Shock-resistant suspension mechanism for chassis of crawler-type fire-fighting robot

Abstract

The invention discloses a crawler-type fire-fighting robot chassis impact-resistant suspension mechanism, which comprises: a main body unit, which comprises a load-bearing base and a fire-fighting device fixedly connected to the upper surface of the load-bearing base, and the two sides of the load-bearing base are symmetrically provided with a plurality of joining blocks at equal intervals; according to the invention, a first buffer spring is utilized, so that a roller ascends when being collided, and when the collision is slight and the roller is extruded, the upward distance is limited, and then impact force is conducted through a connecting rod, so that the connecting rod drives a push rod to slide in a linear groove in a transmission groove, and the impact force is conducted through the connecting rod; further, buffering treatment is carried out in advance when the next roller is in contact with collision to a certain extent, then a connecting plate pushes a V-shaped rod to rotate through a limiting rod, further, the V-shaped rod drives a shifting rod to rotate in an arc-shaped groove in one side of a fixing plate, and therefore a center steering assembly is driven.

Description

Technical Field

[0001] The present invention relates to the technical field of anti - impact suspension structures, and particularly to an anti - impact suspension mechanism for the chassis of a tracked fire - fighting robot. Background Art

[0002] In today's society, fire accidents occur frequently, posing a great threat to people's lives and property. As an advanced fire - fighting and rescue equipment, fire - fighting robots play an increasingly important role at the fire scene. Tracked fire - fighting robots, with their strong cross - country performance and stability, can quickly reach the fire scene in complex terrain environments for fire - fighting and rescue work. They can enter dangerous areas that are difficult for humans to reach, such as high - temperature, toxic, and explosive environments, effectively reducing the casualty risk of firefighters and improving the efficiency of fire - fighting and rescue.

[0003] Traditional suspension mechanisms usually adopt a simple combination of springs and shock absorbers, and their anti - impact ability is limited. When a fire - fighting robot is performing fire - fighting operations on stairs, due to the special nature of the stair terrain, when facing irregular terrains such as rubble piles and slopes, it cannot effectively absorb shocks, resulting in severe vibration of the fuselage. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] In view of the problems existing in the above - mentioned existing anti - impact suspension mechanism for the chassis of a tracked fire - fighting robot, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide an anti - impact suspension mechanism for the chassis of a tracked fire - fighting robot, which is suitable for solving the problem that most tracked robots adopt a rigid suspension system and cannot effectively absorb shocks when facing irregular terrains such as rubble piles and slopes, resulting in severe vibration of the fuselage.

[0007] To solve the above - mentioned technical problems, the present invention provides the following technical solution: An anti - impact suspension mechanism for the chassis of a tracked fire - fighting robot, the anti - impact suspension mechanism includes: A main body unit, which includes a load - bearing base and a fire - fighting device fixedly connected to the upper surface of the load - bearing base, and a plurality of connecting blocks are evenly and symmetrically distributed on both sides of the load - bearing base at equal intervals; A buffer conduction unit, which includes a fixing plate fixedly connected to one side of an adapter block and a first auxiliary wheel rotatably connected to the inner surface of the fixing plate through a rotating shaft. The fixing plate is fixedly connected with a first fixed shaft, a second fixed shaft and a fourth fixed shaft respectively. Symmetrically distributed connecting plates are rotatably connected to the outer surface of the second fixed shaft. A rotating shaft is rotatably connected to the connecting plates. A roller is rotatably connected to the outer surface of the rotating shaft. A steering adjustment unit, which includes a central steering component arranged in a load-bearing base and a transmission track rotatably connected to the upper surface of the first auxiliary wheel. Symmetrically distributed toothed belts are fixedly connected to the inner surface of the transmission track. A driving gear is rotatably connected to the transmission track. An adapter shaft is fixedly connected to one side of the driving gear. A first rubber wheel is fixedly connected to the outer surface of the adapter shaft. A second rubber wheel is rotatably connected to one side of the first rubber wheel.

[0008] As a preferred solution of the impact-resistant suspension mechanism of the crawler fire-fighting robot chassis of the present invention, wherein: a transmission groove is formed in the connecting plate, and the transmission groove is jointly composed of a straight groove and a curved groove. A push rod is slidably connected to the transmission groove. One side of the push rod is rotatably connected to a connecting rod. The connecting rod is rotatably connected to the fourth fixed shaft on the side close to the connecting plate.

