actuators, thereby improving the power utilization efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the robot of the present invention.

[0048] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the robot of the present invention in which four groups of walking devices are arranged diagonally.

[0049] Figure 3 yes Figure 2 A magnified view of the local structure at point A.

[0050] Figure 4 It is a three-dimensional structural schematic diagram of the chassis assembly of the present invention after the shock absorbing device is removed.

[0051] Figure 5It is a three-dimensional structural schematic diagram of the driving device and the walking device of the present invention after the crawler tracks and the guard plates are removed.

[0052] Figure 6 It is a front view of the driving device and the traveling device of the present invention after removing the crawler track and the guard plate.

[0053] Figure 7 yes Figure 6 Middle BB section view.

[0054] Figure 8 It is a left side view of the driving device and the traveling device of the present invention after removing the crawler track and the guard plate.

[0055] Fig. 9 yes Figure 8 Middle CC section view.

[0056] Fig.10 It is a front view of the power input shaft and the power driving wheel of the present invention.

[0057] Fig.11 It is a left side view of the power input shaft and the power driving wheel of the present invention.

[0058] Fig.12 yes Fig.11 Middle DD section view.

[0059] Fig.13 It is a three-dimensional structural schematic diagram of the driving device of the present invention.

[0060] Fig.14 It is a three-dimensional structural schematic diagram of the driving device of the present invention after removing the power source and part of the guide mechanism.

[0061] Fig.15 It is a front view of the driving device of the present invention after removing the power source and part of the guide mechanism.

[0062] Fig.16 yes Fig.15 EE section view.

[0063] Fig.17 It is a front view of the robot of the present invention.

[0064] Fig.18 It is a left view of the robot of the present invention.

[0065] Fig.19 It is a top view of the internal structure of a battery in which the energy power component of the robot of the present invention is a battery.

[0066] Fig. 20 It is a top view of the internal structure of the robot energy power component of the present invention, which is a fuel engine and a hydraulic pump station.

[0067] Fig.21It is a top view of the parallel structure of the four groups of walking devices of the robot of the present invention.

[0068] Fig. 22 It is a top view of the structure in which the rear walking device of the robot of the present invention is parallel and the front walking device is diagonally turned.

[0069] Fig.23 It is a top view of the structure of the four groups of walking devices of the robot of the present invention that move obliquely and horizontally.

[0070] Fig.24 It is a top view of the structure in which four groups of walking devices of the robot of the present invention are arranged diagonally to spin or self-lock.

[0071] Fig.25 It is a structural top view of the Ackerman steering mode of the robot forward and backward walking device of the present invention.

[0072] Fig.26 It is a schematic diagram of the overall three-dimensional structure of the six groups of walking devices of the robot of the present invention.

[0073] In the figure, 1000, body assembly, 2000, chassis assembly, 3000, fire extinguishing assembly, 4000, sensor assembly, 5000, communication assembly, 6000, control assembly, 7000, energy and power assembly;

[0074] 2100, shock absorbing device, 2200, driving device, 2300, walking device;

[0075] 2110, fixed body, 2120, elastic shock absorbing element, 2130, sliding sub-body;

[0076] 2210, driving body, 2220, power source, 2230, power distribution unit, 2240, power reversing driving unit, 2250, power output unit, 2260, guiding mechanism, 2270, supporting mechanism;

[0077] 2211, main frame, 2212, sub-frame, 2213, mounting hole, 2214, first notch, 2215, second notch, 2216, connecting rib;

[0078] 2221, first power source, 2222, second power source;

[0079] 2231, a first power distribution module, 2232, a second power distribution module, 2233, a first power input tooth, 2234, a first primary transmission tooth, 2235, a first final output tooth, 2236, a second power input tooth, 2237, a second primary transmission tooth, 2238, a second final output tooth;

[0080] 2241, a first driving flange, 2242, a second driving flange, 2243, a first driving ring gear, 2244, a second driving ring gear, 2245, a synchronous driving shaft, 2246, a synchronous follower main bevel gear, 2247, a synchronous follower secondary bevel gear, 2248, a limit bearing group, 2249, a synchronous reversing bridge;

[0081] 2251, compound power output shaft, 2252, compound power output flange;

[0082] 2261. guide fixing seat, 2262. guide flange, 2263. first guide bearing, 2264. second guide bearing, 2265. upper guide support module, 2266. lower guide support module, 2267. synchronous flange, 2268. guide support wheel set, 2269. power reversing guide wheel, 22610. guide center bearing, 22611. side plate;

[0083] 2271, support seat, 2272, support beam, 2273, fixed support;

[0084] 2310, wheel train, 2320, fixed frame, 2330, transmission module, 2340, crawler track, 2350, guard plate, 2360, crawler track tensioning module;

[0085] 2311, crawler load-bearing wheel, 2312, crawler driving wheel, 2313, transmission load-bearing wheel;

[0086] 2331, power input shaft, 2332, power driving wheel, 2333, transmission kit, 2334, power driven wheel;

[0087] 3100, fire monitor, 3200, pipe fittings, 3300, connection device;

[0088] 4100, infrared sensor module, 4200, visual sensor module, 4300, obstacle avoidance and ranging sensor module;

[0089] 5100, communication antenna, 5200, communication module. DETAILED DESCRIPTION

[0090] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0091] like Figure 1 , Figure 2 As shown, the emergency fire chassis includes a vehicle body assembly 1000 and a plurality of chassis assemblies 2000 symmetrically mounted on both sides of the vehicle body assembly 1000;

[0092] Each group of chassis components 2000 includes a shock absorbing device 2100, a driving device 2200 and a traveling device 2300. One end of the shock absorbing device 2100 is connected to the vehicle body component 1000, and the other end is connected to the driving device 2200. The outer end of the driving device 2200 is connected to the traveling device 2300 for driving the traveling device 2300 to rotate, walk or swing and turn.

