Self-adaptive terrain fire extinguishing robot chassis in crawler-type ship cabin

Abstract

The invention relates to the technical field of chassis, discloses a self-adaptive terrain fire extinguishing robot chassis in a crawler-type ship cabin, and solves the problems that when an existing crawler-type fire extinguishing robot chassis crosses a road sill and the height difference is large, the chassis is easy to overturn backwards, so that the whole chassis overturns, and the chassis cannot move. A laser detector is fixedly installed on the upper portion of the front end of the crawler chassis, a PLC logic controller is fixedly installed in the middle of the front end of the laser detector, a gyroscope is fixedly installed in the middle of the top in the crawler chassis, a balancing weight is arranged on the upper portion in the crawler chassis, and supporting legs are fixedly installed on the two sides of the bottom of the balancing weight. A supporting plate is fixedly mounted at one end of the bottom in the crawler chassis, and a hydraulic cylinder is fixedly mounted on one side of the supporting plate; when the chassis of the crawler-type fire extinguishing robot crosses a road sill, the gravity center can be automatically shifted forwards to be adjusted, the chassis is prevented from turning over backwards, and the stability of the chassis is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of chassis, and in particular relates to a chassis of an adaptive terrain fire-fighting robot in a crawler-type ship cabin. Background Art

[0002] The crawler-type adaptive terrain firefighting robot chassis for ship cabins is a mobile platform designed specifically for the complex environments of ship cabins. Its core function is to achieve efficient and stable firefighting operations through its crawler structure. The crawler design can easily cross obstacles in the ship cabin (such as equipment pipelines, ladders, door thresholds, etc.) and move stably on inclined, slippery or uneven cabin bottom surfaces. The crawler chassis can carry firefighting equipment (such as water monitors, foam spray devices, sensors, etc.), ensuring that the robot can carry sufficient fire extinguishing agents and tools to enter the fire scene. The crawler track is distributed over a large area, reducing pressure on the cabin bottom structure and avoiding secondary damage to the ship.

[0003] When the chassis of an existing tracked fire-fighting robot steps onto a curb, its center of gravity will shift backward, causing the entire chassis to tilt backward, resulting in the rear end of the chassis being lower than the front end. When the height difference is large, the chassis is likely to tip over backward, causing the entire chassis to overturn and become unable to move. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the existing technology, the present invention provides an adaptive terrain fire-fighting robot chassis in a crawler-type ship cabin, which effectively solves the problem in the above background technology that when the existing crawler-type fire-fighting robot chassis steps onto the road sill, its center of gravity will shift backward, causing the whole to tilt backward, resulting in the rear end of the chassis being lower than the front end of the chassis. When the height difference is large, the chassis is likely to tip over backward, thereby causing the whole to overturn and become unable to move.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a chassis of an adaptive terrain fire-fighting robot in a crawler-type ship cabin, comprising a crawler chassis, a laser detector fixedly installed on the upper part of the front end of the crawler chassis, a PLC logic controller fixedly installed in the middle part of the front end of the laser detector, a gyroscope fixedly installed in the middle part of the top of the crawler chassis, a counterweight block provided on the upper part of the interior of the crawler chassis, support legs fixedly installed on both sides of the bottom of the counterweight block, a support plate fixedly installed on one end of the bottom of the crawler chassis, a hydraulic cylinder fixedly installed on one side of the support plate, a lifting assembly provided on the output end of the hydraulic cylinder, two support wheels provided on the lower part of the crawler chassis, the lifting assembly being transmission-connected to the two support wheels, and when the hydraulic cylinder is in operation, power is output to the two support wheels through the lifting assembly, so that the two support wheels lift the front end of the crawler chassis;

[0006] A servo motor is fixedly installed on the inner wall of one side of the counterweight block. A transmission assembly is provided at the output end of the servo motor, which is connected to the counterweight block. When the servo motor is running, the transmission assembly drives the counterweight block to move and adjust its position. The PLC logic controller is electrically connected to the gyroscope, laser detector, hydraulic cylinder and servo motor through a soft wire.

