Omnibearing fire rescue robot

Abstract

The invention relates to an automatic rescue robot, in particular to an all-dimensional fire rescue robot which comprises a vehicle body, four swing arms, a walking driving mechanism, a pitching driving mechanism, a signal transmission module, a gas detection module, an environment sensing module and a life detection module. The left-front right-rear swing arm and the left-rear right-front swing arm are structurally distributed in a mirror image mode, and the four Mecanum wheels on the four swing arms are installed in a diagonal mode. The four swing arms achieve rotation of the crawler driving wheels and the wheat wheels and pitching actions of the swing arms through a walking driving mechanism and a pitching driving mechanism, wherein the walking driving mechanism and the pitching driving mechanism are installed in the vehicle body. The robot can realize conversion of a crawler type motion mode, an omnibearing wheel type motion mode and a leg type motion mode through pitching actions of the four swing arms. The robot can be applied to patrol and rescue in a high-rise stair environment, can freely walk in a narrow space of a stair in all directions, and has the characteristics of modularization, flexible movement, compact structure and wide adaptability.

Description

Technical Field

[0001] The invention relates to an automatic rescue robot, in particular to an omnidirectional firefighting rescue robot which can be used for indoor dangerous environment detection and rescue. Background Art

[0002] In recent years, with the continuous acceleration of urbanization, there are more and more urban buildings. Poor safety management and careless use of fire, electricity and gas have led to frequent fires. When a fire occurs in a building, firefighters not only need to conduct fire scene investigation and fire extinguishing, but also need to enter the building for rescue operations. Traditional fire trucks cannot enter the floors for investigation. In the complex and dangerous environment inside the floors, building collapse, toxic gases, secondary explosions of combustibles, etc., will pose a threat to the safety of fire rescue personnel and seriously threaten urban public safety. To this end, the development of an all-round rescue robot that can enter the dangerous environment and transmit the internal dangerous environment information in real time can effectively carry out exploration and rescue work, which is of great significance to people's life safety. Summary of the invention

[0003] In order to solve the problem of unknown and poor transmission of internal information in dangerous environments in buildings and meet the needs of dangerous environment exploration and rescue work, the purpose of the present invention is to provide a robot that can perform all-round firefighting and rescue in buildings.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a vehicle body, a swing arm, a signal transmission module, a gas detection module, an environment perception module, a life detection module, a walking drive mechanism and a pitching drive mechanism, wherein swing arms are respectively installed at the front and rear ends of the left and right sides of the vehicle body, each of the swing arms is driven to walk by an independent walking drive mechanism installed in the vehicle body, two pitching drive mechanisms are installed in the vehicle body, each of the pitching drive mechanisms is respectively connected to the swing arms on the left and right sides of each end of the vehicle body, and drives the swing arms to complete the pitching action; the signal transmission module, the gas detection module, the environment perception module and the life detection module are respectively installed on the vehicle body;

[0006] The swing arm comprises a swing arm shaft, a main drive shaft, a track drive wheel, a Mecanum wheel, a track, an outer plate of the swing arm, an inner plate of the swing arm and a driven wheel, one end between the outer plate of the swing arm and the inner plate of the swing arm is rotatably mounted with a driven wheel, and the other end is rotatably mounted with a Mecanum wheel; one end of the main drive shaft is rotatably mounted on the vehicle body and is connected to the travel drive mechanism and driven to rotate by the travel drive mechanism, the other end of the main drive shaft passes through the inner plate of the swing arm and is connected to the Mecanum wheel through a transmission device, the inner plate of the swing arm is rotatably connected to the main drive shaft, a track drive wheel is mounted on the main drive shaft between the outer plate of the swing arm and the inner plate of the swing arm, and the track drive wheel is connected to the driven wheel through the track; the swing arm shaft can be relatively rotatably embedded in the main drive shaft, one end of the swing arm shaft extends from one end of the main drive shaft and is connected to the pitch drive mechanism and driven to rotate by the pitch drive mechanism, the other end of the swing arm shaft extends from the other end of the main drive shaft and is connected to the outer plate of the swing arm.