[0009] As a preferred solution of the impact-resistant suspension mechanism of the crawler fire-fighting robot chassis of the present invention, wherein: both ends of the fourth fixed shaft are fixedly connected to one side of the connecting plate. A third fixed shaft is fixedly connected to the connecting plate. A first lower connecting ring is rotatably connected to the outer surface of the third fixed shaft. A shock absorber is fixedly connected to one side of the first lower connecting ring.

[0010] As a preferred solution of the impact-resistant suspension mechanism of the crawler fire-fighting robot chassis of the present invention, wherein: a first buffer spring is fixedly connected to one side of the first lower connecting ring. One end of the shock absorber is fixedly connected to an upper connecting ring. The upper connecting ring is rotatably connected to the first fixed shaft. An arc-shaped groove is formed in the fixing plate. A shifting rod is slidably connected to the arc-shaped groove. A second lower connecting ring is rotatably connected to the outer surface of one group of the rotating shafts. And a second buffer spring is fixedly connected to the upper surface of the second lower connecting ring.

[0011] As a preferred solution of the impact-resistant suspension mechanism of the crawler fire-fighting robot chassis of the present invention, wherein: a V-shaped rod is rotatably connected to the outer surface of the second fixed shaft. A shifting rod is fixedly connected to one side of the V-shaped rod. A limiting rod is fixedly connected to the connecting plate. A clamping rod is snap-fitted to the upper surface of the limiting rod. One side of the V-shaped rod is fixedly connected to one side of the clamping rod.

[0012] As a preferred solution of the anti-impact suspension mechanism of the chassis of a tracked fire-fighting robot described in the present invention, the inner surface of the transmission track is rotatably connected to a second auxiliary wheel, a storage box is fixedly connected to the fixed plate, a support rod is telescopically slidable in the storage box, and a top wheel is rotatably connected to one end of the support rod.

[0013] As a preferred solution of the anti-impact suspension mechanism of the chassis of a crawler fire-fighting robot described in the present invention, wherein: a main output shaft and a secondary output shaft are respectively arranged in the central steering assembly, one side of the main output shaft is meshed and connected to the first linkage gear, one side of the secondary output shaft is meshed and connected to a reversing gear set, both sides of the reversing gear set are provided with transmission gears, one side of the transmission gear is meshed and connected to an adjusting planetary gear set, and the adjusting planetary gear set is connected to the fourth rubber wheel through an axle rod.

[0014] As a preferred solution of the anti-impact suspension mechanism of the chassis of a tracked fire-fighting robot described in the present invention, wherein: a first toggle block is fixedly connected to one side of the first rubber wheel, the outer surface of the top wheel is rotatably connected to the inner surface of the transmission track, a first protective plate is fixedly connected to one side of the second rubber wheel, a second protective plate is fixedly connected to one side of the first protective plate through a third rubber wheel, a second toggle block is fixedly connected to one side of the first protective plate, and one side of the third rubber wheel is rotatably connected to one side of the fourth rubber wheel, and the inner diameter of the first protective plate is larger than the inner diameter of the second protective plate.

[0015] As a preferred solution of the anti-impact suspension mechanism of the chassis of a crawler fire-fighting robot described in the present invention, wherein: a linkage shaft is arranged in the second rubber wheel and the third rubber wheel, and a pulling rod is fixedly connected to the outer surface of the linkage shaft, one side of the pulling rod is fixedly connected to a T-shaped block, one side of the T-shaped block is fixedly connected to a first spring, one end of the first spring away from the T-shaped block is fixedly connected to the inside of the guide rail block, a moving rod is slidably connected in the guide rail block, one end of the moving rod is fixedly connected to a sliding rod through a rotating connecting rod, both sides of the load-bearing base are fixedly connected to L-shaped plates, and the L-shaped plate is fixedly connected to one end of the second spring.

[0016] As a preferred solution of the anti-impact suspension mechanism of the chassis of a crawler fire-fighting robot described in the present invention, wherein: the other end of the second spring is fixedly connected to a cooperative block, a third spring is fixedly connected inside the cooperative block, one end of the third spring is fixedly connected to one end of the sliding rod, both sides of the load-bearing base are fixedly connected to mounting blocks, the lower surface of the mounting block is fixedly connected to an electric push rod, the lower surface of the electric push rod is fixedly connected to an insertion block, a slot is provided on the side of the sliding rod close to the load-bearing base, and a slot matching the sliding rod is provided on the upper surface of the cooperative block, a tooth plate is fixedly connected to one side of the cooperative block, and a toggle groove is provided in the tooth plate.

