Chassis mechanism of fire-fighting robot

Abstract

The invention relates to the field of fire-fighting robots, in particular to a fire-fighting robot chassis mechanism which is characterized in that mounting frames are arranged on the two sides of a machine body in the width direction, are driven by a power component and move in the width direction of the machine body, lifting air cylinders are mounted on the mounting frames, and piston rods of the lifting air cylinders extend downwards and are fixedly provided with supporting bottom plates; the supporting bottom plate is provided with a cleaning part used for removing sundries below the supporting bottom plate, an adjusting plate is further movably installed on the supporting bottom plate and is in a long strip shape extending in the length direction of the machine body, and a plurality of barbed nails which are evenly arranged at intervals in the length direction of the adjusting plate are fixedly installed at the bottom of the adjusting plate; adjusting plates are driven to move downwards relative to a supporting bottom plate through contraction of an adjusting air cylinder, the adjusting plates on the left side and the right side of a machine body drive a plurality of barbed nails at the bottoms of the adjusting plates to penetrate through corresponding receding holes and be inserted into the ground, and the machine body can be effectively fixed through the barbed nails; and displacement of the fire-fighting robot caused by counter-acting force in the water spraying process is avoided.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting robots, and in particular to a chassis structure of a fire-fighting robot. Background Art

[0002] As a type of special robot, firefighting robots are playing an increasingly important role in firefighting and emergency rescue.

[0003] In the prior art, the utility model patent with application number CN202022547515.7 discloses a tracked fire-fighting robot. Through the lifting rod and insert, the rod and insert can be inserted into the soil when the tracked fire-fighting robot moves to the designated position, thereby fixing the tracked fire-fighting robot and avoiding the problem of backward movement due to the reaction force generated by the water flow during the water spraying process.

[0004] However, the above-mentioned crawler-type fire-fighting robot is only provided with a single insertion rod at the front and rear ends of the fuselage, which has a weak fixing effect on the crawler-type fire-fighting robot and needs to be improved. Summary of the Invention

[0005] The purpose of the present invention is to provide a fire-fighting robot chassis mechanism that can more effectively fix the fire-fighting robot to solve the defects of the robot in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A fire-fighting robot chassis mechanism includes a fuselage, walking mechanisms are respectively provided on both sides of the fuselage in the width direction, mounting frames are respectively provided on both sides of the fuselage in the width direction, the mounting frames are driven by power components and move along the width direction of the fuselage, a lifting cylinder is installed on the mounting frame, the piston rod of the lifting cylinder extends downward and is fixedly installed with a supporting base plate, a cleaning component for removing debris therefrom is provided on the supporting base plate, and an adjustment plate is also movably installed on the supporting base plate, the adjustment plate is in the shape of a long strip extending along the length direction of the fuselage, and a plurality of spikes evenly spaced along its length direction are fixedly installed on the bottom of the adjustment plate.

[0008] As a preferred technical solution, the cleaning component includes a push plate fixedly mounted on a side of the support base away from the fuselage, the push plate is in the shape of an elongated strip extending along the length direction of the fuselage, and the push plate is located in a vertical plane.

[0009] As a preferred technical solution, the lower end of the push plate is provided with a blade portion extending downwardly and obliquely away from the fuselage, and the blade portion protrudes from the bottom of the supporting base plate.

[0010] As an optimal technical solution, an upward-extending mounting plate is fixedly installed on the side of the support base plate facing away from the fuselage, the mounting plate is provided with a mounting hole set horizontally through, the push plate is provided with a waist hole set horizontally through, and a locking bolt passes through the mounting hole and the waist hole and is screwed with a locking nut.

[0011] As a preferred technical solution, a vertically extending guide column is fixedly mounted on the top of the support base plate, and a guide sleeve matching the guide column is fixedly mounted on the mounting frame.