[0007] Preferably, the lifting assembly includes a moving frame, which is fixedly mounted on the transmission end of the hydraulic cylinder, a transmission pin is fixedly mounted in the middle of the moving frame, a landing gear is sleeved on the surface of the transmission pin, the upper end of the landing gear is rotatably connected to the lower part of the front end of the crawler chassis through a rotating seat, the lower end of the landing gear is fixedly mounted with a rotating frame, a rotating rod is rotatably mounted in the middle of the rotating frame, and both ends of the rotating rod are fixedly connected to the two support wheels respectively.

[0008] Preferably, a sliding sleeve is fixedly installed on the top of the movable frame through a connecting rod, a sliding rod is inserted into the interior of the sliding sleeve, and both ends of the sliding rod are fixedly connected to the crawler chassis and the support plate respectively.

[0009] Preferably, the transmission assembly includes an upper sprocket, which is fixedly mounted on the output end of the servo motor. A positioning seat is rotatably mounted on one side of the upper sprocket, and the top of the positioning seat is fixedly connected to the inner top of the counterweight block. A lower sprocket is provided below the upper sprocket, and a chain is meshed between the lower sprocket and the upper sprocket.

[0010] Preferably, a shaft is fixedly installed in the middle of the lower sprocket, the surface of the shaft is connected to the internal rotation of the counterweight block through four sleeves, and driving bevel gears are fixedly installed at both ends of the shaft, and the upper parts of the surfaces of the two driving bevel gears are meshed with driven bevel gears, and the upper parts of the two driven bevel gears are connected to the internal rotation of the counterweight block.

[0011] Preferably, a rotating shaft is fixedly installed at the bottom of the driven bevel gear, the bottom ends of the two rotating shafts respectively extend to the interior of the two supporting legs and are fixedly installed with transmission gears, the bottoms of the two transmission gears are respectively rotatably connected to the inner tops of the two supporting legs, and the surfaces of the two rotating shafts are respectively rotatably connected to the interiors of the two supporting legs through bearings.

[0012] Preferably, one side of the two transmission gears is meshed with a rack, both ends of the two racks are fixedly connected to the inner walls of the crawler chassis, and the lower parts of the two racks are fixedly connected to the inner bottom of the crawler chassis through two support rods.

[0013] Preferably, sliders are fixedly installed on both sides of the counterweight block through support arms, and sliding grooves are opened on the upper parts of the inner walls on both sides of the crawler chassis, and two sliders are slidably installed inside the two sliding grooves.

[0014] Preferably, the two supporting legs are fixedly installed with limit sleeves on the sides away from each other, the interiors of the two limit sleeves are connected with limit rods, and both ends of the two limit rods are fixedly connected to the inner walls of the crawler chassis at both ends.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) When the crawler chassis is traveling, when the laser detector detects a higher road sill, the laser detector will transmit data to the PLC logic controller, and the PLC logic controller will control the hydraulic cylinder to push the mobile frame to move. When the mobile frame moves, it will drive the sliding sleeve to slide along the surface of the sliding rod through the connecting rod, thereby increasing the stability of the mobile frame when moving. When the mobile frame moves, the transmission pin pushes the landing gear to rotate downward along the rotating seat. When the landing gear rotates downward, the support wheel is driven by the rotating frame and the rotating rod to lift the front end of the crawler chassis, so that the front end of the crawler chassis can be placed on the higher road sill, making it easier for the subsequent crawler chassis to cross the higher road sill;

[0017] (2) When the front end of the crawler chassis is placed on the sill, since the rear end of the crawler chassis is lower than the front end of the chassis, its center of gravity will shift backward when the height difference between the front and rear is large, which may easily cause the crawler chassis to tip over backward. When the gyroscope detects that the center of gravity of the crawler chassis shifts backward, it will transmit data to the PLC logic controller. The PLC logic controller will control the servo motor to drive the upper sprocket to rotate along the positioning seat. When the upper sprocket rotates, it drives the lower sprocket to rotate through the chain. When the lower sprocket rotates, it drives the shaft to rotate inside the four bushings. When the shaft rotates, it drives the two driven bevel gears to rotate through the two active bevel gears. When the two driven bevel gears rotate, they drive the two rotating shafts to rotate inside the two bearings. When the two rotating shafts rotate, they drive the two transmission gears to rotate. When the two transmission gears rotate, they drive the counterweight block to move forward along the two racks through the two support legs.