[0017] Beneficial effects of the present invention: 1. By using the first buffer spring, connecting plate, transmission groove, push rod, fourth fixed shaft, V-shaped rod, and lever, the roller can rise when it is collided. When the collision is slight, the upward distance of the roller when it is squeezed is limited. Then, the impact force is conducted through the connecting rod, causing the connecting rod to drive the push rod to slide in the linear groove inside the transmission groove. As a result, the previous roller can only be buffered by the first buffer spring and shock absorber alone. When the collision is severe, the upward distance of the roller when it is squeezed will increase. Then, the impact force is conducted through the connecting rod, causing the connecting rod to drive the push rod to break through the distance in the linear groove inside the transmission groove, and the push rod moves into the curved groove inside the transmission groove. Thus, the previous roller pushes the next roller through the push rod, and to a certain extent, when the next roller contacts the collision, it can be buffered in advance to avoid the subsequent rollers from continuously receiving the strong impact from the ground. And through the impact received by the roller, the connecting plate can rotate around the second fixed shaft. Further, the connecting plate pushes the V-shaped rod to rotate through the limiting rod. Furthermore, the V-shaped rod drives the lever to rotate in the arc groove on one side of the fixed plate, thereby driving the central steering assembly; 2. By using the transmission gear, secondary output shaft, reverse gear set, main output shaft, and adjusting planetary gear set, through the conventional drive and steering structure, the whole fire-fighting robot can rotate fully, and to a certain extent, the device can rotate 360° around the center; 3. By using the second spring, L-shaped plate, pulling rod, T-shaped block, moving rod, and sliding rod, when the device needs to move using a single track, by adjusting the sliding rod, the sliding rod adjusts the position of the first rubber wheel through the rotating connecting rod, so that the central steering assembly no longer drives a single side of the track. As a result, the lever contacts the toothed plate, and initially pushes the cooperation block. And the cooperation block is released from fixation and the sliding rod is continuously fixed through the card slots respectively. To a certain extent, when the drive to the track needs to be released, the restriction on the sliding rod is released through the card slot, and the third spring can pull the sliding rod, causing the pulling rod to move inside the guide rail block, so that it moves away from the first rubber wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them: Figure 1 It is a schematic diagram of the overall structure of a track-type fire-fighting robot chassis anti-impact suspension mechanism proposed by the present invention; Figure 2 Schematic diagram of the internal structure of the load-bearing base of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 3 Schematic diagram of the rubber wheel distribution structure of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 4 Schematic diagram of the crawler structure of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 5 Schematic diagram of the buffer conduction unit structure of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 6 Schematic diagram of the lever structure of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 7 Schematic diagram of the internal structure of the crawler of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 8 Schematic diagram of the internal structure of the connecting plate of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention; Figure 9 Schematic diagram of the steering adjustment unit structure of an impact-resistant suspension mechanism for the crawler fire-fighting robot chassis proposed by the present invention.

[0019] Description of the drawings: 100, main unit; 101, load-bearing base; 102, fire-fighting device; 103, connecting block; 200, buffer transmission unit; 201, fixed plate; 202, first fixed shaft; 203, roller; 204, toothed belt; 205, second auxiliary wheel; 206, first buffer spring; 207, connecting plate; 208, second fixed shaft; 209, second buffer spring; 210, upper connecting ring; 211, card 212, support rod; 213, storage box; 214, first auxiliary wheel; 215, transmission groove; 216, arc groove; 217, V-shaped rod; 218, lever; 219, fourth fixed axis; 220, connecting rod; 221, push rod; 222, rotating axis; 223, limit rod; 224, first lower connecting ring; 225, third fixed axis; 226, shock absorber; 300, steering adjustment unit; 301, center rotation 30101, transmission gear; 30102, secondary output shaft; 30103, reverse gear set; 30104, main output shaft; 30105, adjusting planetary gear set; 302, first toggle block; 303, first rubber wheel; 304, driving gear; 305, transmission track; 306, second rubber wheel; 307, fourth rubber wheel; 308, second protective plate; 309, first protective plate; 310, guide rail block ; 311, first spring; 312, mounting block; 313, electric push rod; 314, second spring; 315, L-shaped plate; 316, pulling rod; 317, T-shaped block; 318, moving rod; 319, slot; 320, sliding rod; 321, third spring; 322, insertion block; 323, coordination block; 324, tooth plate; 325, toggle slot; 326, connecting shaft; 327, second toggle block; 328, top wheel. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0023] Next, the present invention will be described in detail with reference to the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be locally enlarged out of the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included. Embodiment 1