[0012] As a preferred technical solution, the adjustment plate is vertically slidably mounted on the guide column located between the support base plate and the guide sleeve, and the support base plate is provided with an avoidance hole for the thorn nail to pass through.

[0013] As a preferred technical solution, an adjusting cylinder is installed on the adjusting plate, and the piston rod of the adjusting cylinder extends downward and is fixedly installed on the supporting base plate.

[0014] As a preferred technical solution, the power component includes a horizontally movable cylinder mounted on the fuselage, and the horizontally movable cylinder extends along the width direction of the fuselage and is fixedly mounted on the mounting frame.

[0015] As a preferred technical solution, a movable column extending along the width direction of the fuselage is fixedly installed on the side of the mounting frame close to the fuselage, and a sleeve matching the movable column is fixedly installed on the fuselage, and the movable column is inserted into the sleeve.

[0016] As a preferred technical solution, the walking mechanism is a crawler walking mechanism.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. During the operation of this application, when the support base plate touches the ground downward, the horizontal moving cylinder is extended to drive the mounting frame to move away from the fuselage. The mounting frame drives the support base plate and the push plate to move away from the fuselage simultaneously. During this process, the push plate pushes away stones and other debris under the support base plate so that subsequent spikes can be smoothly inserted into the ground. At the same time, the push plate can flatten the ground under the support base plate, so that multiple spikes can be stably inserted into the ground, thereby improving the stability of the fuselage fixation.

[0019] 2. By adjusting the cylinder to contract, the adjustment plate is driven to move downward relative to the supporting base plate. The adjustment plates on the left and right sides of the fuselage respectively drive multiple spikes at the bottom thereof to pass through the corresponding avoidance holes and insert into the ground. The multiple spikes can effectively fix the fuselage to prevent the fire-fighting robot from being displaced by the reaction force during the water spraying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 yes Figure 1 A front view schematic diagram of

[0023] Figure 3 1. It is a structural diagram of the mounting frame;

[0024] Figure 4 It is a structural diagram of the push plate.

[0025] In the figure: 1- fuselage; 2- walking mechanism; 3- mounting frame; 4- horizontal moving cylinder; 5- movable column; 6- sleeve; 7- lifting cylinder; 8- supporting base plate; 9- guide column; 10- guide sleeve; 11- adjusting plate; 12- spike; 13- adjusting cylinder; 14- push plate; 15- blade; 16- mounting plate; 17- mounting hole; 18- waist hole; 19- locking bolt; 20- locking nut. DETAILED DESCRIPTION

[0026] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] like Figures 1 to 4 As shown, a firefighting robot chassis includes a body 1 with running mechanisms 2 provided on either side of the body 1 in the width direction. Specifically, the running mechanisms 2 are crawler running mechanisms, with two sets of crawler running mechanisms provided on the left and right sides of the body 1, respectively. The crawler running mechanisms improve the maneuverability of the firefighting robot.

[0028] Mounting frames 3 are provided on both sides of the width of the fuselage 1. These mounting frames 3 are driven by a power component and move left and right along the width of the fuselage 1. Specifically, the two mounting frames 3 are provided on the left and right sides of the fuselage 1, respectively, and are located above the corresponding running mechanisms 2. The power component includes a horizontally movable cylinder 4 mounted on the fuselage 1. In this embodiment, two horizontally movable cylinders 4, arranged opposite each other on the front and rear ends of the fuselage 1, are provided. The cylinder bodies of the horizontally movable cylinders 4 are fixedly mounted on the fuselage 1 via bolts. The piston rod of the horizontally movable cylinder 4 on the left side extends horizontally to the left, while the piston rod of the horizontally movable cylinder 4 on the right side extends horizontally to the right. The mounting frames 3 are fixedly mounted on the piston rods of the two horizontally movable cylinders 4 on the corresponding side via bolts. The mounting frames 3 are moved away from the fuselage 1 by the extension of the horizontally movable cylinders 4, and moved toward the fuselage 1 by the contraction of the horizontally movable cylinders 4.

