Wheeled robot driving wheel and wheeled robot

Abstract

The invention discloses a wheeled robot driving wheel and a wheeled robot, and belongs to the technical field of wheeled robos.The wheeled robot comprises a water tank bearing body used for bearing the whole equipment, and two symmetrically-arranged power driving boxes used for providing power are fixedly connected to the two sides of the water tank bearing body; a field monitoring module is fixedly connected to any side of the upper surface of the water tank bearing body, and a fire extinguishing high-pressure water gun is fixedly connected to the side, away from the field monitoring module, of the water tank bearing body. The on-site monitoring module is arranged, the over-temperature automatic alarm system can be used for monitoring the temperature of the robot and automatically giving an alarm when the temperature exceeds a set value, the fire extinguishing robot can be conveniently and technically controlled to withdraw from a fire source center, and the infrared thermal imaging system is used for detecting temperature distribution of a fire scene and helping to position a fire source. The laser indicating system is used for indicating the position of the fire source or carrying out accurate aiming, and the video reconnaissance system is used for monitoring the situation of a fire scene in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of wheeled robots, and in particular relates to a wheeled robot driving wheel and a wheeled robot. Background Art

[0002] A wheeled robot is a robot that moves on wheels. It is efficient, stable and flexible and is widely used in industry, services, exploration, military and other fields. Wheeled robots can replace many behaviors that cannot be controlled by human power, such as fire-fighting wheeled robots. In the existing technology, wheeled fire-fighting robots are used to improve fire-fighting efficiency when urban roads or factory roads are good. They have good maneuverability, but when a fire occurs in the suburbs or mountainous areas, the terrain is relatively complex, and the fire-fighting road may be a muddy path or a rugged wilderness. The travel efficiency of wheeled robots is low, and they are unstable during travel, which can easily cause slipping. Therefore, tracked fire-fighting robots are mostly used. This requires emergency rescue units to prepare fire-fighting robots with two travel modes, resulting in high emergency preparedness costs, and when a robot with one travel mode cannot be used, the number of robots with another mode may be insufficient. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a wheeled robot device with integrated wheels and tracks.

[0004] The technical solution adopted to solve the above technical problems is: a wheeled robot, including a water tank carrier for carrying the entire equipment, two symmetrically arranged power drive boxes for providing power are fixedly connected on both sides of the water tank carrier, an on-site monitoring module is fixedly connected on either side of the upper surface of the water tank carrier, and a fire-extinguishing high-pressure water gun is fixedly connected on the side of the water tank carrier away from the on-site monitoring module.

[0005] Through the above technical solution, the water tank carrier can hold fire extinguishing carriers such as dry powder, foam or water. When moved to the designated position, the fire can be extinguished by aiming the fire point with a high-pressure water gun. The on-site monitoring module can monitor various on-site situations, facilitate comprehensive judgment of the fire situation, and timely change the appropriate rescue plan.

[0006] Furthermore, the fire-fighting high-pressure water gun is connected to the water tank carrier through a high-pressure water pump. The on-site monitoring module includes an over-temperature automatic alarm system, an infrared thermal imaging system, a laser indication system and a video reconnaissance system. The over-temperature automatic alarm system is used to monitor the robot temperature and automatically alarm when it exceeds the set value, so as to facilitate technical control of the fire-fighting robot to withdraw from the fire source center; the infrared thermal imaging system is used to detect the temperature distribution at the fire scene and help locate the fire source; the laser indication system is used to indicate the location of the fire source or perform precise aiming; the video reconnaissance system is used to monitor the fire scene situation in real time. A lighting system is provided on the side of the water tank carrier close to the fire-fighting high-pressure water gun.

[0007] Through the above technical solution, the high-pressure water pump can extract the fire extinguishing carrier in the water tank carrier and spray it out at high pressure through the fire extinguishing high-pressure water gun to achieve the purpose of fire extinguishing. The lighting system can provide light source to provide lighting for the movement of the water tank carrier and provide lighting for the video reconnaissance system of the on-site monitoring module, facilitating comprehensive investigation of the on-site situation.

[0008] A wheeled robot drive wheel comprises a drive wheel structure connected to a power drive box, and the drive wheel structure includes a widened solid wheel hub, a fixed support structure with a folding and storage function is provided on the side of the widened solid wheel hub away from the power drive box, and two symmetrically arranged track wheel structures are fixedly connected to the positions on both sides of the power drive box.