[0093] like Fig.13 As shown, the driving device 2200 includes a driving body 2210, a power source 2220, a power distribution unit 2230, a power reversing driving unit 2240, a power output unit 2250, a guide mechanism 2260, and a supporting mechanism 2270. The power source 2220 is fixedly mounted on the driving body 2210, the power distribution unit 2230 and the power reversing driving unit 2240 are arranged in the driving body 2210, the output end of the power source 2220 is connected to the power reversing driving unit 2240 through the power distribution unit 2230, and the power reversing driving unit 2240 is connected to the walking device 2300 through the power output unit 2250. Next, the power reversing drive unit 2240 is used to control the rotation, walking or swinging steering of the walking device 2300. A guide mechanism 2260 is installed on the power reversing drive unit 2240. The guide mechanism 2260 is also fixedly connected to the power output unit 2250. The guide mechanism 2260 is used to guide, support and limit the power reversing drive unit 2240, and assist the power reversing drive unit 2240 in controlling the rotation, walking or swinging steering of the walking device 2300. A plurality of support mechanisms 2270 are installed on the driving body 2210. The support mechanism 2270 is used to provide limiting support for the power reversing drive unit 2240 and the guide mechanism 2260.

[0094] like Figure 3 As shown, the shock absorbing device 2100 includes an elastic shock absorbing element 2120 and a fixed main body 2110 fixedly connected to the vehicle body assembly 1000, the top of the elastic shock absorbing element 2120 is fixedly connected to the fixed main body 2110, the bottom of the elastic shock absorbing element 2120 is connected to a sliding sub-body 2130, and the sliding sub-body 2130 is connected to the driving device 2200.

[0095] like Figure 13-Figure 16As shown, the power source 2220 includes a first power source 2221 and a second power source 2222 arranged side by side, the power distribution unit 2230 includes a first power distribution module 2231 and a second power distribution module 2232, and the power reversing drive unit 2240 includes a first drive ring gear 2243 and a second drive ring gear 2244 which are symmetrical and horizontally arranged up and down; the output end of the first power source 2221 is fixedly connected to the input end of the first power distribution module 2231, the output end of the first power distribution module 2231 is meshedly connected to the first drive ring gear 2243, and the first power source 2221 drives the first drive ring gear 2243 to rotate horizontally through the first power distribution module 2231; the output end of the second power source 2222 is fixedly connected to the input end of the second power distribution module 2232, the output end of the second power distribution module 2232 is meshedly connected to the second drive ring gear 2244, and the second power source 2222 drives the second drive ring gear 2244 to rotate horizontally through the second power distribution module 2232.

[0096] The power reversing drive unit 2240 also includes a synchronous drive shaft 2245, which is located between the first drive ring gear 2243 and the second drive ring gear 2244. The synchronous drive shaft 2245 is rotated toward one end of the power distribution unit 2230 and is sleeved with a synchronous follower auxiliary bevel gear 2247. The synchronous follower auxiliary bevel gear 2247 is not fixedly connected to the synchronous drive shaft 2245. The synchronous follower auxiliary bevel gear 2247 is only used to support the end of the synchronous drive shaft 2245. When the synchronous drive shaft 2245 rotates, the synchronous follower auxiliary bevel gear 2247 is rotated. 7 does not rotate with it, and when the synchronous drive shaft 2245 swings, the synchronous follower auxiliary bevel gear 2247 swings synchronously with it, and the end of the synchronous drive shaft 2245 facing the walking device 2300 is fixedly connected with the synchronous follower main bevel gear 2246, and the synchronous follower auxiliary bevel gear 2247 and the synchronous follower main bevel gear 2246 are both meshed and connected with the first drive ring gear 2243 and the second drive ring gear 2244, and the front end of the synchronous follower main bevel gear 2246 is fixedly connected to the power output unit 2250, and the power output unit 2250 is fixedly connected to the walking device 2300.

[0097] The first power source 2221 and the second power source 2222 rotate in the same direction, respectively driving the first drive ring gear 2243 and the second drive ring gear 2244 to rotate in the opposite direction, thereby driving the synchronous follower main bevel gear 2246 and the synchronous drive shaft 2245 to rotate, further driving the power output unit 2250 to rotate, thereby driving the walking device 2300 to rotate and walk.

[0098] The first power source 2221 and the second power source 2222 rotate in opposite directions, respectively driving the first drive ring gear 2243 and the second drive ring gear 2244 to rotate in the same direction. During the same-direction rotation, the synchronous follower main bevel gear 2246 and the synchronous follower secondary bevel gear 2247 are clamped and fixed, and the synchronous follower main bevel gear 2246, the synchronous follower secondary bevel gear 2247 and the synchronous drive shaft 2245 swing in the same direction with the first drive ring gear 2243 and the second drive ring gear 2244, thereby driving the power output unit 2250 fixedly connected to the synchronous follower main bevel gear 2246 to swing in the same direction, thereby driving the walking device 2300 to swing and turn.

[0099] The first power distribution module 2231 includes a first power input tooth 2233, a first primary transmission tooth 2234 and a first final-stage output tooth 2235. The output end of the first power source 2221 is fixedly connected to one end of the first power input tooth 2233, the other end of the first power input tooth 2233 is meshedly connected to the lower end of the first primary transmission tooth 2234, the upper end of the first primary transmission tooth 2234 is meshedly connected to the first final-stage output tooth 2235, and the first final-stage output tooth 2235 is meshedly connected to the first drive ring tooth 2243.