[0018] When the two supporting legs move, they drive the limiting sleeves to slide along the surface of the limiting rod. When the counterweight moves forward, the two supporting arms drive the two sliders to slide inside the two slide grooves, thereby increasing the stability of the counterweight when moving. When the counterweight is adjusted forward, the center of gravity of the crawler chassis will move forward to ensure the stability of the crawler chassis when crossing the threshold and prevent the crawler chassis from tipping over backward.

[0019] (3) When the chassis of the crawler-type fire-fighting robot steps onto the road sill, the center of gravity can be automatically adjusted to shift forward to prevent the chassis from tipping over backward and ensure the stability of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached figure:

[0022] Figure 1 The schematic diagram of the chassis structure of the adaptive terrain fire-fighting robot in the cabin of a crawler-type ship of the present invention is as follows;

[0023] Figure 2 The chassis structure of the adaptive terrain fire-fighting robot in the cabin of a crawler ship of the present invention is shown in FIG. Figure 2 ;

[0024] Figure 3 The chassis structure of the adaptive terrain fire-fighting robot in the cabin of a crawler ship of the present invention is shown in FIG. Figure 3 ;

[0025] Figure 4 Schematic diagram of the internal structure of the crawler chassis of the present invention Figure 1 ;

[0026] Figure 5 Schematic diagram of the internal structure of the crawler chassis of the present invention Figure 2 ;

[0027] Figure 6 For the present invention Figure 4 A in the middle is an enlarged structural diagram;

[0028] Figure 7 This is a schematic diagram of the internal cross-sectional structure of the crawler chassis of the present invention;

[0029] In the figure: 1. crawler chassis; 2. PLC logic controller; 3. gyroscope; 4. counterweight; 5. support plate; 6. hydraulic cylinder; 7. support wheel; 8. servo motor; 9. upper sprocket; 10. positioning seat; 11. lower sprocket; 12. chain; 13. shaft; 14. bushing; 15. driving bevel gear; 16. driven bevel gear; 17. rotating shaft; 18. transmission gear; 19. support leg; 20. rack; 21. support rod; 22. support arm; 23. slider; 24. slide; 25. limit sleeve; 26. limit rod; 27. moving frame; 28. connecting rod; 29. ​​slide rod; 30. sleeve; 31. transmission pin; 32. landing gear; 33. rotating seat; 34. rotating frame; 35. rotating rod; 36. bearing; 37. laser detector. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] Embodiment 1, by Figures 1 to 7The present invention includes a crawler chassis 1, a laser detector 37 is fixedly installed on the upper part of the front end of the crawler chassis 1, a PLC logic controller 2 is fixedly installed in the middle part of the front end of the laser detector 37, a gyroscope 3 is fixedly installed in the middle part of the top of the crawler chassis 1, a counterweight block 4 is provided on the upper part of the interior of the crawler chassis 1, and support legs 19 are fixedly installed on both sides of the bottom of the counterweight block 4. A support plate 5 is fixedly installed at one end of the bottom of the crawler chassis 1, and a hydraulic cylinder 6 is fixedly installed on one side of the support plate 5. A lifting assembly is provided at the output end of the hydraulic cylinder 6, and two support wheels 7 are provided at the lower part of the crawler chassis 1. The lifting assembly is transmission-connected to the two support wheels 7. When the hydraulic cylinder 6 is in operation, power is output to the two support wheels 7 through the lifting assembly, so that the two support wheels 7 lift the front end of the crawler chassis 1.

[0032] A servo motor 8 is fixedly installed on the inner wall of one side of the counterweight block 4. A transmission component is provided at the output end of the servo motor 8. The transmission component is connected to the counterweight block 4. When the servo motor 8 is running, the transmission component will drive the counterweight block 4 to move and adjust the position. The PLC logic controller 2 is electrically connected to the gyroscope 3, laser detector 37, hydraulic cylinder 6 and servo motor 8 through a soft wire.