[0009] Through the above technical solution, the driving wheel structure can support the entire equipment and move the equipment at the same time. The widened solid wheel hub serves as the supporting body of the driving wheel, and can also accommodate the fixed support structure to avoid the fixed support structure affecting the normal movement of the driving tire. The fixed support structure can support and fix the outer track wheel, which is convenient for installing the traveling track. The track auxiliary wheel structure can support the track auxiliary wheel structure and increase the working area of the traveling track, making the traveling track run more stable.

[0010] Furthermore, the fixed support structure includes a plurality of circumferentially distributed storage grooves opened on the side of the widened solid wheel hub, and a plurality of the storage grooves are inclined away from the center of the widened solid wheel hub. The two parallel inner walls of the storage grooves are rotatably connected to the storage support plate near the inclined surface. The inner wall position of the storage support plate is slidably connected to the telescopic support plate, and the upper surface position of the telescopic support plate is fixedly connected to the fixed mounting frame plate. The surface of the fixed mounting frame plate is arranged in an arc shape, and the outer track wheels are fixedly installed on the outer wall positions of the plurality of the fixed mounting frame plates on the same side by bolts.

[0011] The foldable wheel frame is adapted to be folded and stowed when the wheel frame is not in use and the foldable wheel frame is adapted to be folded and stowed when the wheel frame is not in use and the foldable wheel frame is adapted to be folded and stowed when the wheel frame is not in use and the foldable wheel frame is adapted to be folded and stowed when the wheel frame is not in use and the foldable wheel frame is adapted to be folded and stowed when the wheel frame is not in use and the foldable wheel frame is adapted to be folded and stowed when the wheel frame is

[0012] Furthermore, the track wheel structure includes a fixed support frame fixedly connected to both ends of the power drive box, fixed support shafts are rotatably connected to both sides of the fixed support frame, track support wheels are fixedly connected to the fixed support shafts, and a traveling track is installed between the two track support wheels and the two outer track wheels on the same side.

[0013] Through the above technical solution, the fixed support frame can effectively support the fixed support shaft and the track support wheel, improve their force strength, and the fixed support shaft can be rotated at the position of the fixed support frame, so that the track support wheel can be rotated, which can facilitate the movement of the traveling track.

[0014] Furthermore, an assembly instrument bin is provided at the middle position of the two power drive boxes, and a sealed door is provided at the assembly instrument bin position, a power supply is provided on the inner wall of the power drive box, and a motor drive structure is provided on both sides of the power drive box, and the drive shaft of the motor drive structure passes through the side wall of the power drive box and is fixedly connected to the center position of the widened solid wheel hub at the corresponding position.

[0015] Through the above technical solution, after the storage support plate and the telescopic support plate are folded, the assembly equipment compartment can store the tightened threaded columns, fixed support links and tightened positioning nuts to avoid the loss of some parts after folding. At the same time, it is convenient to quickly take out the assembly parts to unfold the storage support plate and the telescopic support plate. The power supply can provide electrical energy for the motor drive structure, on-site monitoring module, lighting system and high-pressure water pump. The motor drive structure provides power for the widened solid wheel hub, so that the drive tires and travel tracks can obtain power for driving.

[0016] Furthermore, the widened solid hub side wall is fixedly connected to two symmetrically arranged second through-seats on both sides of one end of the inclined surface away from the storage slide, and the telescopic support plate is fixedly connected to a first through-seat at the middle position of the lower surface of the side away from the storage support plate, and two symmetrically arranged fixed support links are provided on both sides of the first through-seat and the corresponding second through-seat away from the storage slide.

[0017] Through the above technical solution, the first through-seat and the second through-seat can support the telescopic support plate and the storage support plate through the fixed support connecting rod, and clamp and fix them by tightening the positioning nut and tightening the threaded column, so as to support and fix the outer track wheel.

[0018] Furthermore, the first through-seat and the second through-seat are slidably connected with a tightening threaded column, and the tightening threaded column and the corresponding fixed support connecting rod are slidably connected, and the two ends of the tightening threaded column are threadedly connected with tightening positioning nuts for clamping the fixed support connecting rod.