[0007] Wherein: the front end swing arm on the left side of the vehicle body has the same structure as the rear end swing arm on the right side, both of which are left front and right rear swing arms; the front end swing arm on the right side of the vehicle body has the same structure as the rear end swing arm on the left side, both of which are left rear and right front swing arms; the left front and right rear swing arms and the left rear and right front swing arms are mirror images in structure; the Mecanum wheels in the left front and right rear swing arms are left-handed Mecanum wheels, and the Mecanum wheels in the left rear and right front swing arms are right-handed Mecanum wheels.

[0008] The wheel axle of the Mecanum wheel is a wheel drive shaft, and the two ends of the wheel drive shaft are rotatably connected to the inner plate of the swing arm and the outer plate of the swing arm respectively; the transmission device includes an input sprocket, a chain and an output sprocket, the input sprocket is connected to the other end of the main drive shaft, the output sprocket is installed on the wheel drive shaft and is connected to the input sprocket through a chain to transmit the torque of the crawler drive wheel to the Mecanum wheel.

[0009] The input sprocket is located between the track driving wheel and the outer plate of the swing arm, and a thrust bearing is installed on the swing arm shaft between the input sprocket and the outer plate of the swing arm to prevent the outer plate of the swing arm from colliding with the input sprocket due to axial movement.

[0010] Wheel fixing seats are respectively installed at positions corresponding to the wheel drive shaft on the inner plate and the outer plate of the swing arm, and both ends of the wheel drive shaft are rotatably connected to the wheel fixing seats on the inner plate and the outer plate of the swing arm through bearings C respectively.

[0011] A swing arm base is installed at a position corresponding to the main drive shaft on the vehicle body, and one end of the main drive shaft is rotatably installed in the swing arm base through a bearing A; an outer plate base and an end cover are installed at the other end of the swing arm shaft, and the outer plate of the swing arm is fixedly connected to the outer plate base.

[0012] The travel drive mechanism includes a travel motor, a travel reducer, an output gear and an input gear. The travel reducer is fixed on the vehicle body, the input end of the travel reducer is connected to the travel motor, the output end of the travel reducer is installed with an output gear, the input gear is fixed to the main driving shaft of the driven swing arm, and meshes with the output gear.

[0013] The pitch drive mechanism includes a pitch motor, a pitch reducer and a pitch output shaft. The pitch reducer is fixed on the vehicle body, the input end of the pitch reducer is connected to the pitch motor, and the pitch output shafts are respectively installed on both sides of the output end of the pitch reducer. The pitch output shafts on both sides are respectively fastened to the swing arm shafts in the left and right swing arms at the front / rear end of the vehicle body; the pitch drive mechanism simultaneously drives the swing arms at the left and right sides of the front / rear end of the vehicle body to move symmetrically, thereby realizing the pitch action of the swing arms.

[0014] The signal transmission module, gas detection module and environment perception module are respectively installed on the upper part of the vehicle body; the signal transmission module is used to connect the robot with the remote control system; the gas detection module is used to detect the gas composition of the robot's environment; the environment perception module is used for the robot to identify the surrounding environment information; the life detection module is installed at the front end of the vehicle body, and is used to detect whether there is any vital sign information in the environment through which the robot passes; the signal transmission module, gas detection module, environment perception module and life detection module work together to achieve full control of the robot's environmental information.

[0015] The robot changes the pitch angle of the swing arm under the action of the pitch drive mechanism, thereby realizing the conversion of the robot between the crawler type, omnidirectional wheel type and leg type movement modes.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention combines the climbing ability of a tracked robot with the omnidirectional mobility of a Mecanum wheeled robot, thus enhancing the robot's ability to pass through various environments in a building.

[0018] 2. The crawler track and the Mecanum wheel in the swing arm of the present invention are driven by the same motor, which simplifies the driving structure and makes the robot more compact.