[0029] In this embodiment, a movable column 5 extending left and right along the width direction of the fuselage 1 is welded or fixed by bolts on one side of the mounting frame 3 close to the fuselage 1. Specifically, two movable columns 5 are provided in parallel front and back. Sleeves 6 matching the movable columns 5 are fixed by bolts on the left and right sides of the fuselage 1 respectively. The movable columns 5 are inserted into the corresponding sleeves 6, thereby improving the stability of the connection between the mounting frame 3 and the fuselage 1.

[0030] Mounting frame 3 is equipped with a lifting cylinder 7. The cylinder body of lifting cylinder 7 is bolted to the center of the side of mounting frame 3 facing away from the fuselage 1. The piston rod of lifting cylinder 7 extends downward and is bolted to a support base plate 8. Support base plate 8 is equipped with a cleaning device for removing debris from beneath it. To enhance the stability of support base plate 8 during lifting, vertically extending guide posts 9 are bolted to the front and rear ends of the top of support base plate 8. Guide sleeves 10, corresponding to each guide post 9, are bolted to the side of mounting frame 3 facing away from the fuselage. Guide posts 9 slide within their corresponding guide sleeves 10.

[0031] like Figure 3 As shown, an adjustment plate 11 is also movably mounted on the support base plate 8. The adjustment plate 11 is in the form of an elongated strip extending forward and backward along the length of the fuselage 1. A plurality of spikes 12 are welded to the bottom of the adjustment plate 11, evenly spaced along its length. In this embodiment, the adjustment plate 11 is vertically slidably mounted on a guide post 9 located between the support base plate 8 and the guide sleeve 10, allowing the adjustment plate 11 to move up and down relative to the support base plate 8. The piston rod of the lifting cylinder 7 passes through the adjustment plate 11. The support base plate 8 is provided with a clearance hole for the spikes 12 to pass through. Adjustment cylinders 13 are mounted on the adjustment plate 11. Two adjustment cylinders 13 are symmetrically arranged front to back. The cylinder bodies of the adjustment cylinders 13 are fixed to the adjustment plate 11 via bolts. The piston rods of the adjustment cylinders 13 extend downward and are also fixed to the support base plate 8 via bolts.

[0032] The cleaning component includes a push plate 14 fixedly mounted on the side of the support base 8 facing away from the fuselage 1. The push plate 14 is in the shape of an elongated strip extending forward and backward along the length direction of the fuselage 1. The push plate 14 is located in a vertical plane.

[0033] like Figure 2 As shown, in order to enable the push plate 14 to efficiently remove debris under the supporting base plate 8, the lower end of the push plate 14 is integrally formed with a blade 15 that extends downward and obliquely away from the fuselage 1, and the blade 15 protrudes from the bottom of the supporting base plate 8.

[0034] like Figure 4 As shown, in order to facilitate the replacement of the push plate 14 after it is damaged, an upwardly extending mounting plate 16 is integrally formed on the side of the support base plate 8 facing away from the fuselage 1, and a mounting hole 17 is provided on the mounting plate 16 that is arranged horizontally through, and two mounting holes 17 are symmetrically arranged front to back; a horizontally extending waist hole 18 is provided on the push plate 14, and the waist hole 18 corresponds to the mounting hole 17 one by one, and the waist hole 18 is a long strip extending vertically in the length direction, so as to adjust the installation position of the push plate 14 up and down; two locking bolts 19 pass through the corresponding mounting holes 17 and waist holes 18 respectively and are screwed with locking nuts 20.

