Front wheel driving type fire-fighting robot

Abstract

The invention relates to a robot, in particular to a front wheel driving type fire-fighting robot. The device comprises a driving assembly and a supporting assembly, the driving assembly and the supporting assembly are arranged at the end of a bottom plate in a centralized mode, the driving assembly comprises two motors, the supporting assembly comprises a support used for supporting the motors, and rotating shafts of the motors are connected with speed reduction assemblies. The driving assembly and the supporting assembly are arranged at the end in a centralized mode, the gravity center of the end of the robot is stabilized, and the situation that due to the fact that the ground pressure of front wheels of the robot is reduced, the posture of a vehicle body is unstable is prevented; the power of the robot is improved to a great extent, and the problem that the crawler belt of the robot is prone to falling off under severe road conditions or is difficult to climb over high steps or obstacles is solved.

Description

Technical Field

[0001] This invention relates to a robot, and more specifically, to a front-wheel-drive firefighting robot. Background Technology

[0002] Firefighting robots are special robots designed for firefighting and rescue operations. Most firefighting robots are small electric vehicles that can replace or assist firefighters in entering extremely dangerous disaster sites such as those with high temperatures, toxic substances, and lack of oxygen to perform tasks such as reconnaissance, firefighting, and search and rescue, significantly reducing the risk of casualties.

[0003] Tracked firefighting robots are a common type of firefighting robot. Due to their good terrain adaptability (such as being able to adapt to environments such as grassland, sand, snow, gravel, and mudflats, and being able to climb stairs and cross ditches), they are widely used in firefighting robots. However, in actual use, traditional tracked firefighting robots still have some shortcomings. Traditional tracked firefighting robots generate a pitching moment on the vehicle's center of gravity when outputting forward driving force. This reduces the ground pressure and adhesion of the front wheels, making the drive wheels prone to slippage. The traction force cannot be fully converted into forward power, causing severe vehicle instability (such as pitching or nodding) when outputting large traction force for climbing, obstacle crossing, or towing. This results in traction loss and platform swaying, creating a paradoxical dilemma where the more power is needed, the more prone to instability. Consequently, the tracks are prone to detachment in harsh road conditions, or difficulty in traversing high steps or obstacles. In view of this, the present invention proposes a front-wheel drive firefighting robot. Summary of the Invention

[0004] The purpose of this invention is to provide a front-wheel drive firefighting robot to solve the problem mentioned in the background art that traditional tracked firefighting robots are prone to vehicle instability due to mechanical design defects when outputting large traction forces, which weakens their obstacle-crossing and traction capabilities.

[0005] To solve the above problems, a front-wheel drive firefighting robot is provided, including a cabin, a base plate fixedly installed on the lower side of the cabin, walking components installed on both sides of the base plate that are far apart from each other, a drive component and a support component installed between the cabin and the base plate, and the drive component and the support component are concentrated at the end of the base plate. The drive assembly includes two motors, and the support assembly includes a bracket for supporting the motors. The bracket is fixedly mounted on the upper side of the base plate, and both motors are fixedly mounted on the upper side of the bracket. A speed reduction assembly is connected to the motor shaft to adjust the output speed of the motor shaft.

[0006] By centrally placing the drive components and support components at the end, the robot's end center of gravity is stabilized, preventing the robot's posture from becoming unstable due to reduced ground pressure on the front wheels. The bracket distributes the complex loads borne by the drive components, such as driving force, impact force, and track tension, to the base plate through multiple paths, avoiding stress concentration that could lead to frame deformation or weld cracking.

[0007] As a further improvement to this technical solution, the deceleration assembly includes a first reduction gear, which is fixedly connected to the rotating shaft of the motor. A second reduction gear is meshed with the first reduction gear. The second reduction gear is rotatably mounted on the upper side of the base plate, and the first and second reduction gears are perpendicular to each other. The diameter of the second reduction gear is larger than that of the first reduction gear.

