Firefighting robot chassis and firefighting robot

Abstract

The utility model provides a kind of fire-fighting robot chassis and fire-fighting robot.Fire-fighting robot chassis includes chassis main body and at least two walking mechanisms, at least two walking mechanisms are located the opposite sides of chassis main body, and walking mechanism includes: track, track has multiple avoidance holes, multiple avoidance holes are interval set along the circumference of track;Driving wheel assembly, track is set in the outside of driving wheel assembly, driving wheel assembly has multiple retractable spikes, part of spike is located in avoidance hole, when spike is in the state of extension, spike is extended to the outside of track through avoidance hole, when spike is in the state of retraction, spike is located in track.The utility model solves the problem of insufficient grip of fire-fighting robot in prior art.

Description

Technical Field

[0001] This utility model relates to the field of fire-fighting robot equipment technology, specifically to a fire-fighting robot chassis and a fire-fighting robot. Background Technology

[0002] In existing firefighting robot technologies, designers typically use tracked chassis instead of traditional wheeled structures to improve traction and obstacle avoidance. These tracked chassis do indeed enhance the robot's stability and versatility under certain conditions, especially on uneven terrain. However, when firefighting robots face steep inclines, travel on slippery surfaces, or perform static water spraying operations, even with tracks, traction and stability can still become limiting factors.

[0003] In other words, existing firefighting robots suffer from insufficient gripping ability. Utility Model Content

[0004] The main purpose of this utility model is to provide a fire-fighting robot chassis and a fire-fighting robot to solve the problem of insufficient gripping ability of fire-fighting robots in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a fire-fighting robot chassis is provided, comprising a chassis body and at least two walking mechanisms located on opposite sides of the chassis body. Each walking mechanism includes: a track having multiple clearance holes spaced circumferentially along the track; and a drive wheel assembly having multiple retractable spikes located within the clearance holes. When the spikes are extended, they extend through the clearance holes to the outside of the track; when the spikes are retracted, they are located within the track.

[0006] Furthermore, the drive wheel assembly includes at least one drive wheel and at least one driven wheel, at least one of the drive wheel and the driven wheel being a spike wheel, the spike wheel having a plurality of retractable spikes, the plurality of spikes being arranged at circumferential intervals along the spike wheel.

[0007] Furthermore, the spike wheel includes: a wheel frame having a connecting plate and a connecting ring, the connecting plate being located on one side of the connecting ring and connected to the connecting ring to form a receiving groove, the connecting ring having a plurality of mounting holes spaced apart circumferentially, each mounting hole correspondingly having a spike; and a driving component located within the receiving groove, the driving component being used to drive the spike to extend or retract.

[0008] Furthermore, the driving component includes: a spike dial, the outer peripheral surface of which is provided with multiple teeth, each tooth corresponding to a spike; and a driving member, which is connected to the spike dial and is used to drive the spike dial to rotate forward and backward relative to the wheel frame.

[0009] Furthermore, the spike dial includes a first receiving hole and a second receiving hole, which are spaced apart. The driving component includes: a first driving push rod located in the first receiving hole, which is used to drive the spike dial to rotate forward; and a second driving push rod located in the second receiving hole, which is used to drive the spike dial to rotate in reverse.

[0010] Furthermore, the prying teeth have a prying surface and a connecting surface on both sides along the rotation direction, and the connection angle A1 between the prying surface and the outer peripheral surface of the spiked disc is greater than the connection angle A2 between the connecting surface and the outer peripheral surface of the spiked disc.

[0011] Furthermore, the connection angle A1 between the actuating surface and the outer peripheral surface of the spike dial is greater than 145 degrees and less than 180 degrees.

[0012] Furthermore, the spiked disc has a central through hole, and the surface of the connecting plate facing the spiked disc has a connecting protrusion, at least a portion of which is located within the central through hole. The drive wheel assembly also includes a drive motor and a connecting shaft. When the driving wheel is a spiked wheel, the drive motor is connected to the connecting protrusion; when the driven wheel is a spiked wheel, the connecting shaft is connected to the connecting protrusion.

[0013] Furthermore, multiple clearance holes are set at equal intervals.

[0014] According to another aspect of the present invention, a fire-fighting robot is provided, including the aforementioned fire-fighting robot chassis.

[0015] According to the technical solution of this utility model, the chassis of the fire-fighting robot includes a chassis body and at least two walking mechanisms. The at least two walking mechanisms are located on opposite sides of the chassis body. The walking mechanism includes a track and a drive wheel assembly. The track has multiple clearance holes, which are spaced apart along the circumference of the track. The track is located on the outside of the drive wheel assembly. The drive wheel assembly has multiple retractable spikes. Part of the spikes are located in the clearance holes. When the spikes are in the extended state, they extend through the clearance holes to the outside of the track. When the spikes are in the retracted state, they are located inside the track.