[0019] Furthermore, a driving tire is installed at the position of the widened solid wheel hub, and an attracting magnet for attracting the receiving support plate and the telescopic support plate is fixedly connected to the inner wall of the receiving slide.

[0020] Through the above technical solution, the driving tire is a rubber wheel, which can achieve wheeled travel after installation. When the storage support plate and the telescopic support plate are stored, they can be assisted by the attraction and fixation of the attraction magnet to avoid the storage support plate and the telescopic support plate popping out during travel and affecting normal travel. The widened solid wheel hub is made of aluminum alloy material, which has high strength and light weight.

[0021] The beneficial effects of the present invention are as follows: (1) The present invention sets an on-site monitoring module, which can monitor the robot temperature through an over-temperature automatic alarm system, automatically alarm when the temperature exceeds the set value, and facilitate technical control of the fire-fighting robot to withdraw from the center of the fire source. The infrared thermal imaging system is used to detect the temperature distribution at the fire scene, help locate the fire source, accurately locate the fire source and extinguish the fire, the laser indication system is used to indicate the location of the fire source or perform precise aiming, and the video reconnaissance system is used to monitor the fire scene in real time; (2) The present invention sets a driving wheel structure, which can directly use the widened solid wheel hub to match the driving tire to move when the traffic conditions are relatively good, which can effectively improve the travel efficiency. If the road conditions are relatively bad in mountainous areas, the fixed mounting frame can be unfolded, and the outer crawler wheel and the travel crawler can be installed, so that a robot with wheels and tracks can be integrated, with a high pass rate and more stable travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a first-view structural diagram of a wheeled robot driving wheel and the wheeled robot after assembly according to the present invention; Figure 2 This is a second perspective structural diagram of a wheeled robot driving wheel and the wheeled robot after assembly according to the present invention; Figure 3 This is a structural schematic diagram of a wheeled robot in a folded state of its driving wheels; Figure 4 This is a schematic diagram of the three-dimensional structure of a crawler wheel structure of a wheeled robot according to the present invention; Figure 5 This is a schematic diagram of the assembly structure of a wheeled robot driving wheel in an unfolded state according to the present invention; Figure 6 This is a schematic structural diagram of a wheeled robot driving wheel in an unfolded state according to the present invention; Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0023] Figure numerals: 1. Water tank carrier; 2. On-site monitoring module; 3. Fire-fighting high-pressure water gun; 4. Track auxiliary wheel structure; 40. Fixed support frame; 41. Fixed support shaft; 42. Track support wheel; 5. Power drive box; 6. Traveling track; 7. Drive wheel structure; 70. Outer track wheel; 71. Widened solid wheel hub; 72. Storage slide; 73. Drive tire; 74. Fixed mounting frame plate; 75. Tighten threaded column; 76. Fixed support link; 77. Telescopic support plate; 78. Tighten positioning nut; 79. First through-hole seat; 710. Second through-hole seat; 711. Attracting magnet; 712. Storage support plate; 8. Assemble equipment warehouse. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] like Figure 1-7 As shown, a wheeled robot of this embodiment includes a water tank carrier 1 for carrying the entire equipment, two symmetrically arranged power drive boxes 5 for providing power are fixedly connected to both sides of the water tank carrier 1, an on-site monitoring module 2 is fixedly connected to either side of the upper surface of the water tank carrier 1, and a fire-fighting high-pressure water gun 3 is fixedly connected to the side of the water tank carrier 1 away from the on-site monitoring module 2. The water tank carrier 1 can contain fire-fighting carriers such as dry powder, foam or water, etc. When moving to a designated position, the fire-fighting high-pressure water gun 3 can be aimed at the fire point to extinguish the fire, and the on-site monitoring module 2 can monitor various on-site situations, facilitate comprehensive judgment of the fire situation, and thus timely change the appropriate rescue plan.