[0008] When the motor starts, it drives the first reduction gear to rotate. At the same time, the first reduction gear drives the second reduction gear to rotate in a direction perpendicular to it. Since the diameter of the second reduction gear is larger than that of the first reduction gear, the circumference of the first reduction gear is shorter than that of the second reduction gear. In order to maintain the same linear velocity at the meshing point as the second reduction gear with a larger circumference, the first reduction gear must make up for the lack of circumference by rotating more times. In other words, the rotational speed of the first reduction gear is faster than that of the second reduction gear.

[0009] As a further improvement to this technical solution, a gear ring is provided on the side of the second reduction gear near the walking component, and the gear ring is fixedly installed on the upper side of the base plate. A sun gear is provided on the inner side of the gear ring, and the second reduction gear is fixedly connected to the sun gear, and the two rotate coaxially.

[0010] When the second reduction gear rotates, it drives the sun gear to rotate at the same speed and on the same axis as the sun gear.

[0011] As a further improvement to this technical solution, multiple planetary gears are meshed around the sun gear, and each planetary gear is meshed with the ring gear. The gear ring is provided with a planet carrier for connecting multiple planet gears on the side away from the second reduction gear, and each planet gear is rotatably connected to the planet carrier. The axis of the planet carrier rotates coaxially with the sun gear.

[0012] Each planetary gear drives the planet carrier to rotate during its revolution, and the rotational speed of the planet carrier is slower than that of the second reduction gear and the sun gear.

[0013] As a further improvement to this technical solution, the walking component includes a metal inner ring, and a number of toothed blocks are fixedly and evenly arranged in the middle position of the inner side of the metal inner ring. The inner metal ring is provided with a drive gear that meshes with the gear block at one end near the deceleration assembly, and a connecting shaft is fixedly connected between the drive gear and the axis of the planetary carrier.

[0014] After multiple stages of deceleration and torque increase, the planetary carrier drives the drive gear to rotate via the connecting shaft. As the drive gear rotates, it moves the meshing gear block and causes the inner metal ring to roll, thereby driving the robot to move.

[0015] As a further improvement to this technical solution, a telescopic rod is rotatably connected to one side of the bracket, an adjusting sleeve for length adjustment is rotatably connected to the middle position of the telescopic rod, and the other end of the telescopic rod is rotatably connected to the center position of the base plate.

[0016] When operating the robot, the telescopic rod is brought to a taut state by loosening the adjusting sleeve and pulling it out. Then, the adjusting sleeve is tightened to lock the telescopic rod. When the drive assembly and support assembly tend to tilt backward or forward, the telescopic rod immediately bears the pressure and transmits it to the middle part of the base plate.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this front-wheel drive firefighting robot, by concentrating the drive components and support components at the end, the robot's end center of gravity is stabilized, preventing the robot's posture from becoming unstable due to reduced ground pressure on the front wheels. During robot operation, the bracket distributes the complex load borne by the drive components to the base plate through multiple paths, preventing stress concentration that could lead to frame deformation or weld cracking when the robot shakes. This also improves the robot's walking stability. With the stable support of the bracket, the output speed of the motor shaft is reduced and increased in torque through multiple stages by the reduction component before being transmitted to the walking components, greatly improving the robot's power and preventing problems such as tracks easily falling off in harsh road conditions or difficulty in climbing high steps or obstacles.

[0018] 2. In this front-wheel drive firefighting robot, the telescopic rod is kept taut by locking it. When the robot accelerates rapidly or is obstructed while dragging water, the backward and forward tilting tendencies generated by the drive and support components are immediately transmitted to the middle part of the base plate through the telescopic rod. This greatly suppresses the lifting or sinking of the robot's end, ensuring that the drive components can stably transmit the driving force to the drive gear during operation. At the same time, it enables the robot to maintain its horizontal posture, thereby improving the aiming stability of the water bubble. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the cabin of the present invention; Figure 3 This is a schematic diagram of the drive component and support component structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of the structure at point A in the middle; Figure 5 This is a schematic diagram of the drive component structure of the present invention; Figure 6 This is a schematic diagram of the deceleration component structure of the present invention; Figure 7 This is a schematic diagram of the walking component structure of the present invention; Figure 8 This is a schematic diagram of the metal inner and outer ring structures of the present invention; Figure 9 This is a schematic diagram of the walking component of the present invention.

