Liftable fire-fighting robot driving wheel

Abstract

The utility model relates to a liftable fire-fighting robot driving wheel, which is used for driving a chassis for a fire-fighting robot and a box body arranged on the chassis to move and comprises a folding frame and an electric wheel connected onto the folding frame, and a folding driving mechanism for controlling the folding frame to be unfolded or folded is connected onto the folding frame. The folding frame is connected with a fixing device for limiting operation of the electric wheels, and the fixing device moves along with movement of the folding frame. Through the combination of the folding frame, the electric wheels and the fixing device, the form can be automatically switched according to use requirements, the automation degree is high, the use is convenient, the storage volume can be reduced, the stability during operation is enhanced, the space utilization rate in the fire fighting truck is improved, and the fire extinguishing efficiency and the control effect are further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fire-fighting robots, and particularly relates to a liftable driving wheel for a fire-fighting robot. Background Art

[0002] In recent years, in order to fully ensure the safety of firefighters, when dealing with fires that are inaccessible or where effective on-site information cannot be obtained, remote control is usually used for fire extinguishing. A fire-fighting robot is a type of special robot and plays a crucial role in fire extinguishing and rescue operations. Fire-fighting robots are usually controlled remotely and can transmit real-time images of the rescue scene. They can enter the fire scene for fire extinguishing and rescue.

[0003] However, the existing fire-fighting robots have the following problems in actual use: (1) Fire-fighting robots usually adopt a crawler walking mechanism, which is relatively bulky, large in size, and heavy in weight. They need to be transported to the fire scene by a special vehicle separately and cannot follow the fire truck to the fire scene for fire extinguishing and rescue immediately. Firefighters cannot be quickly deployed to the fire scene; (2) When the fire-fighting robot sprays high-pressure water outward, it usually generates a reaction force on the fire-fighting robot. Under the action of the reaction force, the fire-fighting robot is prone to move. After moving, the fire-fighting robot cannot effectively extinguish the fire at the designated location, resulting in the fire situation not being quickly and effectively controlled.

[0004] Therefore, in view of the above problems, it is necessary for those skilled in the art to design a liftable driving wheel for a fire-fighting robot, which replaces the crawler walking mechanism with an electric wheel to reduce the weight, uses a folding frame to reduce the volume during storage, and uses a fixing device to enhance the stability during operation, further improving the fire extinguishing efficiency and control effect. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a liftable driving wheel for a fire-fighting robot, which realizes the enhancement of stability during operation while reducing the storage volume through the linkage of a folding frame and a fixing device.

[0006] To achieve the above purpose, the technical solution adopted by the utility model is: a liftable driving wheel for a fire-fighting robot, which is used to drive the chassis of the fire-fighting robot and the box body arranged on the chassis to move. It includes a folding frame and an electric wheel connected to the folding frame. A folding driving mechanism for controlling the opening or folding of the folding frame is connected to the folding frame; a fixing device for restricting the operation of the electric wheel is connected to the folding frame, and the fixing device moves along with the movement of the folding frame.

[0007] Preferably, a battery for controlling its operation is connected to the electric wheel, and the battery is located inside the box body.

[0008] In the above, the chassis for the fire-fighting robot includes two forms: standing and lying; when the folding drive mechanism controls the folding frame to fold, the folding frame retracts the electric wheels, and the chassis is in a standing state, its center of gravity is raised, and the front-to-back length is shortened, which can reduce the volume and facilitate placement in a fire truck, thereby improving the space utilization rate in the fire truck; when the folding drive mechanism controls the folding frame to open, the folding frame spreads the electric wheels, and the chassis is in a lying state, its center of gravity is lowered, and its stability is better.

[0009] Preferably, the folding frame includes a fixed frame and a rotating frame; one end of the rotating frame is rotatably connected to the fixed frame, and the other end of the rotating frame is rotatably connected to the electric wheel; the folding drive mechanism is connected to the rotating frame to control the rotating frame to rotate circumferentially in a direction close to or away from the fixed frame to control the folding frame to open or fold.

[0010] Preferably, the box body arranged on the chassis is fixedly connected to the fixing frame.

[0011] Preferably, the number of the rotating frames is 2; the two rotating frames are respectively arranged at two ends of the fixed frame.

[0012] Preferably, the folding drive mechanism comprises an electric push rod; both ends of the electric push rod are respectively connected to two rotating frames.

[0013] Preferably, the folding drive mechanism is further provided with a guide plate, the guide plate is fixed on the fixing frame, the guide plate is provided with a guide groove, the electric push rod is fixed with a guide block, the guide block is movably connected in the guide groove and moves along the guide groove.