[0026] The fire-fighting high-pressure water gun 3 is connected to the water tank carrier 1 through a high-pressure water pump. The on-site monitoring module 2 includes an over-temperature automatic alarm system, an infrared thermal imaging system, a laser indication system and a video reconnaissance system. The over-temperature automatic alarm system is used to monitor the robot temperature and automatically alarm when it exceeds the set value, so as to facilitate timely control of the fire-fighting robot to withdraw from the fire source center; the infrared thermal imaging system is used to detect the temperature distribution at the fire scene to help locate the fire source; the laser indication system is used to indicate the location of the fire source or perform precise aiming; the video reconnaissance system is used to monitor the fire scene situation in real time. A lighting system is provided on the side of the water tank carrier 1 close to the fire-fighting high-pressure water gun 3. The high-pressure water pump can draw out the fire-fighting carrier in the water tank carrier 1 and spray it out at high pressure through the fire-fighting high-pressure water gun 3 to achieve the purpose of fire extinguishing. The lighting system can provide a light source to provide lighting for the water tank carrier 1 to move, and provide lighting for the video reconnaissance system of the on-site monitoring module 2, so as to facilitate comprehensive investigation of the on-site situation.

[0027] A wheeled robot driving wheel includes a driving wheel structure 7 connected to a power drive box 5, and the driving wheel structure 7 includes a widened solid wheel hub 71. The widened solid wheel hub 71 is provided with a fixed support structure with a folding and storage function on the side away from the power drive box 5. Two symmetrically arranged track auxiliary wheel structures 4 are fixedly connected to the positions on both sides of the power drive box 5. The driving wheel structure 7 can support the entire device and move the device at the same time. The widened solid wheel hub 71 serves as the supporting body of the driving wheel and can also accommodate the fixed support structure to avoid the fixed support structure affecting the normal movement of the driving tire 73. The fixed support structure can support and fix the outer track wheel 70 to facilitate the installation of the traveling track 6. The track auxiliary wheel structure 4 can support the track auxiliary wheel structure 4 and can increase the working area of the traveling track 6, so that the traveling track 6 runs more stably.

[0028] The track auxiliary wheel structure 4 includes a fixed support frame 40 fixedly connected to both ends of the power drive box 5, and fixed support shafts 41 are rotatably connected to the fixed support frame 40 on both sides, and track support wheels 42 are fixedly connected to the fixed support shaft 41. A traveling track 6 is installed between the two track support wheels 42 and the two outer track wheels 70 on the same side. The fixed support frame 40 can effectively support the fixed support shaft 41 and the track support wheels 42 to improve their force strength. The fixed support shaft 41 can rotate at the position of the fixed support frame 40, so that the track support wheels 42 can rotate, which can facilitate the movement of the traveling track 6.

[0029] An assembly instrument bin 8 is provided in the middle position of the two power drive boxes 5, and a sealed door is provided at the assembly instrument bin 8 position. A power supply is provided on the inner wall of the power drive box 5, and a motor drive structure is provided on both sides of the power drive box 5. The drive shaft of the motor drive structure passes through the side wall of the power drive box 5 and is fixedly connected with the center position of the widened solid wheel hub 71 at the corresponding position. After the storage support plate 712 and the telescopic support plate 77 are folded, the assembly instrument bin 8 can store the tightening threaded column 75, the fixed support link 76 and the tightening positioning nut 78 to avoid the loss of some parts after folding, and at the same time, it is convenient to quickly take out the assembly parts to unfold the storage support plate 712 and the telescopic support plate 77. The power supply can provide electrical energy for the motor drive structure, the on-site monitoring module 2, the lighting system and the high-pressure water pump. The motor drive structure provides power for the widened solid wheel hub 71, so that the drive tire 73 and the travel track 6 are powered for travel.

[0030] A driving tire 73 is installed at the position of the widened solid wheel hub 71, and an attracting magnet 711 for attracting the receiving support plate 712 and the telescopic support plate 77 is fixedly connected to the inner wall of the storage slide 72. The driving tire 73 is a rubber wheel, which can realize wheeled travel after its installation. When the receiving support plate 712 and the telescopic support plate 77 are stored, they can be assisted by the attracting magnet 711 for attracting and fixing, so as to avoid the receiving support plate 712 and the telescopic support plate 77 popping out during travel and affecting normal travel. The widened solid wheel hub 71 is made of aluminum alloy material, which has high strength and light weight.