[0035] In the initial state, the regulating cylinder 13 is in an extended state, and the piercing spike 12 is retracted above the supporting base plate 8 . When the fire-fighting robot moves to the predetermined position, the lifting cylinder 7 is first extended to drive the supporting base plate 8 and the push plate 14 to move downward, so that the supporting base plate 8 touches the ground downward; then the horizontal moving cylinder 4 is extended to drive the mounting frame 3 to move to the side away from the fuselage 1, and the mounting frame 3 drives the supporting base plate 8 and the push plate 14 to move synchronously to the side away from the fuselage 1. In this process, the push plate 14 pushes away stones and other debris under the supporting base plate 8 so that the subsequent thorn spikes 12 can be smoothly inserted into the ground. At the same time, the push plate 14 can flatten the ground under the supporting base plate 8 so that multiple thorn spikes 12 can be stably inserted into the ground; finally, the adjusting cylinder 13 is contracted to drive the adjusting plate 11 to move downward relative to the supporting base plate 8, and the adjusting plate 11 drives multiple thorn spikes at its bottom to pass through the corresponding avoidance holes and insert into the ground. The multiple thorn spikes 12 can effectively fix the fuselage 1, preventing the fire-fighting robot from being displaced by the reaction force during the water spraying process.

[0036] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A firefighting robot chassis structure, comprising a fuselage, with walking mechanisms provided on both sides of the fuselage in the width direction, characterized in that: Mounting frames are provided on both sides of the width direction of the fuselage, and the mounting frames are driven by power components and move along the width direction of the fuselage. A lifting cylinder is installed on the mounting frame, and the piston rod of the lifting cylinder extends downward and is fixedly installed with a supporting base plate. A cleaning component for removing debris thereunder is provided on the supporting base plate, and an adjustment plate is movably installed on the supporting base plate. The adjustment plate is in the shape of a long strip extending along the length direction of the fuselage, and a plurality of spikes evenly spaced along its length direction are fixedly installed on the bottom of the adjustment plate.

2. A firefighting robot chassis structure according to claim 1, characterized in that: The cleaning component includes a push plate fixedly mounted on a side of the supporting base plate facing away from the fuselage. The push plate is in the shape of an elongated strip extending along the length direction of the fuselage and is located in a vertical plane.

3. The firefighting robot chassis structure according to claim 2, characterized in that: The lower end of the push plate is provided with a blade portion which extends downward and obliquely away from the fuselage, and the blade portion protrudes from the bottom of the supporting base plate.

4. The firefighting robot chassis structure according to claim 2, characterized in that: A mounting plate extending upward is fixedly mounted on the side of the support base away from the fuselage, the mounting plate is provided with a mounting hole arranged transversely therethrough, the push plate is provided with a waist hole arranged transversely therethrough, a locking bolt passes through the mounting hole and the waist hole and is screwed with a locking nut.

5. The firefighting robot chassis structure according to claim 1, characterized in that: A vertically extending guide column is fixedly mounted on the top of the support base plate, and a guide sleeve matching the guide column is fixedly mounted on the mounting frame.

6. The firefighting robot chassis structure according to claim 4, characterized in that: The adjusting plate is vertically slidably mounted on the guide column between the supporting base plate and the guide sleeve, and the supporting base plate is provided with an avoidance hole for the thorn nail to pass through.

7. The firefighting robot chassis structure according to claim 5, characterized in that: An adjusting cylinder is installed on the adjusting plate, and a piston rod of the adjusting cylinder extends downward and is fixedly installed on the supporting base plate.

8. The firefighting robot chassis structure according to claim 1, characterized in that: The power component comprises a horizontally movable cylinder mounted on the fuselage. The horizontally movable cylinder extends along the width direction of the fuselage and is fixedly mounted on the mounting frame.

9. The firefighting robot chassis structure according to claim 8, characterized in that: A movable column extending along the width direction of the fuselage is fixedly mounted on one side of the mounting frame close to the fuselage, a sleeve matching the movable column is fixedly mounted on the fuselage, and the movable column is inserted into the sleeve.

10. The firefighting robot chassis structure according to claim 1, characterized in that: The walking mechanism is a crawler walking mechanism.

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