[0100] The second power distribution module 2232 includes a second power input tooth 2236, a second primary transmission tooth 2237 and a second final-stage output tooth 2238. The output end of the second power source 2222 is fixedly connected to one end of the second power input tooth 2236, the other end of the second power input tooth 2236 is meshedly connected to the upper end of the second primary transmission tooth 2237, the lower end of the second primary transmission tooth 2237 is meshedly connected to the second final-stage output tooth 2238, and the second final-stage output tooth 2238 is meshedly connected to the second drive ring tooth 2244.

[0101] The first drive ring tooth 2243 and the second drive ring tooth 2244 are both distributed with teeth on their peripheries, and the teeth on their peripheries are used to mesh with the first final-stage output tooth 2235 and the second final-stage output tooth 2238, respectively; the lower end surface of the first drive ring tooth 2243 and the upper end surface of the second drive ring tooth 2244 are respectively distributed with teeth, and the teeth on the lower end surface of the first drive ring tooth 2243 and the upper end surface of the second drive ring tooth 2244 are used to mesh with the synchronous follower main bevel tooth 2246 and the synchronous follower secondary bevel tooth 2247.

[0102] like Fig.14As shown, the power reversing drive unit 2240 also includes a first annular driving flange 2241 and a second driving flange 2242, the first driving flange 2241 is located at the top of the first driving ring gear 2243, and the second driving flange 2242 is located at the bottom of the second driving ring gear 2244, and two groups of synchronous reversing bridges 2249 are symmetrically arranged inside the first driving ring gear 2243 and the second driving ring gear 2244. The synchronous reversing bridge 2249 is longitudinally arranged, and the center of the synchronous reversing bridge 2249 is provided with a through hole for the synchronous driving shaft 2245 to pass through, and a bearing is installed between the synchronous driving shaft 2245 and the synchronous reversing bridge 2249. , which is used to realize the pivoting of the synchronous drive shaft 2245 relative to the synchronous reversing bridge 2249. The top and bottom of the synchronous reversing bridge 2249 are respectively fixedly mounted on the inner walls of the first drive flange 2241 and the second drive flange 2242. A limiting bearing group 2248 is installed on the synchronous reversing bridge 2249. The limiting bearing group 2248 is in rotational contact with the inner walls of the first drive ring gear 2243 and the second drive ring gear 2244. The first drive flange 2241, the second drive flange 2242 and the synchronous reversing bridge 2249 are used to support and limit the first drive ring gear 2243 and the second drive ring gear 2244 in the longitudinal and horizontal directions.

[0103] like Fig.13 As shown, the power output unit 2250 includes a compound power output shaft 2251 and a compound power output flange 2252. The compound power output shaft 2251 is fixedly connected to the front end of the synchronous follower main bevel gear 2246. The center of the compound power output flange 2252 is fixedly sleeved on the outer wall of the compound power output shaft 2251. The rotation of the synchronous follower main bevel gear 2246 drives the compound power output shaft 2251 and the compound power output flange 2252 to rotate.

[0104] like Figure 5-7 As shown, the guide mechanism 2260 includes a guide fixing seat 2261, a guide flange 2262 and a guide support module. The guide fixing seat 2261 is fixedly connected to the walking device 2300, the guide flange 2262 is installed in the guide fixing seat 2261, and a first guide bearing 2263 is installed between the guide flange 2262 and the guide fixing seat 2261. The front end surface of the guide flange 2262 is fixedly connected to the compound power output flange 2252, and the rotation of the compound power output flange 2252 drives the guide flange 2262 to rotate. The inner wall of the guide flange 2262 is installed with a second guide bearing 2264. The guide support module is longitudinally installed at the center of the first drive ring gear 2243 and the second drive ring gear 2244. The top and bottom of the guide support module are installed with guide support wheel groups 2268. The guide support wheel group 2268 is connected to the inner wall of the second guide bearing 2264, and the guide support wheel group 2268 is used to support and limit the guide flange 2262.

[0105] The center line of the guide support wheel group 2268 at the top and bottom of the guide support module coincides with the center line of the first drive ring gear 2243 and the second drive ring gear 2244, and the center line of the guide support wheel group 2268 at the top and bottom of the guide support module passes through the center of the longitudinal section of the guide flange 2262 to ensure that the first drive ring gear 2243 and the second drive ring gear 2244 can drive the walking device 2300 to swing and turn around the center line of the first drive ring gear 2243 and the second drive ring gear 2244.

[0106] A through hole is provided at the center of the guide support module for the synchronous drive shaft 2245 to pass through, and a synchronous flange 2267 is installed at the through hole of the guide support module. The synchronous flange 2267 is sleeved on the synchronous drive shaft 2245 and fixedly connected to the synchronous drive shaft 2245. A guide center bearing 22610 is installed between the synchronous flange 2267 and the guide support module, and the rotation of the synchronous drive shaft 2245 drives the synchronous flange 2267 to rotate; power reversing guide wheels 2269 are symmetrically installed on both sides of the guide support module, and the power reversing guide wheels 2269 are respectively in sliding contact with the inner walls of the first drive ring gear 2243 and the second drive ring gear 2244, so as to provide limited support for the first drive ring gear 2243 and the second drive ring gear 2244.

[0107] In another embodiment of the present invention, side panels 22611 are respectively installed at the upper and lower ends of the guide support module, and the guide support wheel group 2268 is connected to the guide support module through the side panels 22611; for ease of installation, the guide support module includes an upper guide support module 2265 and a lower guide support module 2266 that are symmetrically arranged.