[0016] The firefighting robot chassis includes drive wheel assemblies with retractable spikes that dynamically adjust their contact with the ground according to the needs of the operating environment. When the firefighting robot faces steep inclines, travels on slippery surfaces, or performs static water spraying operations, the spikes extend beyond the tracks and penetrate the ground, significantly improving traction and thus enhancing the robot's stability and ability to escape obstacles. When traveling on normal roads, the spikes can be completely retracted into the tracks, preventing damage to the road surface and reducing the robot's own weight, improving travel efficiency. By controlling the extension and retraction of the spikes, the firefighting robot can adapt to various complex working scenarios, improving its flexibility and effectiveness in responding to fire incidents. This approach overcomes the shortcomings of traditional firefighting robot chassis in special environments, namely, the difficulty of maintaining optimal performance under different working conditions with existing fixed spike or track designs. With the retractable spike design and flexible control mechanism of this application, the firefighting robot can effectively cope with complex environments, solving the problems of poor stability and limited technical adaptability caused by insufficient traction in traditional designs, and improving the robot's safety, stability, and efficiency in firefighting operations. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a fire-fighting robot chassis according to an optional embodiment of the present invention is shown; and

[0019] Figure 2 It shows Figure 1 Enlarged view of point P in the middle;

[0020] Figure 3 A schematic diagram of the spike wheel at one angle of an optional embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram of the spike wheel from another angle of an alternative embodiment of the present invention is shown;

[0022] Figure 5 The diagram illustrates two possible positional relationships between the spike wheel and the track in one optional embodiment of the present invention.

[0023] The above figures include the following reference numerals:

[0024] 10. Chassis body; 20. Walking mechanism; 21. Track; 211. Clearance hole; 22. Drive wheel assembly; 23. Spike; 24. Spike wheel; 241. Wheel frame; 242. Connecting plate; 2421. Connecting protrusion; 243. Connecting ring; 244. Receiving groove; 246. Drive component; 247. Spike dial; 2471. First receiving hole; 2472. Second receiving hole; 2473. Central through hole; 248. Gear; 2481. Gearing surface; 2482. Connecting surface; 249. Drive component; 2491. First drive push rod; 2492. Second drive push rod. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0027] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0028] To address the problem of insufficient gripping ability in existing firefighting robots, this utility model provides a firefighting robot chassis and a firefighting robot.

[0029] like Figures 1 to 5 As shown, the fire-fighting robot chassis includes a chassis body 10 and at least two walking mechanisms 20. The at least two walking mechanisms 20 are located on opposite sides of the chassis body 10. Each walking mechanism 20 includes a track 21 and a drive wheel assembly 22. The track 21 has multiple clearance holes 211, which are spaced apart circumferentially along the track 21. The track 21 is located on the outside of the drive wheel assembly 22. The drive wheel assembly 22 has multiple retractable spikes 23. A portion of the spikes 23 is located within the clearance holes 211. When the spikes 23 are in the extended state, they extend through the clearance holes 211 to the outside of the track 21. When the spikes 23 are in the retracted state, they are located within the track 21.

[0030] The firefighting robot chassis includes a drive wheel assembly 22 with retractable spikes 23. These spikes 23 can dynamically adjust their contact with the ground according to the needs of the working environment. When the firefighting robot faces steep inclines, travels on slippery surfaces, or performs static water spraying operations, the spikes 23 extend beyond the tracks 21 and penetrate the ground, significantly improving traction and thus enhancing the robot's stability and ability to escape obstacles. When traveling on normal roads, the spikes 23 can be completely retracted into the tracks 21, avoiding damage to the road surface and reducing the robot's own weight, thereby improving travel efficiency. By controlling the extension and retraction of the spikes 23, the firefighting robot can adapt to various complex working scenarios, improving its flexibility and effectiveness in responding to fire accidents. This approach overcomes the shortcomings of traditional firefighting robot chassis in special environments, namely, the difficulty of maintaining optimal performance under different working conditions with the original fixed spike or track design. With the help of the retractable spike design and flexible control mechanism of this application, the fire-fighting robot can effectively cope with complex environments, solve the problems of poor stability and limited technical adaptability caused by insufficient grip in traditional designs, and improve the safety, stability and efficiency of the robot in fire-fighting operations.

[0031] In addition, the spikes 23 in this application are disposed on the drive wheel assembly 22, so that the spikes 23 can rotate along with the drive wheel assembly 22, so that the fire-fighting robot still has strong grip during movement, and can work stably in a variety of complex working scenarios.

[0032] In some alternative embodiments, please refer to Figure 1 The drive wheel assembly 22 includes at least one drive wheel and at least one driven wheel. At least one of the drive wheel and driven wheel is a spiked wheel 24, which has multiple retractable spikes 23 spaced evenly around its circumference. The drive wheel assembly 22 is designed as the core component, comprising at least one drive wheel and at least one driven wheel. Notably, at least one of the drive wheel and driven wheel is configured as a spiked wheel 24, which is characterized by being equipped with multiple retractable spikes 23 evenly spaced around its circumference. This design allows the firefighting robot to actively extend the spikes 23 to increase the contact area and friction with the ground when encountering special conditions such as steep inclines, slippery surfaces, or static water spraying, thereby significantly improving grip and ensuring the robot's stability and safety during task execution. When the robot is in normal driving mode, the spikes 23 can be completely retracted to avoid damage to the ground, reduce driving resistance, and ensure efficient robot movement.