[0019] 3. The four swing arms of the present invention are identical in pairs and are distributed in a mirror image. They adopt a modular design, have a simple and light structure, are flexible in movement, have a wide range of adaptability, are easy to install, and have high control accuracy.

[0020] 4. The robot of the present invention is equipped with a signal transmission module, a gas detection module, an environment perception module and a life detection module. Each module works together to improve the efficiency of the robot in obtaining information and rescue when entering a dangerous environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the internal structure of the vehicle body of the present invention;

[0023] Figure 3 It is a schematic diagram of the cross-sectional structure of the interior of the vehicle body and the swing arm of the present invention;

[0024] Figure 4 It is a schematic diagram of the cross-sectional structure of the swing arm crawler drive wheel of the present invention;

[0025] Figure 5 This is a schematic diagram of the swing arm Mecanum wheel structure of the present invention;

[0026] Fig. 6A It is a structural schematic diagram of the omnidirectional wheel motion mode of the present invention;

[0027] Figure 6B It is a structural schematic diagram of the crawler-type motion mode of the present invention;

[0028] Figure 6C It is a structural schematic diagram of the leg type movement mode of the present invention;

[0029] Among them: 1 is the vehicle body, 2 is the left front and right rear swing arms, 3 is the left rear and right front swing arms, 4 is the signal transmission module, 5 is the gas detection module, 6 is the environmental perception module, 7 is the life detection module, 8 is the walking drive mechanism, 9 is the pitch drive mechanism, 10 is the swing arm shaft, 11 is the main drive shaft, 12 is the track drive wheel, 13 is the input sprocket, 14 is the chain, 15 is the output sprocket, 16 is the wheel drive shaft, 17 is the wheel fixing seat, 18 is the right-handed Mecanum wheel, and 19 is the left-handed Mecanum wheel , 20 is the track, 21 is the outer plate of the swing arm, 22 is the inner plate of the swing arm, 23 is the swing arm base, 24 is the inner plate base, 25 is the bushing, 26 is the outer plate base, 27 is the end cover, 28 is the driven wheel shaft, 29 is the driven wheel, 30 is the travel motor, 31 is the travel reducer, 32 is the output gear, 33 is the input gear, 34 is the pitch motor, 35 is the pitch reducer, 36 is the bearing A, 37 is the bearing B, 38 is the bearing C, 39 is the bearing D, and 40 is the thrust bearing. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1 , Figure 2As shown, the present invention includes a vehicle body 1, a swing arm, a signal transmission module 4, a gas detection module 5, an environment perception module 6, a life detection module 7, a walking drive mechanism 8 and a pitching drive mechanism 9, wherein swing arms are respectively installed at the front and rear ends of the left and right sides of the vehicle body 1, and each swing arm is driven to walk by an independent walking drive mechanism 8 installed in the vehicle body 1. Two pitching drive mechanisms 9 are installed in the vehicle body 1, and each pitching drive mechanism 9 is respectively connected to the swing arms on the left and right sides of each end of the vehicle body 1 to drive the swing arms to complete the pitching action; the signal transmission module 4, the gas detection module 5, the environment perception module 6 and the life detection module 7 are respectively installed on the vehicle body 1 to realize their respective functions.

[0032] There are four swing arms in this embodiment. The front swing arm on the left side of the vehicle body 1 has the same structure as the rear swing arm on the right side, both of which are left front and right rear swing arms 2. The front swing arm on the right side of the vehicle body 1 has the same structure as the rear swing arm on the left side, both of which are left rear and right front swing arms 3. The left front and right rear swing arms 2 and the left rear and right front swing arms 3 are mirror images in structure. There are four travel drive mechanisms 8 in this embodiment, which are installed in the vehicle body 1 symmetrically in pairs and front and back. A pitch drive mechanism 9 is installed between the two symmetrical travel drive mechanisms 8, that is, the two pitch drive mechanisms 9 are also installed in the vehicle body 1 symmetrically in front and back.