[0031] The fixed support structure includes a plurality of circumferentially distributed storage chutes 72 opened on the side of the widened solid wheel hub 71. The plurality of storage chutes 72 are inclined away from the center of the widened solid wheel hub 71. The two parallel inner walls of the storage chutes 72 are rotatably connected to the storage support plate 712 near the inclined surface. The inner wall position of the storage support plate 712 is slidably connected to the telescopic support plate 77. The upper surface position of the telescopic support plate 77 is fixedly connected to the fixed mounting frame plate 74. The surface of the fixed mounting frame plate 74 is arranged in an arc shape. The outer wall position of the plurality of fixed mounting frame plates 74 on the same side is fixedly installed with the outer track wheel 70 by bolts. The storage chutes 72 can be used to retract the telescopic support plate 712 when the fixed mounting frame plate 74 is not needed. The support plate 77 and the storage support plate 712 are folded and stored, and the storage slide groove 72 is inclined away from the center of the widened solid wheel hub 71 to facilitate the unfolding of the telescopic support plate 77 and the storage support plate 712, and the inclined surface of the storage slide groove 72 increases the contact area with the storage support plate 712, making the unfolding of the telescopic support plate 77 and the storage support plate 712 more stable. When unfolded, the telescopic support plate 77 slides out from the storage support plate 712, increasing the support length to adapt to the outer track wheel 70. The fixed mounting frame plate 74 has a large width and can fully support the outer track wheel 70, and the surface of the fixed mounting frame plate 74 is arranged in an arc shape, which can better adapt to the arc-shaped inner wall of the outer track wheel 70.

[0032] Two symmetrically arranged second through-hole seats 710 are fixedly connected on both sides of the inclined surface of the widened solid wheel hub 71 side wall away from the storage slide groove 72, and a first through-hole seat 79 is fixedly connected to the middle position of the lower surface of the telescopic support plate 77 away from the storage support plate 712. Two symmetrically arranged fixed support links 76 are provided on both sides of the first through-hole seat 79 and the corresponding second through-hole seat 710 away from the storage slide groove 72. The first through-hole seat 79 and the second through-hole seat 710 can support the telescopic support plate 77 and the storage support plate 712 through the fixed support link 76, and clamp and fix them by tightening the positioning nut 78 and tightening the threaded column 75, so as to support and fix the outer track wheel 70.

[0033] The first through-seat 79 and the second through-seat 710 are slidably connected with a tightening threaded column 75, and the tightening threaded column 75 and the corresponding fixed support link 76 are slidably connected, and the two ends of the tightening threaded column 75 are threadedly connected with tightening positioning nuts 78 that clamp and fix the support link 76.

[0034] The working principle of this embodiment is as follows: the power drive box 5 provides power to the widened solid wheel hub 71 so that the widened solid wheel hub 71 can be driven by the tire 73 under normal road conditions. When the road conditions are more complicated and the traveling crawler 6 needs to be used, the traveling crawler 6 can be installed; When the locking cam 75 is in the unlocked position, the locking cam 712 is unlocked and the locking cam 713 is unlocked, and the winch cam 7 is unlocked, so that the winch cam 7 is unlocked. The outer track wheel 70 is sleeved on the outer side of the fixed mounting frame 74 and fixed by bolts, and the traveling track 6 is installed on the outer side of the outer track wheel 70 and the track support wheel 42, and the vehicle can travel by the traveling track 6; The water tank carrier 1 is lifted up again by the hydraulic cylinder, and the traveling track 6 is removed at the position of the track support wheel 42 and the outer track wheel 70, and the outer track wheel 70 is removed, and the tightening positioning nut 78 is rotated to remove it, and the fixed support link 76 and the tightening threaded column 75 are removed. After the disassembly is completed, the fixed support link 76, the tightening positioning nut 78 and the tightening threaded column 75 are placed in the assembly equipment warehouse 8, and the telescopic support plate 77 is compressed and retracted into the receiving support plate 712, and the fixed mounting frame plate 74 is flipped so that it is stored in the receiving slide groove 72, and is attracted and fixed by the attraction magnet 711.

[0035] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A wheeled robot comprising a water tank carrier (1) for carrying the entire device, characterized in that: Two symmetrically arranged power drive boxes (5) for providing power are fixedly connected to both sides of the water tank carrier (1); an on-site monitoring module (2) is fixedly connected to either side of the upper surface of the water tank carrier (1); and a fire-extinguishing high-pressure water gun (3) is fixedly connected to the side of the water tank carrier (1) away from the on-site monitoring module (2).