[0108] like Fig.14As shown, the driving body 2210 includes a main frame 2211 and a sub-frame 2212 that are relatively arranged. The main frame 2211 is fixedly installed on the vehicle body assembly 1000. The rear end of the main frame 2211 is fixedly connected to the power source 2220, and the rear end of the main frame 2211 is provided with a mounting hole 2213 for connecting the power source 2220 and the power distribution unit 2230. The power distribution unit 2230 is installed in the main frame 2211, and the power reversing drive unit 2240 is installed between the main frame 2211 and the sub-frame 2212. The front end of the main frame 2211 is provided with a first slot 2214 for rotatably connecting the power distribution unit 2230 and the power reversing drive unit 2240, and the front end of the sub-frame 2212 is provided with a second slot 2215 for the power reversing drive unit 2240 to drive the power output unit 2250 to turn, and connecting ribs 2216 are respectively provided at both ends of the second slot 2215. In addition, the main frame 2211 and the sub-frame 2212 are provided with a limit bearing group on the end face facing the power reversing drive unit 2240. The limit bearing group is in sliding contact with the outer walls of the first drive flange 2241 and the second drive flange 2242, and is used for horizontal and vertical support limitation when the first drive flange 2241 and the second drive flange 2242 rotate.

[0109] like Fig.13 , Fig.14 As shown, the support mechanism 2270 is provided with four groups, which are disposed on the upper and lower sides of the power reversing drive unit 2240. Each group of the support mechanism 2270 includes a support seat 2271, a support beam 2272 and a fixed support 2273. One end of the support beam 2272 is fixedly connected to the main frame 2211 through the support seat 2271, and the other end of the support beam 2272 is fixedly connected to the sub-frame 2212 through the fixed support 2273.

[0110] like Figure 4 As shown, the walking device 2300 at least includes a fixed frame 2320, a transmission module 2330 installed on the fixed frame 2320, and a wheel train 2310 connected to the transmission module 2330. The fixed frame 2320 is fixedly connected to the guide fixing seat 2261, the wheel train 2310 is installed on the fixed frame 2320, the input end of the transmission module 2330 is fixedly connected to the power output unit 2250, and the periphery of the wheel train 2310 is covered with a track 2340; when the power output unit 2250 rotates, the wheel train 2310 is driven to rotate through the transmission module 2330, and then the track 2340 is driven to rotate to realize the forward or backward movement of the walking device 2300; when the power output unit 2250 swings, the walking device 2300 is driven to swing and turn synchronously through the fixed transmission module 2330.

[0111] In another embodiment of the present invention, a guard plate 2350 is provided above the crawler 2340 . The guard plate 2350 is fixedly installed on the outer side of the fixed frame 2320 . The guard plate 2350 is used to protect the transmission module 2330 and the crawler 2340 .

[0112] In another embodiment of the present invention, in order to improve the rotation efficiency of the track and avoid track slippage during the movement of the emergency fire fighting chassis, a track tensioning module 2360 is installed on the fixed frame 2320. The track tensioning module 2360 is used to realize the tensioning function of the track 2340 to ensure the movement safety of the emergency fire fighting chassis in harsh environments.

[0113] like Figure 5-12 As shown, the wheel train 2310 includes a track bearing wheel 2311, a track driving wheel 2312 and a transmission bearing wheel 2313, the track 2340 is covered on the outer periphery of the track bearing wheel 2311, the track driving wheel 2312 and the transmission bearing wheel 2313, and the track driving wheel 2312 is meshed and connected with the track 2340, and the transmission module 2330 includes a power input shaft 2331, a power driving wheel 2332 and a power driven wheel 2334, the input end of the power input shaft 2331 is connected to the composite power output shaft 2251 of the power output unit 2250, the output end of the power input shaft 2331 is fixedly connected to the transmission bearing wheel 2313, and the transmission bearing wheel 2313 is connected to the power driving wheel 233 The power driving wheel 2332 is synchronously connected with the power driven wheel 2334 through the transmission kit 2333. The transmission kit 2333 can be a synchronous belt or a chain, etc. The power driven wheel 2334 is fixedly connected with the track driving wheel 2312. The power output unit 2250 drives the power input shaft 2331 to rotate, thereby driving the transmission bearing wheel 2313 and the power driving wheel 2332 to rotate. The power driven wheel 2334 and the track driving wheel 2312 are driven to rotate synchronously through the transmission kit 2333, and then the track is driven to roll through the meshing action of the track driving wheel 2312 and the track 2340. The track bearing wheel 2311 and the transmission bearing wheel 2313 play a follow-up supporting role for the track 2340.

[0114] In another embodiment of the present invention, the wheel train 2310 includes a track bearing wheel 2311 and a track driving wheel 2312, the track 2340 is covered on the outer circumference of the track bearing wheel 2311 and the track driving wheel 2312, and the track driving wheel 2312 is meshed and connected with the track 2340, the transmission module 2330 includes a power input shaft 2331, the input end of the power input shaft 2331 is connected to the compound power output shaft 2251 of the power output unit 2250 of the drive device 2200, the output end of the power input shaft 2331 is fixedly connected to the track driving wheel 2312, the power output unit 2250 drives the power input shaft 2331 to rotate, and then drives the track driving wheel 2312 to rotate, the meshing action of the track driving wheel 2312 and the track 2340 drives the track to roll, and the track bearing wheel 2311 plays a follow-up support role for the track 2340.

[0115] A robot, such as Figure 1 As shown, it includes the above-mentioned emergency fire chassis, and the body component 1000 of the emergency fire chassis is equipped with a fire extinguishing component 3000, a sensor component 4000 and a communication component 5000, and the body component 1000 is equipped with a control component 6000 and an energy and power component 7000; the fire extinguishing component 3000, the sensor component 4000, the communication component 5000 and the energy and power component 7000 are all connected to the control component 6000; the fire extinguishing component 3000 is used for the robot to extinguish the fire source; the sensor component 4000 is used to identify obstacles around the robot and realize the robot's obstacle avoidance; the communication component 5000 is used to realize the robot to receive instructions and send collected parameters; the control component 6000 is used to realize information fusion, instruction parsing and encoding, motion control and operation of the robot; the energy and power component 7000 is used to provide energy for the robot's movement and operation.