[0033] like Figures 1 to 5 As shown, the swing arm of this embodiment includes a swing arm shaft 10, a main drive shaft 11, a crawler drive wheel 12, a Mecanum wheel, a crawler 20, a swing arm outer plate 21, a swing arm inner plate 22 and a driven wheel 29, one end between the swing arm outer plate 21 and the swing arm inner plate 22 is rotatably mounted with the driven wheel 29, and the other end is rotatably mounted with the Mecanum wheel; one end of the main drive shaft 11 is rotatably mounted on the vehicle body 1 and is connected to the travel drive mechanism 8 and driven to rotate by the travel drive mechanism 8, the other end of the main drive shaft 11 passes through the swing arm inner plate 22 and is connected to the Mecanum wheel through a transmission device The inner plate 22 of the swing arm is rotatably connected to the main drive shaft 11 through the bearing D39, and a track drive wheel 12 is installed on the main drive shaft 11 between the outer plate 21 of the swing arm and the inner plate 22 of the swing arm, and the track drive wheel 12 is connected to the driven wheel 29 through the track 20; the swing arm shaft 10 is embedded in the main drive shaft 11 so as to be relatively rotatable, one end of the swing arm shaft 10 extends out from one end of the main drive shaft 11 and is connected to the pitch drive mechanism 9, and is driven to rotate by the pitch drive mechanism 9, and the other end of the swing arm shaft 10 extends out from the other end of the main drive shaft 11 and is connected to the outer plate 21 of the swing arm.

[0034] In this embodiment, the Mecanum wheel in the left front and right rear swing arms 2 is a left-handed Mecanum wheel 19, and the Mecanum wheel in the left rear and right front swing arms 3 is a right-handed Mecanum wheel 18. The four Mecanum wheels are respectively installed on the four swing arms in a diagonal form. The wheel axle of the Mecanum wheel is a wheel drive shaft 16, and the positions corresponding to the wheel drive shaft 16 on the inner plate 22 and the outer plate 21 of the swing arm are respectively installed with wheel fixing seats 17, and the two ends of the wheel drive shaft 16 are respectively rotatably connected to the wheel fixing seats 17 on the inner plate 22 and the outer plate 21 of the swing arm through bearings C38.

[0035] In this embodiment, a driven wheel shaft 28 is fixed at one end between the outer plate 21 of the swing arm and the inner plate 22 of the swing arm, and a driven wheel 29 is installed on the driven wheel shaft 28. The crawler 20 is installed on the crawler driving wheel 12 and the driven wheel 29 to transmit the driving force of the robot.

[0036] The transmission device of this embodiment includes an input sprocket 13, a chain 14 and an output sprocket 15. The input sprocket 13 is connected to the other end of the main drive shaft 11. The output sprocket 15 is installed on the wheel drive shaft 16 and is connected to the input sprocket 13 through the chain 14 to transmit the torque of the track drive wheel 12 to the Mecanum wheel. The input sprocket 13 of this embodiment is located between the track drive wheel 12 and the outer plate 21 of the swing arm. A thrust bearing 40 is installed on the swing arm shaft 10 between the input sprocket 13 and the outer plate 21 of the swing arm. The input sprocket 13 on the main drive shaft 11 is fixed by the thrust bearing, which can prevent the outer plate 21 of the swing arm and the input sprocket 13 from axial movement and collision.

[0037] In this embodiment, a swing arm base 23 is fixedly connected to the position corresponding to the main drive shaft 11 on the vehicle body 1, and one end of the main drive shaft 11 is rotatably mounted in the swing arm base 23 through two bearings A36; the swing arm shaft 10 is also rotatably mounted inside the main drive shaft 11 through two bearings B37. The outside of the other end of the main drive shaft 11 is sequentially mounted with a swing arm inner plate 22, a crawler drive wheel 12 and an input sprocket 13, which are fixed to the main drive shaft 11 through a sleeve 25. The other end of the swing arm shaft 10 is mounted with an outer plate base 26 and an end cover 27, and the swing arm outer plate 21 is fixed to the outer plate base 26.