[0020] The meanings of the labels in the diagram are as follows: 1. Hull; 2. Floor plate; 3. Drive assembly; 31. Motor; 32. Reduction assembly; 321. Reduction gear No. 1; 322. Reduction gear No. 2; 323. Gear ring; 324. Sun gear; 325. Planet gears; 326. Planet carrier; 4. Walking assembly; 41. Metal inner ring; 42. Tooth block; 43. Drive gear; 44. Connecting shaft; 45. Steel frame; 46. Auxiliary wheel; 47. Shock absorber; 48. Support rod; 49. Outer ring; 5. Support components; 51. Bracket; 52. Telescopic rod; 53. Adjusting sleeve; 6. Bubble. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Example 1

[0023] First, please refer to Figures 1-2 As shown, the purpose of this embodiment is to provide a front-wheel drive firefighting robot, including a cabin 1, a base plate 2 fixedly installed on the lower side of the cabin 1, and walking components 4 installed on both sides of the base plate 2 that are far apart from each other. The walking components 4 include a metal inner ring 41, and an outer ring 49 wrapped around the outer side of the metal inner ring 41. The robot walks by rotating the metal inner ring 41 and the outer ring 49. In order to improve the grip of the outer ring 49, several protrusions are evenly arranged on the outer side of the outer ring 49. The protrusions on the outer side of the outer ring 49 directly contact the ground instead of the outer ring 49 to increase the friction between the outer ring 49 and the ground, thereby improving the walking stability of the robot. At the same time, the outer ring 49 is made of flame-retardant, anti-static and high-temperature resistant rubber material to ensure that the outer ring 49 is not easily damaged by high temperature when the robot is working. Even if the outer ring 49 is melted by high temperature, the inner metal ring 41 can still replace the outer ring 49 to drive the robot to walk normally, so as to ensure that the robot can operate normally in harsh environments.

[0024] For further details, please refer to Figures 2-6 As shown, a drive assembly 3 and a support assembly 5 are provided between the cabin 1 and the base plate 2. The drive assembly 3 and the support assembly 5 are concentrated at the end of the base plate 2 to stabilize the end center of gravity of the robot. The drive assembly 3 includes two motors 31, and the support assembly 5 includes a bracket 51 for supporting the motors 31. The bracket 51 is fixedly installed on the upper side of the base plate 2. Both motors 31 are fixedly installed on the upper side of the bracket 51. The bracket 51 distributes the complex loads borne by the drive assembly 3, such as driving force, impact force, track tension, etc., to the base plate 2 through multiple paths of the bracket 51, so as to avoid stress concentration that may cause the frame to deform or the weld to crack. A reduction gear assembly 32 is connected to the shaft of motor 31 to adjust the output speed of the motor 31 shaft. When controlling the robot to move, both motors 31 are started first, and the speed transmitted by the motor 31 shaft is reduced and output through the reduction gear assembly 32. Specifically: The reduction gear assembly 32 includes a first reduction gear 321, which is fixedly connected to the rotating shaft of the motor 31. A second reduction gear 322 is meshed with the first reduction gear 321. The second reduction gear 322 is rotatably mounted on the upper side of the base plate 2, and the first reduction gear 321 and the second reduction gear 322 are perpendicular to each other. The diameter of the second reduction gear 322 is larger than that of the first reduction gear 321. When the motor 31 starts, it drives the first reduction gear 321 to rotate, and the first reduction gear 322 rotates at the same time. Gear 321 drives the second reduction gear 322 to rotate in a direction perpendicular to it. Since the diameter of the second reduction gear 322 is larger than that of the first reduction gear 321, the circumference of the first reduction gear 321 is shorter than that of the second reduction gear 322. In order to maintain the same linear velocity at the meshing point as the second reduction gear 322 with a larger circumference, the first reduction gear 321 must make up for the lack of circumference by rotating more times. In other words, the rotational speed of the first reduction gear 321 is faster than that of the second reduction gear 322.