[0014] In the above, the guide groove can prevent the electric push rod from swinging during the extension and retraction process.

[0015] Preferably, the fixing device comprises a ground nail and a limit movement mechanism for driving the ground nail to move toward or away from the ground, and the limit movement mechanism is connected to the rotating frame and moves with the movement of the rotating frame.

[0016] In the above, when the folding drive mechanism controls the folding frame to open, the folding frame spreads the electric wheels and the chassis is in a lying state. At this time, the ground spikes move with the rotating frame to contact the ground, playing a stabilizing role and preventing the recoil force generated during the operation of the fire cannon from driving the chassis to move.

[0017] Preferably, the limit movement mechanism drives the ground spike to move vertically toward or away from the ground, and the limit movement mechanism includes a lifting mechanism, and the ground spike is located on the lifting mechanism.

[0018] Preferably, the limit movement mechanism drives the ground nail to rotate circumferentially in a direction close to or away from the ground, and the limit movement mechanism includes a first limit rotation frame, the first limit rotation frame is rotatably connected to the rotating frame, and the ground nail is fixed on the first limit rotation frame.

[0019] Preferably, the limit movement mechanism drives the ground nail to rotate circumferentially in a direction close to or away from the ground, and the limit movement mechanism includes a second limit rotation frame, the second limit rotation frame is rotatably connected to a box set on the chassis of the fire-fighting robot, the second limit rotation frame is movably connected to the rotating frame, and the ground nail is fixed on the second limit rotation frame.

[0020] Preferably, a limiting movable groove is provided on the second limiting rotating frame; a limiting movable block is also provided on one end of the rotating frame away from the fixed frame, and the limiting movable block is movably connected in the limiting movable groove and moves along the limiting movable groove.

[0021] In the above, when the rotating frame is rotating, the limit moving block set on the rotating frame rotates with the rotating frame, and the limit moving block moves in the limit moving groove and drives the second limit rotating frame and the ground nails on the second limit rotating frame to rotate in the direction close to or away from the ground. When the chassis changes from a standing position to a lying position, the limit rotating frame and the ground nails on the limit rotating frame rotate in the direction close to the ground until the ground nails are inserted into the ground to complete the limit; when the chassis changes from a lying position to a standing position, the limit rotating frame and the ground nails on the limit rotating frame rotate in the direction away from the ground until they are reset, and the limit is released at this time.

[0022] Preferably, the second limit movable frame is a triangular frame, the rotational connections between the ground nails, the limit rotating frame and the box are respectively located at two corners of the triangular frame, and the limit movable groove is located at the opposite side of the corner where the ground nail is located.

[0023] Due to the application of the above technical solution, the beneficial effects of the utility model are:

[0024] 1. The utility model replaces the driving tracks commonly used in the prior art with electric wheels, which can reduce the weight of the device; the folding frame is controlled to open or fold by the folding drive mechanism to realize the folding storage function; when the folding frame folds the electric wheels, its center of gravity is raised, the front and rear lengths are shortened, and the volume can be reduced, which is convenient for being put into the fire truck, and can be dispatched with the fire truck, thereby improving the space utilization rate in the fire truck; when the folding frame opens the electric wheels, its center of gravity is lowered, and the stability is better;

[0025] 2. The utility model is provided with a limiting movement mechanism and ground nails. The limiting movement mechanism and ground nails connected to the folding frame move along with the movement of the folding frame. When the folding frame spreads out the electric wheels, the ground nails move along with the folding frame to contact the ground, playing a stabilizing role and preventing the chassis from moving due to the recoil force generated during the operation of the fire cannon. When the folding frame retracts the electric wheels, the ground nails move along with the folding frame to reset, releasing the restriction, which facilitates movement and storage.

[0026] 3. Through the combination of the folding frame, electric wheels and fixing device, the utility model can automatically switch its form according to the usage needs, with a high degree of automation, convenient use, improving the space utilization rate inside the fire truck, further enhancing the fire extinguishing efficiency and control effect, and meeting the needs of production use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, some of the drawings described below are embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a schematic structural diagram of the driving device when the folding frame in Embodiment 1 of the present utility model is folded;

[0029] Figure 2 It is a schematic structural diagram of the driving device when the folding frame in Embodiment 1 of the present utility model is spread out;

[0030] Figure 3 It is a schematic structural diagram of a chassis for a fire extinguishing robot in Embodiment 1 of the present utility model.