[0116] like Figure 15-18 As shown, the fire extinguishing assembly 3000 includes a fire monitor 3100 installed at the front end of the vehicle body assembly 1000. The fire monitor 3100 is connected to a connecting device 3300 installed at the rear end of the vehicle body assembly 1000 through a pipe 3200 installed in the vehicle body assembly 1000. The connecting device 3300 is used to connect a fire hose.

[0117] The sensor assembly 4000 includes an infrared sensor module 4100, a visual sensor module 4200 and an obstacle avoidance and ranging sensor module 4300 installed on the vehicle body assembly 1000. The infrared sensor module 4100, the visual sensor module 4200 and the obstacle avoidance and ranging sensor module 4300 can be installed in multiple groups as needed and installed at different positions of the vehicle body assembly 1000 respectively.

[0118] The communication component 5000 includes a communication antenna 5100 and a communication module 5200 mounted on the vehicle body component 1000 .

[0119] The energy power assembly 7000 may be a battery (such as Fig.19 As shown), it can also be fuel engine direct drive or fuel engine + pump station mode (as shown Fig. 20 shown).

[0120] Conventional robots usually include four sets of chassis components 2000, which are symmetrically arranged on both sides of the vehicle body component 1000. In another embodiment of the present invention, the chassis components 2000 can be arranged in an even number of groups not limited to four as required, such as Fig.26 Shown is a robot with six sets of chassis assemblies 2000 arranged.

[0121] The fire-fighting operation method of the robot comprises the following steps:

[0122] (1) Robot movement steps:

[0123] a. The first power source 2221 rotates forward, driving the fixed first power input tooth 2233 to rotate forward. The lower end of the first primary transmission tooth 2234 is meshed and connected with the first power input tooth 2233, and the upper end is meshed and connected with the first final output tooth 2235. The first power input tooth 2233 drives the first primary transmission tooth 2234 to rotate forward, thereby driving the first final output tooth 2235 to rotate reversely. The meshing connection of the first final output tooth 2235 drives the first drive ring tooth 2243 to rotate forward.

[0124] b. The second power source 2222 rotates forward, driving the fixed second power input tooth 2236 to rotate forward. The upper end of the second primary transmission tooth 2237 is meshed and connected with the second power input tooth 2236, and the lower end is meshed and connected with the second final-stage output tooth 2238. The second power input tooth 2236 drives the second primary transmission tooth 2237 to rotate reversely, thereby driving the second final-stage output tooth 2238 to rotate forward. The meshing connection of the second final-stage output tooth 2238 drives the second drive ring tooth 2244 to rotate reversely.

[0125] c. The first drive ring gear 2243 rotates forward, and the second drive ring gear 2244 rotates reversely, driving the synchronous follower main bevel gear 2246 meshing with the first drive ring gear 2243 and the second drive ring gear 2244 to rotate forward in its original position, and the synchronous follower sub-bevel gear 2247 rotates reversely in its original position, and the synchronous follower main bevel gear 2246 drives the synchronous drive shaft 2245 to rotate forward in the synchronous follower sub-bevel gear 2247. At the same time, the synchronous follower main bevel gear 2246 drives the compound power output shaft 2251 to rotate forward, and then drives the gear train 2310 to rotate forward through the transmission module 2330, so that the walking device 2300 can move forward;

[0126] d. The first power source 2221 and the second power source 2222 of each chassis assembly 2000 rotate forward at the same time, and each walking device 2300 moves forward synchronously, driving the robot as a whole to move forward. Fig.21 As shown;

[0127] e. Similarly, the first power source 2221 reverses and drives the first drive ring gear 2243 to reverse, and the second power source 2222 reverses and drives the second drive ring gear 2244 to rotate forward, driving the synchronous follower main bevel gear 2246 meshing with the first drive ring gear 2243 and the second drive ring gear 2244 to reverse itself in situ, and the synchronous follower secondary bevel gear 2247 follows itself to rotate forward in situ, and the synchronous follower main bevel gear 2246 drives the synchronous drive shaft 2245 to reverse in the synchronous follower secondary bevel gear 2247. At the same time, the synchronous follower main bevel gear 2246 drives the compound power output shaft 2251 to reverse, and then drives the gear train 2310 to reverse through the transmission module 2330, so that the walking device 2300 can walk backward; the first power source 2221 and the second power source 2222 of each group of chassis components 2000 reverse at the same time, and each group of walking devices 2300 walks backward synchronously, driving the robot as a whole to walk backward;

[0128] (2) Robot turning steps:

[0129] a. The first power source 2221 rotates forward, driving the fixed first power input tooth 2233 to rotate forward. The lower end of the first primary transmission tooth 2234 is meshed and connected with the first power input tooth 2233, and the upper end is meshed and connected with the first final output tooth 2235. The first power input tooth 2233 drives the first primary transmission tooth 2234 to rotate forward, thereby driving the first final output tooth 2235 to rotate reversely. The meshing connection of the first final output tooth 2235 drives the first drive ring tooth 2243 to rotate forward.

[0130] b. The second power source 2222 rotates in reverse, driving the fixed second power input tooth 2236 to rotate in reverse. The upper end of the second primary transmission tooth 2237 is meshed and connected with the second power input tooth 2236, and the lower end is meshed and connected with the second final-stage output tooth 2238. The second power input tooth 2236 drives the second primary transmission tooth 2237 to rotate forward, thereby driving the second final-stage output tooth 2238 to rotate in reverse, and the meshing connection of the second final-stage output tooth 2238 drives the second driving ring tooth 2244 to rotate forward.