[0025] To further reduce the rotational speed transmitted from the motor 31 shaft to the travel assembly 4, please refer to... Figures 3-8 As shown, a gear ring 323 is provided on the side of the second reduction gear 322 near the walking component 4. The gear ring 323 is fixedly provided on the upper side of the base plate 2. A sun gear 324 is provided on the inner side of the gear ring 323. The second reduction gear 322 and the sun gear 324 are fixedly connected and rotate coaxially. When the second reduction gear 322 rotates, it drives the sun gear 324 to rotate coaxially and at the same speed. Furthermore, multiple planetary gears 325 are meshed around the sun gear 324, and each planetary gear 325 is meshed with the ring gear 323. When the sun gear 324 rotates, it drives each planetary gear 325 to rotate on its own axis while revolving around the sun gear 324. A planet carrier 326 is provided on the side of the ring gear 323 away from the second reduction gear 322 to connect the multiple planetary gears 325, and each planetary gear 325 is rotatably connected to the planet carrier 326. The axis of the planet carrier 326 rotates coaxially with the sun gear 324. When the planetary gears 325 revolve, they collectively drive the planet carrier 326 to rotate, and the rotational speed of the planet carrier 326 is slower than that of the second reduction gear 322 and the sun gear 324. Specifically: When the sun gear 324 rotates, it drives the planet gear 325, which meshes with it, to rotate. However, the other side of the planet gear 325 also meshes with a fixed gear ring 323. This fixed gear ring 323 acts like a track, restricting the movement of the planet gear 325. The planet gear 325 cannot simply rotate in place; it must roll forward while rotating along the track of the gear ring 323. This rolling forward is called revolution. The key point is that the time required for the planet gear 325 to complete one revolution is much longer than the time required for the sun gear 324 to rotate once. This is because the planet gear 325 needs to rotate many times to travel a full circle along the gear ring 323. This process of completing the revolution is the process of the planet carrier 326 slowly rotating. Therefore, the rotational speed output by the planet carrier 326 is slower than that of the second reduction gear 322 and the sun gear 324. However, as an output, the planet carrier 326 rotates together with several planet gears 325, resulting in a huge moment of inertia. When the planet carrier 326 rotates, it will be subject to greater resistance. In order for the system to drive the planet carrier 326 with a lower torque input, the system must reduce the rotational speed to obtain a larger torque. In other words, the output torque of the planet carrier 326 will be greater. Several toothed blocks 42 are evenly arranged in the middle of the inner side of the metal inner ring 41. A drive gear 43 that meshes with the toothed blocks 42 is provided at one end of the metal inner ring 41 near the reduction assembly 32. A connecting shaft 44 is fixedly connected between the drive gear 43 and the axis of the planetary carrier 326. After multiple reductions and increased torque, the planetary carrier 326 drives the drive gear 43 to rotate through the connecting shaft 44. At the same time, when the drive gear 43 rotates, it moves the toothed blocks 42 that mesh with it and causes the metal inner ring 41 to roll, thereby driving the robot to walk. With the increased torque of the planetary carrier 326, the robot's walking power is improved, enabling the robot to quickly overcome obstacles. The metal inner ring 41 and outer ring 49 are parallelogram structures. When the robot walks over continuous undulations, this structure can reduce the robot's pitch amplitude. Together with the drive assembly 3 and support assembly 5 located at the end of the base plate 2, the robot's center of gravity is more stable.

[0026] Secondly, please refer to Figures 1-2 As shown, a water bubble 6 is fixedly installed on the upper side of the cabin 1. The water bubble 6 is located on the side of the cabin 1 near the drive component 3. The water bubble 6 is the core fire extinguishing execution component of the robot, which is specially adapted to the needs of unmanned operation and complex working conditions. It integrates spraying, adjustment and precise positioning functions, and can replace manual labor in dangerous fire scenes such as high temperature, toxic, dense smoke and collapse risk to complete long-distance and high-volume fire extinguishing and cooling operations. As a common existing technology, this solution will not describe its function and structure. During the robot's movement, fire extinguishing and cooling operations are carried out by controlling the water bubble 6 to spray fire extinguishing materials into the fire scene.