[0024] Refer to Figure 1 - Figure 9 , which is an embodiment of the present invention, provides a shock-resistant suspension mechanism for the crawler fire-fighting robot chassis, including a main body unit 100, a buffer conduction unit 200, and a steering adjustment unit 300.

[0025] Among them, the main body unit 100 includes a load-bearing base 101 and a fire-fighting device 102 fixedly connected to the upper surface of the load-bearing base 101. A number of connecting blocks 103 are evenly and symmetrically distributed on both sides of the load-bearing base 101; Next, the buffer conduction unit 200 includes a fixing plate 201 fixedly connected to one side of the connecting block 103 and a first auxiliary wheel 214 rotatably connected to the inner surface of the fixing plate 201 through a rotating shaft. A first fixed shaft 202, a second fixed shaft 208, and a fourth fixed shaft 219 are respectively fixedly connected inside the fixing plate 201. Symmetrically distributed connecting plates 207 are rotatably connected to the outer surface of the second fixed shaft 208. A rotating shaft 222 is rotatably connected inside the connecting plate 207. A roller 203 is rotatably connected to the outer surface of the rotating shaft 222; Finally, the steering adjustment unit 300 includes a central steering component 301 arranged inside the load-bearing base 101 and a driving crawler 305 rotatably connected to the upper surface of the first auxiliary wheel 214. Symmetrically distributed tooth belts 204 are fixedly connected to the inner surface of the driving crawler 305. A driving gear 304 is rotatably connected inside the driving crawler 305. One side of the driving gear 304 is fixedly connected with a connecting shaft 326. A first rubber wheel 303 is fixedly connected to the outer surface of the connecting shaft 326. A second rubber wheel 306 is rotatably connected to one side of the first rubber wheel 303.

[0026] Furthermore, a transmission groove 215 is formed inside the connecting plate 207, and the transmission groove 215 is jointly composed of a straight groove and a curved groove. A push rod 221 is slidably connected inside the transmission groove 215. One side of the push rod 221 is rotatably connected with a connecting rod 220. The connecting rod 220 is rotatably connected to the fourth fixed shaft 219 near one side of the connecting plate 207. Among them, the length ratio of the straight groove and the curved groove inside the transmission groove 215 is 1:3, so that the push rod 221 can make full use of the curved groove to push the next roller 203, thereby performing pre-treatment buffering.

[0027] Furthermore, both ends of the fourth fixed shaft 219 are fixedly connected to one side of the connecting plate 207, and a third fixed shaft 225 is fixedly connected inside the connecting plate 207. The outer surface of the third fixed shaft 225 is rotatably connected to the first lower connecting ring 224, and a shock absorber 226 is fixedly connected to one side of the first lower connecting ring 224, and a first buffer spring 206 is fixedly connected to one side of the first lower connecting ring 224. One end of the shock absorber 226 is fixedly connected to the upper connecting ring 210, and the upper connecting ring 210 is rotatably connected to the first fixed shaft 202. An arc groove 216 is provided in the fixed plate 201, and a lever 218 is slidably connected in the arc groove 216. One group of rotating shafts 222 are rotatably connected to the second lower connecting ring on the outer surface, and the second buffer spring 209 is fixedly connected to the upper surface of the second lower connecting ring. The mutual cooperation between the first buffer spring 206 and the shock absorber 226 is a 6*2 swing arm Christie shock absorbing structure conventionally used in this field, so its working principle is not described in detail here.