[0038] The travel drive mechanism 8 of this embodiment includes a travel motor 30, a travel reducer 31, an output gear 32 and an input gear 33. The travel reducer 31 is fixed on the bottom plate of the vehicle body 1, the input end of the travel reducer 31 is connected to the travel motor 30, and the output end of the travel reducer 31 is equipped with an output gear 32. The input gear 33 is fixed to the main driving shaft 11 of the driven swing arm and meshes with the output gear 32.

[0039] The pitch drive mechanism 9 of the present embodiment includes a pitch motor 34, a pitch reducer 35 and a pitch output shaft 36. The pitch reducer 35 is fixed on the bottom plate of the vehicle body 1, and the input end of the pitch reducer 35 is connected to the pitch motor 34. The pitch output shafts 36 are respectively installed on both sides of the output end of the pitch reducer 35. The pitch output shafts 36 on both sides are respectively fastened to the swing arm shafts 10 in the left and right swing arms at the front / rear end of the vehicle body 1; the pitch drive mechanism 9 simultaneously drives the swing arms at the left and right sides of the front / rear end of the vehicle body 1 to move symmetrically, thereby realizing the pitch action of the swing arms.

[0040] The signal transmission module 4, gas detection module 5 and environment perception module 6 of this embodiment are respectively installed on the upper part of the vehicle body 1. The signal transmission module 4 is used to connect the robot with the remote control system, the gas detection module 5 is used to detect the gas composition of the robot's environment, and the environment perception module 6 is used for the robot to identify the surrounding environment information; the life detection module 7 is installed at the front end of the vehicle body 1, and is used to detect whether there is any vital sign information in the environment passed by the robot; the signal transmission module 4, gas detection module 5, environment perception module 6 and life detection module 7 work together to achieve full control of the robot's environmental information.

[0041] The robot of this embodiment changes the pitch angle of the swing arm under the action of the pitch drive mechanism 9, so that the robot can move in an omnidirectional wheel type (such as Fig. 6A As shown), crawler type (as shown Figure 6B as shown) and leg type (as Figure 6C ) to switch between sport modes.

[0042] The working principle of the present invention is:

[0043] The travel motor 30 in the travel drive mechanism 8 provides power to the output gear 32 through the travel reducer 31, thereby driving the input gear 33 meshing with the output gear 32 to rotate, and driving the track drive wheel 12 and the input sprocket 13 to rotate synchronously through the main drive shaft 11. The track drive wheel 12 provides power to the track 20, and the input sprocket 13 drives the output sprocket 15 to rotate through the chain 14, thereby providing power to the Mecanum wheel fixed on the wheel drive shaft 16.

[0044] The pitch motor 34 in the pitch drive mechanism 9 provides power to the pitch output shafts 36 on both sides through the pitch reducer 35, thereby driving the swing arm shafts 10 in the left and right swing arms fixedly connected to the pitch output shafts 36 to rotate, and the swing arm shaft 10 provides power to the swing arm outer plate 21 through the outer plate base 26. The swing arm outer plate 21 and the swing arm inner plate 22 are fixed as a whole through the swing arm shaft 10, the driven wheel shaft 28 and the wheel drive shaft 16, thereby driving the entire swing arm to rotate.

[0045] The swing arm shaft 10, the main drive shaft 11, the swing arm inner plate 22 and the vehicle body 1 in the swing arm are connected to each other through multiple layers of bearing sleeves, and a thrust bearing 40 is installed between the main drive shaft 11, the input sprocket 13 and the swing arm outer plate 21, forming a multi-layer rotation motion to ensure the smooth implementation of the robot's walking and pitching movements.