[0027] To ensure the robot operates smoothly, please refer to [link / reference]. Figure 1 and Figure 9 As shown, a steel frame 45 is provided on the inner side of the metal inner ring 41 to support the metal inner ring 41 and the drive gear 43. The drive gear 43 is rotatably connected to one end of the steel frame 45. Multiple auxiliary wheels 46 are provided on the upper and lower sides of the steel frame 45 to support the metal inner ring 41. Each auxiliary wheel 46 is in contact with the outer edge of the corner of the metal inner ring 41. With the support of multiple auxiliary wheels 46, the outer ring 49 can drive the robot to walk smoothly during the rolling process, and the shape of the metal inner ring 41 and the outer ring 49 remains unchanged. In addition, multiple shock absorbers 47 are fixedly installed on the steel frame 45 to reduce vibration of itself and the auxiliary wheels 46. Multiple support rods 48 are fixedly connected between the steel frame 45 and the base plate 2 to support the steel frame 45. When crossing obstacles, the vibration amplitude of the cabin 1 is reduced by multiple shock absorbers 47 to ensure that the cabin 1 of the robot can remain stable in harsh environments, so that the water bubble 6 can accurately spray the fire extinguishing material.

[0028] Because the drive assembly 3, support assembly 5, and water bubble 6 are all located at the end of the robot, when the robot accelerates rapidly or encounters resistance while dragging the water hose, the drive assembly 3 and support assembly 5 tend to tilt backward or forward, which can easily cause the robot end to lift up or sink down. Therefore, please refer to [the relevant documentation / reference needed]. Figures 1-4 As shown, a telescopic rod 52 is rotatably connected to one side of the bracket 51. An adjusting sleeve 53 for length adjustment is rotatably connected to the middle of the telescopic rod 52, and the other end of the telescopic rod 52 is rotatably connected to the center of the base plate 2. When operating the robot, the telescopic rod 52 is brought to a taut state by loosening the adjusting sleeve 53 and pulling the telescopic rod 52. Then, the adjusting sleeve 53 is tightened to lock the telescopic rod 52. When the drive assembly 3 and the support assembly 5 have a tendency to tilt backward or forward, the telescopic rod 52 immediately bears the pressure and transmits it to the base plate. In the middle part of 2, on the one hand, the torque generated when the drive component 3 and the support component 5 have a tendency to tilt backward or forward is directly transmitted to the middle part of the base plate 2 through the telescopic rod 52, which greatly suppresses the lifting or sinking of the robot end. On the other hand, under the stable support of the support component 5, the drive component 3 can stably transmit the driving force to the walking component 4, preventing the robot from frequently causing power transmission fluctuations due to the instability of its end during rapid acceleration, and enabling the robot to maintain its own posture level, thereby improving the aiming stability of the bubble 6.

[0029] Therefore, based on the above, the working principle of this invention can be summarized as follows: When operating the robot, the two motors 31 are first started. Under the multi-stage speed reduction and torque increase of the reduction assembly 32, the planetary carrier 326 transmits the driving force to the drive gear 43, which drives the inner metal ring 41 and the outer metal ring 49 to rotate. When the outer metal ring 49 is melted by high temperature, the inner metal ring 41 can still replace the outer metal ring 49 to drive the robot to walk normally, so as to ensure that the robot can maintain normal operation under extreme conditions. When crossing obstacles, multiple vibration dampers 47 reduce the vibration amplitude of the cabin 1 to ensure that the water bubble 6 can accurately deliver the fire extinguishing material. The water is sprayed out, and the complex load borne by the drive component 3 is distributed to the base plate 2 through the bracket 51, so as to avoid stress concentration that could cause the frame to deform or the weld to crack. When the robot accelerates rapidly or is obstructed while dragging the water hose, the torque generated when the drive component 3 and the support component 5 tend to tilt backward or forward is directly transmitted to the middle of the base plate 2 through the telescopic rod 52. This greatly suppresses the lifting or sinking of the robot end, so as to ensure that the drive component 3 can stably transmit the driving force to the drive gear 43, thereby improving the robot's operational stability.