[0131] c. The first drive ring gear 2243 rotates forward, the second drive ring gear 2244 rotates forward, the synchronous follower main bevel gear 2246 and the synchronous follower auxiliary bevel gear 2247 are clamped and fixed, the synchronous follower main bevel gear 2246, the synchronous follower auxiliary bevel gear 2247 and the synchronous drive shaft 2245 swing forward along with the first drive ring gear 2243 and the second drive ring gear 2244, thereby driving the power output unit 2250 fixedly connected to the synchronous follower main bevel gear 2246 to swing forward, thereby driving the walking device 2300 to swing and turn forward;

[0132] d. Similarly, the first power source 2221 reverses to drive the first drive ring gear 2243 to reverse, and the second power source 2222 rotates forward to drive the second drive ring gear 2244 to reverse, the synchronous follower main bevel gear 2246 and the synchronous follower auxiliary bevel gear 2247 are clamped and fixed, and the synchronous follower main bevel gear 2246, the synchronous follower auxiliary bevel gear 2247 and the synchronous drive shaft 2245 swing in the opposite direction with the first drive ring gear 2243 and the second drive ring gear 2244, thereby driving the power output unit 2250 fixedly connected to the synchronous follower main bevel gear 2246 to swing forward and reverse, thereby driving the walking device 2300 to swing and turn in the opposite direction;

[0133] e. By individually controlling the forward or reverse swing steering of the walking device 2300 of each chassis assembly 2000, a variety of robot motion modes are realized, including but not limited to: the front walking device moves in parallel and the rear walking device turns obliquely, the rear walking device moves in parallel and the front walking device turns obliquely (such as Fig. 22 As shown), oblique translation mode (as shown Fig.23 As shown), diagonal arrangement of spin or self-locking mode (such as Fig.24 As shown), Ackerman steering mode (as shown Fig.25 shown);

[0134] (3) Fire extinguishing steps:

[0135] According to the on-site environment, the robot is controlled to adopt a suitable motion mode to reach the working position. During the operation, the sensor component 4000 identifies obstacles around the robot in real time and feeds back the collected information to the control component 6000. The communication component 5000 receives instructions and sends collected parameters in real time. The control component 6000 performs robot information integration, instruction parsing and encoding, motion control and operation, and controls the fire extinguishing component 3000 to perform jet fire extinguishing operations on the fire source.

[0136] In a possible implementation of the present invention, in order to reduce the number of robot actuators, the two symmetrical sets of chassis components 2000 on the left and right sides of the robot use the same power source 2220. Taking a robot equipped with four sets of chassis components 2000 as an example, the two sets of chassis components 2000 at the front of the robot are symmetrically arranged, and each set of chassis components 2000 shares a set of power source 2220, that is, the rotation walking and swing steering of the two symmetrically arranged walking devices 2300 are realized through a set of first power source 2221 and second power source 2222. At this time, the two sets of walking devices at the front of the robot can be controlled to move forward, move backward, and swing in the same direction synchronously as needed. Similarly, the two sets of chassis components 2000 at the rear of the robot are symmetrically arranged, and the two sets of walking devices at the rear of the robot are controlled to move forward, move backward, and swing in the same direction synchronously through a set of first power source 2221 and second power source 2222. The robot motion modes include but are not limited to: parallel movement mode, parallel movement of the front walking device and oblique steering mode of the rear walking device, parallel movement of the rear walking device and oblique steering mode of the front walking device, oblique translation mode, and Ackerman steering mode.

[0137] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the enlightenment of the present invention, and all those having the same or similar technical solutions as the present invention fall within the protection scope of the present invention.

[0138] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. Emergency fire chassis, characterized in that: It includes a vehicle body assembly and a plurality of chassis assemblies symmetrically mounted on both sides of the vehicle body assembly; Each group of chassis components includes a shock absorbing device, a driving device and a traveling device, one end of the shock absorbing device is connected to the vehicle body component, and the other end is connected to the driving device, and the outer end of the driving device is connected to the traveling device for driving the traveling device to rotate or swing; The driving device includes a driving body, a power source, a power distribution unit, a power reversing driving unit, a power output unit, a guiding mechanism, and a supporting mechanism. The power source is fixedly installed on the driving body, the power distribution unit and the power reversing driving unit are arranged in the driving body, the output end of the power source is connected with the power reversing driving unit through the power distribution unit, the power reversing driving unit is connected with the traveling device through the power output unit, the power reversing driving unit is used to control the rotation walking or swing steering of the traveling device, the power reversing driving unit is installed with a guiding mechanism, and the guiding mechanism is also fixedly connected with the power output unit, the guiding mechanism is used to guide, support and limit the power reversing driving unit, and assist the power reversing driving unit to control the rotation walking or swing steering of the traveling device, and multiple groups of supporting mechanisms are installed on the driving body, and the supporting mechanism is used to provide limiting support for the power reversing driving unit and the guiding mechanism.

2. The emergency fire chassis according to claim 1, characterized in that: The power source comprises a first power source and a second power source arranged side by side, the power distribution unit comprises a first power distribution module and a second power distribution module, and the power reversing drive unit comprises a first drive ring gear and a second drive ring gear which are symmetrical and arranged horizontally. The output end of the first power source is fixedly connected to the input end of the first power distribution module, and the output end of the first power distribution module is meshedly connected with the first drive ring gear, and the first power source drives the first drive ring gear to rotate horizontally through the first power distribution module; The output end of the second power source is fixedly connected to the input end of the second power distribution module, and the output end of the second power distribution module is meshed and connected with the second drive ring gear, and the second power source drives the second drive ring gear to rotate horizontally through the second power distribution module; The power reversing drive unit also includes a synchronous drive shaft, which is located between the first drive ring gear and the second drive ring gear. One end of the synchronous drive shaft that rotates toward the power distribution unit is sleeved with a synchronous follower auxiliary bevel gear, and one end of the synchronous drive shaft that faces the walking device is fixedly connected with a synchronous follower main bevel gear. The synchronous follower auxiliary bevel gear and the synchronous follower main bevel gear are both meshed and connected with the first drive ring gear and the second drive ring gear. The front end of the synchronous follower main bevel gear is fixedly connected to the power output unit, and the power output unit is fixedly connected to the walking device. The first power source and the second power source rotate in the same direction, respectively driving the first drive ring gear and the second drive ring gear to rotate in the opposite direction, thereby driving the synchronous follower main bevel gear and the synchronous drive shaft to rotate, further driving the power output unit to rotate, thereby driving the walking device to rotate and walk; The first power source and the second power source rotate in opposite directions, respectively driving the first drive ring gear and the second drive ring gear to rotate in the same direction. During the same-direction rotation, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, and the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing in the same direction with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing in the same direction, thereby driving the walking device to swing and turn.