[0033] When the crawler chassis 1 is traveling, when the laser detector 37 detects a higher road sill, the laser detector 37 will transmit data to the PLC logic controller 2, and the PLC logic controller 2 will control the hydraulic cylinder 6 to drive the lifting assembly to operate. When the lifting assembly operates, it drives the support wheel 7 to support and tilt the front end of the crawler chassis 1, so that the front end of the crawler chassis 1 can be placed on the higher road sill, making it easier for the rear crawler chassis 1 to cross the higher road sill;

[0034] When the front end of the crawler chassis 1 is placed on the road sill, since the rear end of the crawler chassis 1 is lower than the front end of the chassis, its center of gravity will shift backward when the height difference between the front and rear is large, which may easily cause the crawler chassis 1 to tip over backward. When the gyroscope 3 detects that the center of gravity of the crawler chassis 1 is shifted backward, it will transmit data to the PLC logic controller 2. The PLC logic controller 2 will control the servo motor 8 to drive the transmission component to operate. When the transmission component is operating, it drives the counterweight block 4 to move forward along the two racks 20. When the counterweight block 4 is adjusted forward, the center of gravity of the crawler chassis 1 will move forward to ensure the stability of the crawler chassis 1 when crossing the sill and prevent the crawler chassis 1 from tipping over backward. This allows the chassis of the crawler type fire-fighting robot to automatically adjust the center of gravity forward when stepping over the road sill to prevent the chassis from tipping over backward and ensure the stability of the chassis.

[0035] Embodiment 2, on the basis of embodiment 1, the lifting assembly includes a mobile frame 27, the mobile frame 27 is fixedly mounted on the transmission end of the hydraulic cylinder 6, a transmission pin 31 is fixedly mounted on the middle part of the mobile frame 27, the surface of the transmission pin 31 is provided with a landing gear 32, the upper end of the landing gear 32 is rotatably connected to the lower part of the front end of the crawler chassis 1 through a rotating seat 33, the lower end of the landing gear 32 is fixedly mounted with a rotating frame 34, the middle part of the rotating frame 34 is rotatably mounted with a rotating rod 35, and the two ends of the rotating rod 35 are respectively fixedly connected to the two support wheels 7;

[0036] A sliding sleeve 30 is fixedly installed on the top of the movable frame 27 via a connecting rod 28 , a sliding rod 29 is inserted into the interior of the sliding sleeve 30 , and both ends of the sliding rod 29 are fixedly connected to the crawler chassis 1 and the support plate 5 respectively.

[0037] When the laser detector 37 detects a higher road sill, the laser detector 37 will transmit data to the PLC logic controller 2, and the PLC logic controller 2 will control the hydraulic cylinder 6 to push the movable frame 27 to move. When the movable frame 27 moves, it will drive the sliding sleeve 30 to slide along the surface of the sliding rod 29 through the connecting rod 28, thereby increasing the stability of the movable frame 27 when moving. When the movable frame 27 moves, it pushes the landing gear 32 to rotate downward along the rotating seat 33 through the transmission pin 31. When the landing gear 32 rotates downward, it drives the support wheel 7 through the rotating frame 34 and the rotating rod 35 to support the front end of the crawler chassis 1 to tilt up, so that the front end of the crawler chassis 1 can be placed on the higher road sill, making it easier for the subsequent crawler chassis 1 to cross the higher road sill.