[0031] Among them, 1, driving device; 2, box body; 3, folding frame; 4, electric wheels; 5, folding driving mechanism; 6, fixing device;

[0032] 31, fixing frame; 32, rotating frame;

[0033] 51, electric push rod; 52, guide plate; 53, guide groove; 54, guide block;

[0034] 61, ground nail; 62, second limiting rotating frame; 63, limiting movement groove; 64, limiting movement block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Embodiment 1

[0038] like Figures 1-3 As shown, a liftable fire-fighting robot driving wheel 1 is used to drive the fire-fighting robot chassis and the box 2 arranged on the chassis to move, including a folding frame 3 and an electric wheel 4 connected to the folding frame 3, the folding frame 3 is connected to a folding driving mechanism 5 for controlling the folding frame 3 to open or fold; the folding frame 3 is connected to a fixing device 6 for limiting the operation of the electric wheel 4, and the fixing device 6 moves with the movement of the folding frame 3.

[0039] In the above, the chassis for the fire-fighting robot includes two forms: standing and lying; when the folding drive mechanism 5 controls the folding frame 3 to fold, the folding frame 3 retracts the electric wheels 4, and the chassis is in a standing state, its center of gravity is increased, and the front-to-back length is shortened, which can reduce the volume and facilitate placement in a fire truck, thereby improving the space utilization rate in the fire truck; when the folding drive mechanism 5 controls the folding frame 3 to open, the folding frame 3 opens the electric wheels 4, and the chassis is in a lying state, its center of gravity is lowered, and its stability is better.

[0040] Preferably, the folding frame 3 includes a fixed frame 31 and a rotating frame 32; one end of the rotating frame 32 is rotatably connected to the fixed frame 31, and the other end of the rotating frame 32 is rotatably connected to the electric wheel 4; the folding drive mechanism 5 is connected to the rotating frame 32 to control the rotating frame 32 to rotate circumferentially in a direction close to or away from the fixed frame 31 to control the folding frame 3 to open or fold.

[0041] Preferably, the box body 2 disposed on the chassis is fixedly connected to the fixing frame 31 .

[0042] Preferably, the number of the rotating frames 32 is two; the two rotating frames 32 are respectively disposed at two ends of the fixed frame 31 .

[0043] Preferably, the folding driving mechanism 5 comprises an electric push rod 51 ; both ends of the electric push rod 51 are connected to two rotating frames 32 respectively.

[0044] Preferably, the folding drive mechanism 5 is also provided with a guide plate 52, the guide plate 52 is fixed on the fixed frame 31, the guide plate 52 is provided with a guide groove 53, the electric push rod 51 is fixed with a guide block 54, the guide block 54 is movably connected in the guide groove 53, and moves along the guide groove 53.

[0045] In the above, the guide groove 53 can prevent the electric push rod 51 from swinging during the extension and retraction process.

[0046] Preferably, the fixing device 6 includes a ground nail 61 and a limit movement mechanism for driving the ground nail 61 to move toward or away from the ground, and the limit movement mechanism is connected to the rotating frame 32 and moves with the movement of the rotating frame 32 .

[0047] In the above, when the folding drive mechanism 5 controls the folding frame 3 to open, the folding frame 3 opens the electric wheel 4, and the chassis is in a lying state. At this time, the ground nails 61 move with the rotating frame 32 to contact the ground, playing a stabilizing role and preventing the recoil force generated when the fire cannon is running from driving the chassis to move.

[0048] Preferably, the limit movement mechanism drives the ground nail 61 to rotate circumferentially in a direction close to or away from the ground, and the limit movement mechanism includes a second limit rotation frame 62, which is rotatably connected to the box 2 set on the chassis of the fire-fighting robot, and the second limit rotation frame 62 is movably connected to the rotating frame 32, and the ground nail 61 is fixed on the second limit rotation frame 62.

[0049] Preferably, a limiting movable groove 63 is provided on the second limiting rotating frame 62; a limiting movable block 64 is also provided on the end of the rotating frame 32 away from the fixed frame 31, and the limiting movable block 64 is movably connected in the limiting movable groove 63 and moves along the limiting movable groove 63.

[0050] In the above text, when the rotating frame 32 rotates, the limit moving block 64 provided on the rotating frame 32 rotates with the rotating frame 32. The limit moving block 64 moves in the limit moving groove 63 and drives the second limit rotating frame 62 and the ground nail 61 on the second limit rotating frame 62 to rotate in a direction approaching or departing from the ground. When the chassis changes from the standing position to the lying position, the limit rotating frame and the ground nail 61 on the limit rotating frame rotate in a direction approaching the ground until the ground nail 61 is inserted into the ground to complete the limitation. When the chassis changes from the lying position to the standing position, the limit rotating frame and the ground nail 61 on the limit rotating frame rotate in a direction departing from the ground until they are reset, and at this time the limitation is released.