[0028] Further, the outer surface of the second fixed shaft 208 is rotatably connected to a V-shaped rod 217, one side of the V-shaped rod 217 is fixedly connected to a lever 218, a limit rod 223 is fixedly connected inside the connecting plate 207, the upper surface of the limit rod 223 is engaged with a locking rod 211, one side of the V-shaped rod 217 is fixedly connected to one side of the locking rod 211, the inner surface of the transmission track 305 is rotatably connected to the second auxiliary wheel 205, the fixed plate 201 is fixedly connected to a storage box 213, and a support rod 212 is telescopically slidable inside the storage box 213 One end of the support rod 212 is rotatably connected to a top wheel 328, wherein the connecting plate 207 is rotated to push the V-shaped rod 217, so that the V-shaped rod 217 drives the lever 218 to rotate in the arc groove 216, so that the lever 218 contacts the tooth plate 324. Further, the lever 218 does not contact the internal toggle groove 325 of the tooth plate 324 under normal conditions, so that it does not affect the operation of the second rubber wheel 306 under normal conditions.

[0029] Working principle: By utilizing the first buffer spring 206, connecting plate 207, transmission groove 215, push rod 221, fourth fixed shaft 219, V-shaped rod 217, and lever 218, the roller 203 rises when it is collided. When the collision is slight, the upward distance of the roller 203 when it is squeezed is limited. Then, the impact force is conducted through the connecting rod 220, causing the connecting rod 220 to drive the push rod 221 to slide in the linear groove inside the transmission groove 215. Thus, only the first buffer spring 206 and the shock absorber 226 can be used for buffering the previous roller 203 alone. When the collision is severe, the upward distance of the roller 203 when it is squeezed will increase. Then, the impact force is conducted through the connecting rod 220, causing the connecting rod 220 to drive the push rod 221 to break through the distance in the linear groove inside the transmission groove 215, and the push rod 221 moves into the curved groove inside the transmission groove 215. Thus, the previous roller 203 pushes the next roller 203 through the push rod 221. To a certain extent, when the next roller 203 contacts the collision, buffer treatment is carried out in advance to prevent the subsequent roller 203 from continuously being strongly impacted by the ground. Through the impact received by the roller 203, the connecting plate 207 can rotate around the second fixed shaft 208. Further, the connecting plate 207 drives the V-shaped rod 217 to rotate through the limiting rod 223. Further, the V-shaped rod 217 drives the lever 218 to rotate in the arc groove 216 on one side of the fixed plate 201, thereby driving and processing the central steering assembly 301; By utilizing the transmission gear 30101, secondary output shaft 30102, reverse gear set 30103, main output shaft 30104, and adjustment planetary gear set 30105, through a conventional drive and steering structure, the overall fire-fighting robot can rotate fully, and to a certain extent, the device can rotate 360° around the center; By utilizing the second spring 314, L-shaped plate 315, pulling rod 316, T-shaped block 317, moving rod 318, and sliding rod 320, when the device needs to move using a single-side crawler, by adjusting the sliding rod 320, the sliding rod 320 adjusts the position of the first rubber wheel 303 through the rotating link. Thus, the central steering assembly 301 can no longer drive a single-side crawler, causing the lever 218 to contact the toothed plate 324, and initially pushing the cooperation block 323. The cooperation block 323 is released from fixation and the sliding rod 320 is continuously fixed through the card slot 319. To a certain extent, when it is necessary to release the drive of the crawler, the restriction on the sliding rod 320 is released through the card slot 319, and the third spring 321 can pull the sliding rod 320, causing the pulling rod 316 to move inside the guide rail block 310, thereby moving it away from the first rubber wheel 303. Embodiment 2

[0030] Reference Figure 3 - Figure 4 and Figure 8 - Figure 9 , compared with the first embodiment, the difference is that: a main output shaft 30104 and a secondary output shaft 30102 are respectively arranged in the central steering assembly 301, one side of the main output shaft 30104 is meshed and connected to the first linkage gear, one side of the secondary output shaft 30102 is meshed and connected to the reversing gear set 30103, both sides of the reversing gear set 30103 are provided with a transmission gear 30101, one side of the transmission gear 30101 is meshed and connected to an adjusting planetary gear set 30105, and the adjusting planetary gear set 30105 is connected to the fourth rubber wheel 307 through an axle, wherein the crawler track is provided with a driving effect through the central steering assembly 301, and the central steering assembly 301 is a steering structure conventionally used in the art, and therefore, its working principle is not described in detail.