3. The emergency fire fighting chassis according to claim 2, characterized in that: The first power distribution module comprises a first power input tooth, a first primary transmission tooth and a first final output tooth, the output end of the first power source is fixedly connected to one end of the first power input tooth, the other end of the first power input tooth is meshedly connected to the lower end of the first primary transmission tooth, the upper end of the first primary transmission tooth is meshedly connected to the first final output tooth, and the first final output tooth is meshedly connected to the first drive ring tooth; The second power distribution module includes a second power input tooth, a second primary transmission tooth and a second final-stage output tooth. The output end of the second power source is fixedly connected to one end of the second power input tooth, the other end of the second power input tooth is meshedly connected to the upper end of the second primary transmission tooth, the lower end of the second primary transmission tooth is meshedly connected to the second final-stage output tooth, and the second final-stage output tooth is meshedly connected to the second drive ring tooth.

4. The emergency fire fighting chassis according to claim 2, characterized in that: The power reversing drive unit also includes an annular first drive flange and a second drive flange, the first drive flange is located at the top of the first drive ring gear, and the second drive flange is located at the bottom of the second drive ring gear. Two groups of synchronous reversing bridges are symmetrically arranged inside the first drive ring gear and the second drive ring gear. The synchronous reversing bridge is longitudinally arranged, and the center of the synchronous reversing bridge is provided with a through hole for the synchronous drive shaft to pass through. The top and bottom of the synchronous reversing bridge are respectively fixedly installed on the inner walls of the first drive flange and the second drive flange, and a limiting bearing group is installed on the synchronous reversing bridge. The limiting bearing group is in rotational contact with the inner walls of the first drive ring gear and the second drive ring gear. The first drive flange, the second drive flange and the synchronous reversing bridge are used to longitudinally and horizontally support and limit the first drive ring gear and the second drive ring gear.

5. The emergency fire fighting chassis according to claim 4, characterized in that: The power output unit comprises a compound power output shaft and a compound power output flange, wherein the compound power output shaft is fixedly connected to the front end of the synchronous follower main bevel gear, and the center of the compound power output flange is fixedly sleeved on the outer wall of the compound power output shaft, and the rotation of the synchronous follower main bevel gear drives the compound power output shaft and the compound power output flange to rotate; The guide mechanism includes a guide fixing seat, a guide flange and a guide support module. The guide fixing seat is fixedly connected to the walking device, the guide flange is installed in the guide fixing seat, and a first guide bearing is installed between the guide flange and the guide fixing seat. The front end face of the guide flange is fixedly connected to the compound power output flange, and the rotation of the compound power output flange drives the guide flange to rotate. The inner wall of the guide flange is installed with a second guide bearing. The guide support module is longitudinally installed at the center of the first drive ring gear and the second drive ring gear. The top and bottom of the guide support module are both installed with guide support wheel groups, the guide support wheel groups are connected to the inner wall of the second guide bearing, and the guide support wheel groups are used to support and limit the guide flange.

6. The emergency fire fighting chassis according to claim 5, characterized in that: A through hole is provided at the center of the guide support module for the synchronous drive shaft to pass through, and a synchronous flange is installed at the through hole of the guide support module. The synchronous flange is sleeved on the synchronous drive shaft and fixedly connected to the synchronous drive shaft. A guide center bearing is installed between the synchronous flange and the guide support module, and the rotation of the synchronous drive shaft drives the synchronous flange to rotate; power reversing guide wheels are symmetrically installed on both sides of the guide support module, and the power reversing guide wheels are in sliding contact with the inner walls of the first drive ring gear and the second drive ring gear respectively, so as to provide limited support for the first drive ring gear and the second drive ring gear.

7. The emergency fire fighting chassis according to claim 1, characterized in that: The driving body comprises a main frame and a sub-frame which are arranged relatively to each other, the main frame is fixedly mounted on the vehicle body assembly, the rear end of the main frame is fixedly connected to the power source, and the rear end of the main frame is provided with a mounting hole for connecting the power source with the power distribution unit, the power distribution unit is installed in the main frame, the power reversing drive unit is installed between the main frame and the sub-frame, the front end of the main frame is provided with a first notch for rotationally connecting the power distribution unit with the power reversing drive unit, the front end of the sub-frame is provided with a second notch for the power reversing drive unit to drive the power output unit to turn, and connecting ribs are provided at both ends of the second notch; There are four groups of support mechanisms, which are placed on the upper and lower sides of the power reversing drive unit. Each group of support mechanisms includes a support seat, a support beam and a fixed support. One end of the support beam is fixedly connected to the main frame through the support seat, and the other end of the support beam is fixedly connected to the sub-frame through the fixed support.

8. The emergency fire fighting chassis according to claim 1, characterized in that: The walking device at least includes a fixed frame, a transmission module installed on the fixed frame, and a wheel train connected to the transmission module. The wheel train is installed on the fixed frame, the input end of the transmission module is fixedly connected to the power output unit, and the outer periphery of the wheel train is covered with a track. When the power output unit rotates, the wheel train is driven to rotate through the transmission module, and then the track is driven to rotate to realize the forward or backward movement of the walking device. When the power output unit swings, the walking device is driven to swing and turn synchronously through the fixed transmission module.