2. A wheeled robot according to claim 1, characterized in that: The fire-fighting high-pressure water gun (3) is connected to the water tank carrier (1) via a high-pressure water pump. The on-site monitoring module (2) includes an over-temperature automatic alarm system, an infrared thermal imaging system, a laser indication system, and a video reconnaissance system. The over-temperature automatic alarm system is used to monitor the temperature of the robot and automatically alarms when the temperature exceeds the set value, so as to facilitate timely control of the fire-fighting robot to withdraw from the center of the fire source; the infrared thermal imaging system is used to detect the temperature distribution at the fire scene and help locate the fire source; the laser indication system is used to indicate the location of the fire source or perform precise aiming; and the video reconnaissance system is used to monitor the fire scene in real time. A lighting system is provided on the side of the water tank carrier (1) close to the fire-fighting high-pressure water gun (3).

3. A wheeled robot driving wheel, characterized in that: The invention comprises a driving wheel structure (7) connected to a power drive box (5), wherein the driving wheel structure (7) comprises a widened solid wheel hub (71), a fixed support structure with a folding and storing function is provided on a side of the widened solid wheel hub (71) away from the power drive box (5), and two symmetrically arranged crawler wheel structures (4) are fixedly connected to positions on both sides of the power drive box (5).

4. A wheeled robot driving wheel according to claim 3, characterized in that: The fixed support structure comprises a plurality of circumferentially distributed receiving chutes (72) provided on the side of the widened solid wheel hub (71), wherein the plurality of receiving chutes (72) are inclined away from the center of the widened solid wheel hub (71), and a receiving support plate (712) is rotatably connected to the two parallel inner walls of the receiving chutes (72) near the inclined surface. The inner wall position of the receiving support plate (712) is slidably connected to a telescopic support plate (77), and the upper surface position of the telescopic support plate (77) is fixedly connected to a fixed mounting frame plate (74), and the surface of the fixed mounting frame plate (74) is arranged in an arc shape. The outer wall positions of the plurality of fixed mounting frame plates (74) located on the same side are fixedly mounted with outer track wheels (70) by bolts.

5. The wheeled robot driving wheel according to claim 4, characterized in that: The track auxiliary wheel structure (4) comprises a fixed support frame (40) fixedly connected to both ends of the power drive box (5), fixed support shafts (41) are rotatably connected to the fixed support frame (40) at both sides, track support wheels (42) are fixedly connected to the fixed support shafts (41), and a traveling track (6) is installed between the two track support wheels (42) and the two outer track wheels (70) on the same side.

6. The wheeled robot driving wheel according to claim 5, characterized in that: An assembly instrument bin (8) is provided at the middle position of the two power drive boxes (5), and a sealing door is provided at the assembly instrument bin (8). A power supply is provided on the inner wall of the power drive box (5), and motor drive structures are provided at both sides of the power drive box (5). The drive shaft of the motor drive structure passes through the side wall of the power drive box (5) and is fixedly connected to the center position of the widened solid wheel hub (71) at the corresponding position.

7. The wheeled robot driving wheel according to claim 4, characterized in that: Two symmetrically arranged second through-hole seats (710) are fixedly connected to both sides of one end of the inclined surface of the side wall of the widened solid hub (71) away from the receiving chute (72), and a first through-hole seat (79) is fixedly connected to the middle position of the lower surface of the telescopic support plate (77) away from the receiving support plate (712). Two symmetrically arranged fixed support connecting rods (76) are provided on both sides of the first through-hole seat (79) and the corresponding second through-hole seat (710) away from the receiving chute (72).

8. The wheeled robot driving wheel according to claim 7, characterized in that: The first through-hole seat (79) and the second through-hole seat (710) are slidably connected with a tightening threaded column (75), and the tightening threaded column (75) and the corresponding fixed support connecting rod (76) are slidably connected, and the two ends of the tightening threaded column (75) are threadedly connected with tightening positioning nuts (78) for clamping the fixed support connecting rod (76).

9. The wheeled robot driving wheel according to claim 3, characterized in that: A driving tire (73) is installed at the position of the widened solid wheel hub (71), and an attracting magnet (711) for attracting the receiving support plate (712) and the telescopic support plate (77) is fixedly connected to the inner wall of the receiving chute (72).

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