[0031] Furthermore, a first toggle block 302 is fixedly connected to one side of the first rubber wheel 303, an outer surface of the top wheel 328 is rotatably connected to the inner surface of the transmission track 305, a first protective plate 309 is fixedly connected to one side of the second rubber wheel 306, a second protective plate 308 is fixedly connected to one side of the first protective plate 309 through a third rubber wheel, a second toggle block 327 is fixedly connected to one side of the first protective plate 309, and one side of the third rubber wheel is rotatably connected to one side of the fourth rubber wheel 307, an inner diameter of the first protective plate 309 is larger than an inner diameter of the second protective plate 308, wherein the surfaces of the first rubber wheel 303, the second rubber wheel 306, the third rubber wheel and the fourth rubber wheel 307 are all provided with vulcanized anti-skid patterns with a depth of 2 mm, and multiple groups of toggle blocks are used to make the first rubber wheel 303 and the second rubber wheel 306 separate and contact each other when they are separated again, so that rapid transmission can be performed by utilizing the toggle blocks to avoid excessive slipping of the rubber wheels in the initial stage.

[0032] Furthermore, a linkage shaft is provided in the second rubber wheel 306 and the third rubber wheel, and a pulling rod 316 is fixedly connected to the outer surface of the linkage shaft, a T-shaped block 317 is fixedly connected to one side of the pulling rod 316, a first spring 311 is fixedly connected to one side of the T-shaped block 317, and the first spring 311 is fixedly connected to the inside of the guide block 310 at one end away from the T-shaped block 317, a moving rod 318 is slidably connected in the guide block 310, and one end of the moving rod 318 is fixedly connected to the sliding rod 320 through a rotating connecting rod, and L-shaped plates 315 are fixedly connected on both sides of the load-bearing base 101, and the L-shaped plate 315 is fixedly connected to one end of the second spring 314, wherein the movement of the pulling rod 316 is used to process which side of the crawler track of the equipment currently needs to stop moving, and further, the second spring 314 arranged in the L-shaped plate 315 makes the cooperative block 323 quickly pushed back when it is moved.

[0033] Furthermore, the other end of the second spring 314 is fixedly connected to a cooperation block 323, and the cooperation block 323 is fixedly connected to a third spring 321, and one end of the third spring 321 is fixedly connected to one end of the sliding rod 320. The load-bearing base 101 is fixedly connected to mounting blocks 312 on both sides, and the lower surface of the mounting block 312 is fixedly connected to an electric push rod 313, and the lower surface of the electric push rod 313 is fixedly connected to an insertion block 322. A slot 319 is provided on one side of the sliding rod 320 close to the load-bearing base 101, and the upper surface of the cooperation block 323 is fixedly connected to the electric push rod 313. A card slot 319 matching the sliding rod 320 is provided, and a tooth plate 324 is fixedly connected to one side of the cooperative block 323. A toggle slot 325 is provided in the tooth plate 324, wherein an insertion block 322 structure adapted to the card slot 319 on one side of the sliding rod 320 is also provided in the load-bearing base 101. Furthermore, the sliding rod 320 and the cooperative block 323 can be respectively engaged and fixed, and then the sliding rod 320 can be released as needed, thereby preventing the sliding rod 320 from moving at will and causing the equipment to be unable to be used normally.