[0030] The foregoing has shown and described 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 embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A front-wheel drive firefighting robot, comprising a cabin (1), a base plate (2) fixedly disposed on the lower side of the cabin (1), and walking components (4) disposed on both sides of the base plate (2) away from each other, characterized in that: A drive assembly (3) and a support assembly (5) are provided between the cabin (1) and the bottom plate (2), and the drive assembly (3) and the support assembly (5) are concentrated at the end of the bottom plate (2); The drive assembly (3) includes two motors (31), and the support assembly (5) includes a bracket (51) for supporting the motors (31). The bracket (51) is fixedly installed on the upper side of the base plate (2), and both motors (31) are fixedly installed on the upper side of the bracket (51). A speed reduction assembly (32) is connected to the shaft of the motor (31) to adjust the speed output of the motor (31) shaft.

2. The front-wheel drive firefighting robot according to claim 1, characterized in that: The reduction assembly (32) includes a first reduction gear (321), which is fixedly connected to the shaft of the motor (31); A second reduction gear (322) is meshed with the first reduction gear (321). The second reduction gear (322) is rotatably mounted on the upper side of the base plate (2). The first reduction gear (321) and the second reduction gear (322) are perpendicular to each other. The diameter of the second reduction gear (322) is larger than that of the first reduction gear (321).

3. The front-wheel drive firefighting robot according to claim 2, characterized in that: The second reduction gear (322) is provided with a gear ring (323) on the side near the walking component (4), and the gear ring (323) is fixedly installed on the upper side of the base plate (2); The inner side of the gear ring (323) is provided with a sun gear (324), and the second reduction gear (322) is fixedly connected to the sun gear (324), and the two rotate coaxially.

4. The front-wheel drive firefighting robot according to claim 3, characterized in that: The sun gear (324) is surrounded by a plurality of planet gears (325), and each planet gear (325) is meshed with the gear ring (323). The gear ring (323) is provided with a planet carrier (326) on the side away from the second reduction gear (322) for connecting multiple planet gears (325), and each planet gear (325) is rotatably connected to the planet carrier (326), and the axis of the planet carrier (326) rotates coaxially with the sun gear (324).

5. The front-wheel drive firefighting robot according to claim 4, characterized in that: The walking component (4) includes a metal inner ring (41), and a number of toothed blocks (42) are fixedly and evenly arranged in the middle position inside the metal inner ring (41). The inner metal ring (41) is provided with a drive gear (43) that meshes with the gear block (42) at one end near the deceleration assembly (32), and a connecting shaft (44) is fixedly connected between the drive gear (43) and the axis of the planetary carrier (326).

6. The front-wheel drive firefighting robot according to claim 5, characterized in that: The inner side of the metal inner ring (41) is provided with a steel frame (45) for supporting the metal inner ring (41) and the drive gear (43), and the drive gear (43) is rotatably connected to one end of the steel frame (45). The steel frame (45) is provided with multiple auxiliary wheels (46) on both the upper and lower sides to support the inner metal ring (41), and each auxiliary wheel (46) is in contact with the outer edge of the corner of the inner metal ring (41).

7. The front-wheel drive firefighting robot according to claim 6, characterized in that: Multiple vibration dampers (47) are fixedly installed on the steel frame (45) for vibration damping of itself and the auxiliary wheel (46); Multiple support rods (48) are fixedly connected between the steel frame (45) and the base plate (2) to support the steel frame (45).

8. The front-wheel drive firefighting robot according to claim 5, characterized in that: The outer ring (49) is wrapped around the outer side of the inner metal ring (41), and a number of protrusions are evenly arranged on the outer side of the outer ring (49). The outer ring (49) is made of flame-retardant, anti-static, and high-temperature resistant rubber material, and the metal inner ring (41) and outer ring (49) are parallelogram structures.

9. The front-wheel drive firefighting robot according to claim 1, characterized in that: One side of the bracket (51) is rotatably connected to a telescopic rod (52), and the middle position of the telescopic rod (52) is rotatably connected to an adjusting sleeve (53) for length adjustment, and the other end of the telescopic rod (52) is rotatably connected to the center position of the base plate (2).

10. The front-wheel drive firefighting robot according to claim 1, characterized in that: A water bubble (6) is fixedly installed on the upper side of the cabin (1), and the water bubble (6) is located on the side of the cabin (1) near the drive assembly (3).

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