[0046] like Figures 6A to 6C As shown, in an obstacle-free environment, the robot adopts an omnidirectional wheel-type motion mode. At this time, the crawler 20 is idling, and the right-handed Mecanum wheels 18 and the left-handed Mecanum wheels 19 are installed diagonally and crosswise. Different rotation directions can make the robot move in different directions without the need for the robot to turn itself, thereby improving the robot's motion ability in a narrow and unknown environment; when encountering stairs or slopes, the front and rear bidirectional swing arms rotate in opposite directions and are converted into a crawler-type motion mode. At this time, multiple Mecanum wheels are idling, and stairs or slopes can be climbed; when encountering a larger obstacle, the front left and right side swing arms rotate to climb over the highest point of the obstacle, and then the front and rear bidirectional swing arms continue to rotate in opposite directions, converting to a leg-type motion mode to cross the obstacle.

[0047] The signal transmission module 4, gas detection module 5, environment perception module 6 and life detection module 7 carried by the robot are all existing technologies. Each module works together to improve the efficiency of the robot in obtaining information and rescue when entering a dangerous environment.

[0048] The robot swing arm of the present invention adopts a modular design and has the advantages of small size, flexible movement, strong adaptability to unknown environments, etc. It can be used for detection and rescue work in narrow, dangerous and unknown environments in buildings and has strong adaptive ability.

Claims

1. An omnidirectional firefighting and rescue robot, characterized in that: The vehicle comprises a vehicle body (1), a swing arm, a signal transmission module (4), a gas detection module (5), an environment perception module (6), a life detection module (7), a walking drive mechanism (8) and a pitching drive mechanism (9), wherein the vehicle body (1) is respectively provided with swing arms at the front and rear ends on the left and right sides, each swing arm is driven to walk by an independent walking drive mechanism (8) installed in the vehicle body (1), and two pitching drive mechanisms (9) are installed in the vehicle body (1), each pitching drive mechanism (9) is respectively connected to the swing arms at the left and right sides of each end of the vehicle body (1), and drives the swing arms to complete pitching movements; the signal transmission module (4), the gas detection module (5), the environment perception module (6) and the life detection module (7) are respectively installed on the vehicle body (1); The swing arm comprises a swing arm shaft (10), a main drive shaft (11), a crawler drive wheel (12), a Mecanum wheel, a crawler track (20), a swing arm outer plate (21), a swing arm inner plate (22) and a driven wheel (29); one end between the swing arm outer plate (21) and the swing arm inner plate (22) is rotatably mounted with the driven wheel (29), and the other end is rotatably mounted with the Mecanum wheel; one end of the main drive shaft (11) is rotatably mounted on the vehicle body (1) and is connected to the travel drive mechanism (8) and is driven to rotate by the travel drive mechanism (8); the other end of the main drive shaft (11) passes through the swing arm inner plate (22) and is connected to the Mecanum wheel through a transmission device; The inner plate (22) of the arm is rotatably connected to the main drive shaft (11); a crawler drive wheel (12) is installed on the main drive shaft (11) between the outer plate (21) of the swing arm and the inner plate (22) of the swing arm; the crawler drive wheel (12) is connected to the driven wheel (29) through a crawler (20); the swing arm shaft (10) is relatively rotatably embedded in the main drive shaft (11); one end of the swing arm shaft (10) extends from one end of the main drive shaft (11) and is connected to the pitch drive mechanism (9) and is driven to rotate by the pitch drive mechanism (9); the other end of the swing arm shaft (10) extends from the other end of the main drive shaft (11) and is connected to the outer plate (21) of the swing arm.

2. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: The front swing arm on the left side of the vehicle body (1) has the same structure as the rear swing arm on the right side, both of which are left front and right rear swing arms (2); the front swing arm on the right side of the vehicle body (1) has the same structure as the rear swing arm on the left side, both of which are left rear and right front swing arms (3); the left front and right rear swing arms (2) and the left rear and right front swing arms (3) are mirror images in structure; the Mecanum wheels in the left front and right rear swing arms (2) are left-handed Mecanum wheels (19), and the Mecanum wheels in the left rear and right front swing arms (3) are right-handed Mecanum wheels (18).

3. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: The wheel axle of the Mecanum wheel is a wheel drive shaft (16), and the two ends of the wheel drive shaft (16) are respectively rotatably connected to the inner plate (22) of the swing arm and the outer plate (21) of the swing arm; the transmission device comprises an input sprocket (13), a chain (14) and an output sprocket (15), the input sprocket (13) is connected to the other end of the main drive shaft (11), and the output sprocket (15) is installed on the wheel drive shaft (16) and connected to the input sprocket (13) through the chain (14), so as to transmit the torque of the crawler drive wheel (12) to the Mecanum wheel.

4. The omnidirectional firefighting and rescue robot according to claim 3, characterized in that: The input sprocket (13) is located between the track driving wheel (12) and the swing arm outer plate (21), and a thrust bearing (40) is installed on the swing arm shaft (10) between the input sprocket (13) and the swing arm outer plate (21) to prevent the swing arm outer plate (21) and the input sprocket (13) from axially moving and colliding.

5. The omnidirectional firefighting and rescue robot according to claim 3, characterized in that: Wheel fixing seats (17) are respectively installed on the inner plate (22) and the outer plate (21) of the swing arm at positions corresponding to the wheel drive shaft (16), and both ends of the wheel drive shaft (16) are rotatably connected to the wheel fixing seats (17) on the inner plate (22) and the outer plate (21) of the swing arm through bearings C (38).

6. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: A swing arm base (23) is installed at a position corresponding to the main drive shaft (11) on the vehicle body (1), and one end of the main drive shaft (11) is rotatably installed in the swing arm base (23) through a bearing A (36); an outer plate base (26) and an end cover (27) are installed at the other end of the swing arm shaft (10), and the swing arm outer plate (21) is fixedly connected to the outer plate base (26).

7. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: The travel drive mechanism (8) comprises a travel motor (30), a travel reducer (31), an output gear (32) and an input gear (33); the travel reducer (31) is fixed on the vehicle body (1); the input end of the travel reducer (31) is connected to the travel motor (30); the output end of the travel reducer (31) is provided with an output gear (32); the input gear (33) is fixed to the main drive shaft (11) of the driven swing arm and meshes with the output gear (32).

8. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: The pitch drive mechanism (9) comprises a pitch motor (34), a pitch reducer (35) and a pitch output shaft (36); the pitch reducer (35) is fixed on the vehicle body (1); the input end of the pitch reducer (35) is connected to the pitch motor (34); the pitch output shafts (36) are respectively installed on both sides of the output end of the pitch reducer (35); the pitch output shafts (36) on both sides are respectively fastened to the swing arm shafts (10) in the left and right swing arms at the front / rear end of the vehicle body (1); the pitch drive mechanism (9) simultaneously drives the swing arms at the left and right sides of the front / rear end of the vehicle body (1) to move symmetrically, thereby realizing the pitch action of the swing arms.

9. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: The signal transmission module (4), the gas detection module (5) and the environment perception module (6) are respectively installed on the upper part of the vehicle body (1); the signal transmission module (4) is used for connecting the robot with a remote control system; the gas detection module (5) is used for detecting the gas composition of the environment in which the robot is located; and the environment perception module (6) is used for the robot to identify the surrounding environment information; the life detection module (7) is installed at the front end of the vehicle body (1) and is used for detecting whether there is any vital sign information in the environment passed by the robot; the signal transmission module (4), the gas detection module (5), the environment perception module (6) and the life detection module (7) work together to achieve full control of the environment information in which the robot is located.

10. The omnidirectional firefighting and rescue robot according to claim 1, characterized in that: Under the action of the pitch driving mechanism (9), the robot changes the pitch angle of the swing arm, thereby realizing the conversion of the robot between the crawler type, omnidirectional wheel type and leg type movement modes.

Images