[0034] Working principle: First, in the initial buffering stage (slight impact), when the roller 203 contacts the ground protrusion or rubble, it is subjected to an upward impact force, driving the rotating shaft 222 to rotate around the second fixed shaft 208, pushing the connecting plate 207 to move upward, and the connecting plate 207 guides the push rod 221 to slide through the linear groove in the transmission groove 215. The impact force is transmitted to the first buffer spring 206 and the shock absorber 226 through the connecting rod 220, completing the independent buffering of the single roller 203. At this time, the V-shaped rod 217 is constrained by the limiting rod 223, and the lever 218 remains stationary in the arc groove 216, and does not trigger the steering adjustment unit 300 to move. The linkage buffering stage (severe impact) Impact), if the impact force exceeds the threshold, the roller 203 is greatly lifted, and the push rod 221 enters the curved groove from the straight groove of the transmission groove 215 (length ratio 1:3), forcing the previous roller 203 to push the next roller 203 to be lifted in advance through the push rod 221, and multiple rollers 203 cooperate in buffering: the rear roller 203 has pre-compressed the second buffer spring 209 before contacting the obstacle, forming a "pre-loaded" buffering effect, reducing the vibration transmission of continuous impact to the fuselage, when the connecting plate 207 rotates greatly, the limit rod 223 pushes the V-shaped rod 217 to rotate, driving the lever 218 to move along the arc groove 216, triggering the dynamic response of the steering adjustment unit 300; Secondly, the central steering assembly 301 drives the reverse gear set 30103 through the main output shaft 30104, and the power is divided to the transmission gears 30101 on both sides, and then distributed to the fourth rubber wheel 307 by adjusting the planetary gear set 30105. The reverse gear set 30103 ensures that the crawlers on both sides rotate in the opposite direction. The planetary gear set 30105 is adjusted to drive the fourth rubber wheel 307 through the shaft rod to achieve precise control of the crawler power output. When the crawler on one side needs to stop driving, the electric push rod 313 is started to push the insertion block 322 out of the slot 319 of the sliding rod 320, and the third spring 321 rebounds and pulls the sliding rod 320 to move, and the first rubber wheel 303 is driven to separate from the second rubber wheel 306 by rotating the connecting rod, and the first toggle block 302 of the first rubber wheel 303 is separated from the second toggle block 327 of the second rubber wheel 306, and at the same time, it is avoided that the crawlers slip when they are in contact again after being completely separated, so as to ensure smooth power switching; Finally, the first protective plate 309 and the second protective plate 308 are flexibly connected through the third rubber wheel. When the track is subjected to a lateral impact, the protective plate rubs against the surface of the other rubber wheel through the vulcanized anti-skid pattern to disperse the impact force. The electric push rod 313 engages with the slot 319 of the cooperative block 323 through the insertion block 322 to lock the position of the sliding rod 320 to prevent non-command displacement. When the lock is released, the insertion block 322 retracts, and the sliding rod 320 moves under the pulling force of the third spring 321, synchronously driving the L-shaped plate 315 to compress the second spring 314, forming a buffer space to avoid mechanical impact.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A chassis anti-impact suspension mechanism for a crawler fire-fighting robot, characterized in that: The anti-shock suspension mechanism comprises: A main unit (100) comprises a load-bearing base (101) and a fire-fighting device (102) fixedly connected to the upper surface of the load-bearing base (101), wherein a plurality of connecting blocks (103) are symmetrically distributed at equal distances on both sides of the load-bearing base (101); A buffer conduction unit (200), comprising a connecting block (103) fixedly connected to a fixed plate (201) on one side thereof, and a first auxiliary wheel (214) rotatably connected to the inner surface of the fixed plate (201) via a rotating shaft, wherein a first fixed shaft (202), a second fixed shaft (208) and a fourth fixed shaft (219) are respectively fixedly connected in the fixed plate (201), the outer surface of the second fixed shaft (208) is rotatably connected to symmetrically distributed connecting plates (207), the inner surface of the connecting plate (207) is rotatably connected to a rotating shaft (222), and the outer surface of the rotating shaft (222) is rotatably connected to a roller (203); A steering adjustment unit (300) comprises a load-bearing base (101) provided with a central steering assembly (301) and a transmission track (305) rotatably connected to the upper surface of a first auxiliary wheel (214), the inner surface of the transmission track (305) being fixedly connected to a symmetrically distributed toothed belt (204), the inner surface of the transmission track (305) being rotatably connected to a driving gear (304), one side of the driving gear (304) being fixedly connected to a connecting shaft (326), the outer surface of the connecting shaft (326) being fixedly connected to a first rubber wheel (303), and one side of the first rubber wheel (303) being rotatably connected to a second rubber wheel (306).

2. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 1, characterized in that: A transmission groove (215) is provided in the connecting plate (207), and the transmission groove (215) is composed of a straight groove and a curved groove. A push rod (221) is slidably connected in the transmission groove (215), one side of the push rod (221) is rotatably connected to a connecting rod (220), and the side of the connecting rod (220) close to the connecting plate (207) is rotatably connected to a fourth fixed shaft (219).

3. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 2 is characterized in that: Both ends of the fourth fixed shaft (219) are fixedly connected to one side of the connecting plate (207); a third fixed shaft (225) is fixedly connected inside the connecting plate (207); a first lower connecting ring (224) is rotatably connected to the outer surface of the third fixed shaft (225); and a shock absorber (226) is fixedly connected to one side of the first lower connecting ring (224).

4. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 3 is characterized in that: A first buffer spring (206) is fixedly connected to one side of the first lower connecting ring (224), an upper connecting ring (210) is fixedly connected to one end of the shock absorber (226), the upper connecting ring (210) is rotatably connected to the first fixed shaft (202), an arc groove (216) is provided in the fixed plate (201), a lever (218) is slidably connected in the arc groove (216), a second lower connecting ring is rotatably connected to the outer surface of one group of the rotating shafts (222), and a second buffer spring (209) is fixedly connected to the upper surface of the second lower connecting ring.

5. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 1, characterized in that: The outer surface of the second fixed shaft (208) is rotatably connected to a V-shaped rod (217), one side of the V-shaped rod (217) is fixedly connected to a shifting rod (218), a limiting rod (223) is fixedly connected inside the connecting plate (207), an upper surface of the limiting rod (223) is snap-connected to a snap-fit ​​rod (211), and one side of the V-shaped rod (217) is fixedly connected to one side of the snap-fit ​​rod (211).

6. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 1, characterized in that: The inner surface of the transmission crawler (305) is rotatably connected to a second auxiliary wheel (205); a storage box (213) is fixedly connected inside the fixed plate (201); a support rod (212) is telescopically slidable inside the storage box (213); and a top wheel (328) is rotatably connected inside one end of the support rod (212).

7. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 1, characterized in that: A main output shaft (30104) and a secondary output shaft (30102) are respectively arranged in the central steering assembly (301), one side of the main output shaft (30104) is meshedly connected to the first linkage gear, one side of the secondary output shaft (30102) is meshedly connected to a reversing gear set (30103), both sides of the reversing gear set (30103) are provided with transmission gears (30101), one side of the transmission gear (30101) is meshedly connected to an adjusting planetary gear set (30105), and the adjusting planetary gear set (30105) is connected to a fourth rubber wheel (307) via a shaft.

8. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 6, characterized in that: One side of the first rubber wheel (303) is fixedly connected to a first toggle block (302); the outer surface of the top wheel (328) is rotatably connected to the inner surface of the drive track (305); one side of the second rubber wheel (306) is fixedly connected to a first protective plate (309); one side of the first protective plate (309) is fixedly connected to a second protective plate (308) via a third rubber wheel; one side of the first protective plate (309) is fixedly connected to a second toggle block (327); one side of the third rubber wheel is rotatably connected to one side of the fourth rubber wheel (307); and the inner diameter of the first protective plate (309) is greater than the inner diameter of the second protective plate (308).

9. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 8, characterized in that: The second rubber wheel (306) and the third rubber wheel are both provided with linkage shafts, and the outer surface of the linkage shaft is fixedly connected to a pulling rod (316), one side of the pulling rod (316) is fixedly connected to a T-shaped block (317), one side of the T-shaped block (317) is fixedly connected to a first spring (311), one end of the first spring (311) away from the T-shaped block (317) is fixedly connected to the inside of the guide rail block (310), a moving rod (318) is slidably connected to the inside of the guide rail block (310), one end of the moving rod (318) is fixedly connected to a sliding rod (320) via a rotating connecting rod, and both sides of the load-bearing base (101) are fixedly connected to L-shaped plates (315), and the inside of the L-shaped plate (315) is fixedly connected to one end of the second spring (314).

10. The chassis anti-impact suspension mechanism of a crawler-type fire-fighting robot according to claim 9, characterized in that: The other end of the second spring (314) is fixedly connected to a cooperation block (323), a third spring (321) is fixedly connected inside the cooperation block (323), one end of the third spring (321) is fixedly connected to one end of the sliding rod (320), both sides of the load-bearing base (101) are fixedly connected to mounting blocks (312), the lower surface of the mounting block (312) is fixedly connected to an electric push rod (313), the lower surface of the electric push rod (313) is fixedly connected to an insertion block (322), a slot (319) is provided on a side of the sliding rod (320) close to the load-bearing base (101), and a slot (319) matching the sliding rod (320) is provided on an upper surface of the cooperation block (323), a tooth plate (324) is fixedly connected to one side of the cooperation block (323), and a toggle slot (325) is provided inside the tooth plate (324).

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