9. A robot, characterized in that: It comprises the emergency fire fighting chassis as described in any one of claims 1-8, wherein a fire fighting extinguishing assembly, a sensor assembly and a communication assembly are installed on the body assembly of the emergency fire fighting chassis, and a control assembly and an energy power assembly are installed in the body assembly; the fire fighting extinguishing assembly, the sensor assembly, the communication assembly and the energy power assembly are all connected to the control assembly; the fire fighting extinguishing assembly is used for the robot to extinguish the fire source; the sensor assembly is used for identifying obstacles around the robot and realizing obstacle avoidance by the robot; the communication assembly is used for realizing the robot to receive instructions and send collected parameters; the control assembly is used for realizing information fusion, instruction parsing and encoding, motion control and operation of the robot; the energy power assembly is used for providing energy for the movement and operation of the robot.

10. The robot according to claim 9, characterized in that: The fire fighting method includes the following steps: (1) Robot movement steps: a. The first power source rotates forward, driving the fixed first power input tooth to rotate forward. The lower end of the first primary transmission tooth is meshed and connected with the first power input tooth, and the upper end is meshed and connected with the first final output tooth. The first power input tooth drives the first primary transmission tooth to rotate forward, and then drives the first final output tooth to rotate reversely. The meshing connection of the first final output tooth drives the first drive ring tooth to rotate forward. b. The second power source rotates forward, driving the fixed second power input tooth to rotate forward. The upper end of the second primary transmission tooth is meshed and connected with the second power input tooth, and the lower end is meshed and connected with the second final output tooth. The second power input tooth drives the second primary transmission tooth to rotate reversely, thereby driving the second final output tooth to rotate forward. The meshing connection of the second final output tooth drives the second drive ring tooth to rotate reversely. c. The first drive ring gear rotates forward, and the second drive ring gear rotates reversely, driving the synchronous follower main bevel gear meshing with the first drive ring gear and the second drive ring gear to rotate forward in its original position, and the synchronous follower sub-bevel gear rotates reversely in its original position, and the synchronous follower main bevel gear drives the synchronous drive shaft to rotate forward in the synchronous follower sub-bevel gear. At the same time, the synchronous follower main bevel gear drives the compound power output shaft to rotate forward, and then drives the gear train to rotate forward through the transmission module, so that the walking device can move forward; d. The first power source and the second power source of each chassis assembly rotate forward at the same time, and each walking device moves forward synchronously, driving the robot as a whole to move forward; e. Similarly, the first power source reverses and drives the first drive ring gear to reverse, and the second power source reverses and drives the second drive ring gear to rotate forward, driving the synchronous follower main bevel gear meshing with the first drive ring gear and the second drive ring gear to reverse itself in situ, and the synchronous follower sub-bevel gear follows itself to rotate forward in situ, and the synchronous follower main bevel gear drives the synchronous drive shaft to reverse in the synchronous follower sub-bevel gear. At the same time, the synchronous follower main bevel gear drives the composite power output shaft to reverse, and then drives the gear train to reverse through the transmission module, so that the walking device can walk backward; the first power source and the second power source of each group of chassis components reverse at the same time, and each group of walking devices walks backward synchronously, driving the robot as a whole to walk backward; (2) Robot turning steps: a. The first power source rotates forward, driving the fixed first power input tooth to rotate forward. The lower end of the first primary transmission tooth is meshed and connected with the first power input tooth, and the upper end is meshed and connected with the first final output tooth. The first power input tooth drives the first primary transmission tooth to rotate forward, and then drives the first final output tooth to rotate reversely. The meshing connection of the first final output tooth drives the first drive ring tooth to rotate forward. b. The second power source rotates in reverse, driving the fixed second power input tooth to rotate in reverse. The upper end of the second primary transmission tooth is meshed and connected with the second power input tooth, and the lower end is meshed and connected with the second final output tooth. The second power input tooth drives the second primary transmission tooth to rotate forward, and then drives the second final output tooth to rotate in reverse. The meshing connection of the second final output tooth drives the second drive ring tooth to rotate forward. c. The first drive ring gear rotates forward, the second drive ring gear rotates forward, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing forward along with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing forward, thereby driving the walking device to swing and turn forward; d. Similarly, the first power source reverses to drive the first drive ring gear to reverse, and the second power source rotates forward to drive the second drive ring gear to reverse, the synchronous follower main bevel gear and the synchronous follower auxiliary bevel gear are clamped and fixed, and the synchronous follower main bevel gear, the synchronous follower auxiliary bevel gear and the synchronous drive shaft swing in the opposite direction with the first drive ring gear and the second drive ring gear, thereby driving the power output unit fixedly connected to the synchronous follower main bevel gear to swing forward and reverse, thereby driving the walking device to swing and turn in the opposite direction; e. By individually controlling the forward or reverse swing steering of the walking device of each chassis assembly, a variety of motion modes of the robot can be realized, including but not limited to: a mode in which the front walking device moves in parallel and the rear walking device turns in an oblique direction, a mode in which the rear walking device moves in parallel and the front walking device turns in an oblique direction, an oblique translation mode, an oblique diagonal arrangement spinning or self-locking mode, and an Ackerman steering mode; (3) Fire extinguishing steps: According to the on-site environment, the robot is controlled to adopt the appropriate motion mode to reach the working position. During the operation, the sensor component identifies the obstacles around the robot in real time and feeds back the collected information to the control component. The communication component receives instructions and sends the collected parameters in real time. The control component integrates the robot information, parses and encodes instructions, controls motion and operates, and controls the fire extinguishing component to perform jet fire extinguishing operations on the fire source.

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