[0038] Embodiment 3, on the basis of embodiment 1, the transmission assembly includes an upper sprocket 9, which is fixedly mounted on the output end of the servo motor 8, and a positioning seat 10 is rotatably mounted on one side of the upper sprocket 9, and the top of the positioning seat 10 is fixedly connected to the inner top of the counterweight 4. A lower sprocket 11 is provided below the upper sprocket 9, and a chain 12 is meshed and connected between the lower sprocket 11 and the upper sprocket 9; a shaft rod 13 is fixedly mounted on the middle part of the lower sprocket 11, and the surface of the shaft rod 13 is rotatably connected to the inside of the counterweight 4 through four shaft sleeves 14, and both ends of the shaft rod 13 are fixedly mounted with a driving bevel gear 15, and the upper parts of the surfaces of the two driving bevel gears 15 are meshed and connected with driven bevel gears 16, and the upper parts of the two driven bevel gears 16 are rotatably connected to the inside of the counterweight 4;

[0039] When the gyroscope 3 detects that the center of gravity of the crawler chassis 1 is shifted backward, it will transmit data to the PLC logic controller 2. The PLC logic controller 2 will control the servo motor 8 to drive the upper sprocket 9 to rotate along the positioning seat 10. When the upper sprocket 9 rotates, it drives the lower sprocket 11 to rotate through the chain 12. When the lower sprocket 11 rotates, it drives the shaft 13 to rotate inside the four bushings 14. When the shaft 13 rotates, it drives the two driven bevel gears 16 to rotate through the two active bevel gears 15.

[0040] A rotating shaft 17 is fixedly installed at the bottom of the driven bevel gear 16. The bottom ends of the two rotating shafts 17 extend to the inside of the two supporting legs 19 and are fixedly installed with a transmission gear 18. The bottoms of the two transmission gears 18 are respectively rotatably connected to the inner tops of the two supporting legs 19, and the surfaces of the two rotating shafts 17 are respectively rotatably connected to the inside of the two supporting legs 19 through bearings 36; one side of the two transmission gears 18 is meshed with a rack 20, and both ends of the two racks 20 are fixedly connected to the inner walls of the crawler chassis 1 at both ends, and the lower parts of the two racks 20 are respectively fixedly connected to the inner bottom of the crawler chassis 1 through two support rods 21.

[0041] When the two driven bevel gears 16 rotate, they will drive the two rotating shafts 17 to rotate inside the two bearings 36. When the two rotating shafts 17 rotate, they will drive the two transmission gears 18 to rotate. When the two transmission gears 18 rotate, they will drive the counterweight 4 to move forward along the two racks 20 through the two support legs 19. When the counterweight 4 is adjusted forward, the center of gravity of the crawler chassis 1 will move forward to ensure the stability of the crawler chassis 1 when it goes over the threshold and prevent the crawler chassis 1 from tipping over backward.

[0042] Slide blocks 23 are fixedly installed on both sides of the counterweight 4 through support arms 22. Slide grooves 24 are provided on the upper part of the inner walls of both sides of the crawler chassis 1. The two slide blocks 23 are slidably installed inside the two slide grooves 24. The two support legs 19 are fixedly installed on the sides away from each other. Limiting sleeves 25 are fixedly installed on the inside of the two limiting sleeves 25. Limiting rods 26 are inserted into the interior of the two limiting sleeves 25. The two ends of the two limiting rods 26 are fixedly connected to the inner walls of the crawler chassis 1 at both ends.

[0043] When the two support legs 19 move, they drive the limit sleeves 25 to slide along the surface of the limit rod 26. When the counterweight block 4 moves forward, the two support arms 22 drive the two sliders 23 to slide inside the two slide grooves 24, thereby increasing the stability of the counterweight block 4 when moving.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0045] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A crawler-type chassis for an adaptive terrain fire-fighting robot in a ship cabin, comprising a crawler chassis (1), characterized in that: A laser detector (37) is fixedly installed on the upper part of the front end of the crawler chassis (1), a PLC logic controller (2) is fixedly installed in the middle of the front end of the laser detector (37), a gyroscope (3) is fixedly installed in the middle of the top of the crawler chassis (1), a counterweight (4) is provided on the upper part of the inside of the crawler chassis (1), and support legs (19) are fixedly installed on both sides of the bottom of the counterweight (4), a support plate (5) is fixedly installed at one end of the bottom of the crawler chassis (1), a hydraulic cylinder (6) is fixedly installed on one side of the support plate (5), and a lifting assembly is provided at the output end of the hydraulic cylinder (6), and two support wheels (7) are provided at the lower part of the crawler chassis (1), and the lifting assembly is connected to the two support wheels (7) in a transmission manner. When the hydraulic cylinder (6) is in operation, power is output to the two support wheels (7) through the lifting assembly, so that the two support wheels (7) lift the front end of the crawler chassis (1); A servo motor (8) is fixedly mounted on an inner wall of one side of the counterweight (4). A transmission assembly is provided at the output end of the servo motor (8). The transmission assembly is in transmission connection with the counterweight (4). When the servo motor (8) is in operation, the transmission assembly drives the counterweight (4) to move and adjust its position. The PLC logic controller (2) is electrically connected to the gyroscope (3), the laser detector (37), the hydraulic cylinder (6) and the servo motor (8) through a flexible wire.

2. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 1, characterized in that: The lifting assembly includes a moving frame (27), which is fixedly mounted on the transmission end of the hydraulic cylinder (6); a transmission pin (31) is fixedly mounted in the middle of the moving frame (27); a landing gear (32) is sleeved on the surface of the transmission pin (31); the upper end of the landing gear (32) is rotatably connected to the lower part of the front end of the crawler chassis (1) through a rotating seat (33); a rotating frame (34) is fixedly mounted on the lower end of the landing gear (32); a rotating rod (35) is rotatably mounted in the middle of the rotating frame (34); and both ends of the rotating rod (35) are fixedly connected to the two supporting wheels (7) respectively.

3. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 2, characterized in that: A sliding sleeve (30) is fixedly installed on the top of the movable frame (27) via a connecting rod (28), a sliding rod (29) is inserted into the interior of the sliding sleeve (30), and two ends of the sliding rod (29) are fixedly connected to the crawler chassis (1) and the support plate (5) respectively.

4. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 1 is characterized in that: The transmission assembly comprises an upper sprocket (9), which is fixedly mounted on the output end of a servo motor (8); a positioning seat (10) is rotatably mounted on one side of the upper sprocket (9); the top of the positioning seat (10) is fixedly connected to the inner top of the counterweight (4); a lower sprocket (11) is provided below the upper sprocket (9); and a chain (12) is meshedly connected between the lower sprocket (11) and the upper sprocket (9).

5. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 2, characterized in that: A shaft (13) is fixedly mounted in the middle of the lower sprocket (11); the surface of the shaft (13) is rotatably connected to the interior of the counterweight (4) via four shaft sleeves (14); driving bevel gears (15) are fixedly mounted at both ends of the shaft (13); the upper portions of the surfaces of the two driving bevel gears (15) are meshedly connected to driven bevel gears (16); and the upper portions of the two driven bevel gears (16) are rotatably connected to the interior of the counterweight (4).

6. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 5, characterized in that: The bottom of the driven bevel gear (16) is fixedly mounted with a rotating shaft (17), the bottom ends of the two rotating shafts (17) respectively extend to the inside of the two supporting legs (19) and are fixedly mounted with a transmission gear (18), the bottoms of the two transmission gears (18) are respectively rotatably connected to the inner tops of the two supporting legs (19), and the surfaces of the two rotating shafts (17) are respectively rotatably connected to the inside of the two supporting legs (19) through bearings (36).

7. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 6, characterized in that: One side of the two transmission gears (18) is meshed with a rack (20), both ends of the two racks (20) are fixedly connected to the inner walls of the crawler chassis (1), and the lower parts of the two racks (20) are fixedly connected to the inner bottom of the crawler chassis (1) through two support rods (21).

8. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 4, characterized in that: Slide blocks (23) are fixedly mounted on both sides of the counterweight (4) via support arms (22), and slide grooves (24) are provided on the upper portions of the inner walls on both sides of the crawler chassis (1), and the two slide blocks (23) are slidably mounted inside the two slide grooves (24).

9. The chassis of the crawler-type adaptive terrain fire-fighting robot in a ship cabin according to claim 5, characterized in that: A limiting sleeve (25) is fixedly installed on the side of the two supporting legs (19) that is away from each other, and a limiting rod (26) is inserted into the interior of the two limiting sleeves (25), and both ends of the two limiting rods (26) are fixedly connected to the inner walls of the crawler chassis (1).

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