[0051] Preferably, the second limit moving frame is a triangular frame. The rotational connection points of the ground nail 61, the limit rotating frame and the box body 2 are respectively located at two corners of the triangular frame, and the limit moving groove 63 is located at the opposite side of the corner where the ground nail 61 is located.

[0052] Embodiment 2

[0053] This embodiment is based on the above Embodiment 1, and the differences from the above Embodiment 1 will not be elaborated.

[0054] In this embodiment, the limit moving mechanism drives the ground nail to vertically move in a direction approaching or departing from the ground. The limit moving mechanism includes a lifting mechanism, and the ground nail is located on the lifting mechanism.

[0055] Embodiment 3

[0056] This embodiment is based on the above Embodiment 1, and the differences from the above Embodiment 1 will not be elaborated.

[0057] In this embodiment, the limit moving mechanism drives the ground nail to circumferentially rotate in a direction approaching or departing from the ground. The limit moving mechanism includes a first limit rotating frame, the first limit rotating frame is rotationally connected to the rotating frame, and the ground nail is fixed on the first limit rotating frame.

[0058] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A liftable fire-fighting robot driving wheel, characterized in that: It is used to drive the chassis of the fire-fighting robot and the box set on the chassis to move, including a folding frame and an electric wheel connected to the folding frame, the folding frame is connected to a folding drive mechanism for controlling the opening or folding of the folding frame; the folding frame is connected to a fixing device for limiting the operation of the electric wheel, and the fixing device moves with the movement of the folding frame.

2. The liftable fire-fighting robot driving wheel according to claim 1, characterized in that: The folding frame includes a fixed frame and a rotating frame; one end of the rotating frame is rotatably connected to the fixed frame, and the other end of the rotating frame is rotatably connected to the electric wheel; the folding drive mechanism is connected to the rotating frame to control the rotating frame to rotate circumferentially in a direction close to or away from the fixed frame to control the folding frame to open or fold.

3. The liftable fire-fighting robot driving wheel as claimed in claim 2, characterized in that: The number of the rotating frames is 2; the two rotating frames are respectively arranged at two ends of the fixed frame.

4. The liftable fire-fighting robot driving wheel as claimed in claim 3, characterized in that: The folding driving mechanism comprises an electric push rod; two ends of the electric push rod are respectively connected to two rotating frames.

5. The liftable fire-fighting robot driving wheel as claimed in claim 4, characterized in that: The folding drive mechanism is also provided with a guide plate, which is fixed on a fixing frame and provided with a guide groove. A guide block is fixed on the electric push rod, and the guide block is movably connected in the guide groove and moves along the guide groove.

6. The liftable fire-fighting robot driving wheel as claimed in claim 2, characterized in that: The fixing device comprises a ground nail and a limit movement mechanism for driving the ground nail to move towards or away from the ground, and the limit movement mechanism is connected to the rotating frame and moves with the movement of the rotating frame.

7. The liftable fire-fighting robot driving wheel as claimed in claim 6, characterized in that: The position limiting movement mechanism drives the ground spike to move vertically toward or away from the ground. The position limiting movement mechanism includes a lifting mechanism, and the ground spike is located on the lifting mechanism.

8. The liftable fire-fighting robot driving wheel as claimed in claim 6, characterized in that: The position-limiting movement mechanism drives the ground nail to rotate circumferentially in a direction close to or away from the ground. The position-limiting movement mechanism includes a first position-limiting rotating frame, which is rotatably connected to the rotating frame, and the ground nail is fixed on the first position-limiting rotating frame.

9. The liftable fire-fighting robot driving wheel according to claim 6, characterized in that: The limit movement mechanism drives the ground nail to rotate circumferentially in a direction close to or away from the ground. The limit movement mechanism includes a second limit rotation frame, which is rotatably connected to a box set on the chassis of the fire-fighting robot. The second limit rotation frame is movably connected to the rotating frame, and the ground nail is fixed on the second limit rotation frame.

10. The liftable fire-fighting robot driving wheel according to claim 9, characterized in that: The second limit rotation frame is provided with a limit movement groove; the end of the rotation frame away from the fixed frame is also provided with a limit movement block, the limit movement block is movably connected in the limit movement groove and moves along the limit movement groove.

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