[0033] In some alternative embodiments, please refer to Figures 2 to 5The spike wheel 24 includes a wheel frame 241 and a drive component 246. The wheel frame 241 has a connecting plate 242 and a connecting ring 243. The connecting plate 242 is located on one side of the connecting ring 243 and is connected to the connecting ring 243 to form a receiving groove 244. The connecting ring 243 has multiple mounting holes spaced apart circumferentially, and each mounting hole is provided with a spike 23. The drive component 246 is located in the receiving groove 244 and is used to drive the spikes 23 to extend and retract. In this embodiment, the design of the spike wheel 24 mainly includes the wheel frame 241, the connecting plate 242, the connecting ring 243, and the formed receiving groove 244. The connecting plate 242 and the connecting ring 243 of the wheel frame 241 together form a closed structure for accommodating the drive component 246. The connecting ring 243 is provided with multiple mounting holes spaced apart axially, and each mounting hole is equipped with a spike 23. These spikes 23 can extend and retract under the control of the drive component 246 to adapt to different ground conditions. When encountering situations requiring enhanced traction, such as steep inclines, stable travel on slippery surfaces, or static water spraying, the drive unit 246 activates, causing the spikes 23 to protrude from the tracks and directly contact the ground, significantly increasing the friction between the firefighting robot and the ground. This ensures the robot's stability and mobility under special conditions. Conversely, when traveling on normal roads, the spikes 23 retract into the connecting ring 243 to prevent damage to the road surface and reduce the contact area with the ground, thereby improving movement efficiency. This innovative structural design not only achieves immediate enhancement of traction but also protects the road surface, providing strong support for the efficient operation of the firefighting robot in complex environments.

[0034] It should be noted that the drive component 246 is limited within the receiving groove 244. This can be achieved by the drive component 246 being movably connected to the wheel frame 241, or by other structural components blocking the opening of the receiving groove 244 to prevent the drive component 246 from coming out of the receiving groove 244. No specific restrictions are imposed here, as long as the drive component 246 can be stably positioned within the receiving groove 244.

[0035] In some alternative embodiments, please refer to Figures 2 to 5The driving component 246 includes a spike dial 247 and a driving member 249. The outer peripheral surface of the spike dial 247 is provided with multiple teeth 248, each corresponding to a single spike 23. The driving member 249 is connected to the spike dial 247 and is used to drive the spike dial 247 to rotate clockwise and counterclockwise relative to the wheel frame 241. In this embodiment, the structural design of the driving component 246 cleverly integrates the spike dial 247 and the driving member 249 to achieve flexible switching between the extension and retraction of the spikes 23. The outer circumferential surface of the spiked disc 247 is provided with multiple teeth 248 corresponding one-to-one with the spikes 23. When the drive unit 249 drives the spiked disc 247 to rotate a preset distance in a first preset direction, such as rotating a preset distance in the forward direction, the teeth 248 will push the spikes 23 outward, protruding from the track 21 to increase the contact area and grip with the ground. This significantly improves the stability and traction of the robot chassis, especially when climbing slopes, on slippery surfaces, or in static water spraying conditions. Conversely, when the drive unit 249 drives the spiked disc 247 to rotate a preset distance in a second preset direction, such as rotating a preset distance in the reverse direction, the spikes 23 will be retracted into the track 21, ensuring that the firefighting robot will not damage the ground when traveling on normal roads, while also reducing its weight and space occupation. This design not only enhances the adaptability and task execution capability of the firefighting robot in special environments, but also ensures its driving efficiency and safety in conventional environments.

[0036] In other embodiments not shown, the drive component 246 may also employ other forms of drive, such as a motor or hydraulic cylinder, to achieve the same effect, further enhancing the practicality and flexibility of the solution.

[0037] In some alternative embodiments, please refer to Figures 2 to 5The spike dial 247 includes a first receiving hole 2471 and a second receiving hole 2472, which are spaced apart. The driving member 249 includes a first driving push rod 2491 and a second driving push rod 2492. The first driving push rod 2491 is located in the first receiving hole 2471 and is used to drive the spike dial 247 to rotate forward. The second driving push rod 2492 is located in the second receiving hole 2472 and is used to drive the spike dial 247 to rotate in reverse. The spike dial 247 is designed with a first receiving hole 2471 and a second receiving hole 2472, which are spaced apart. The drive unit 249 includes a first drive push rod 2491 and a second drive push rod 2492. The first drive push rod 2491 is located within the first receiving hole 2471, and its function is to push the spike dial 247 to rotate forward, thereby moving the spikes 23 outward, protruding from the track 21 to contact the ground and penetrate, thus enhancing traction and escape capability. The second drive push rod 2492 is located within the second receiving hole 2472. It pushes the spike dial 247 to rotate in reverse, retracting the spikes 23 and ensuring that the firefighting robot does not damage the road surface when traveling on normal roads. This design allows the firefighting robot to quickly adjust its chassis structure to adapt to the environment when facing slopes, slippery roads, or requiring static water spraying, while also enabling smooth travel without environmental damage in situations where special traction is not required. By optimizing the coordination between the spike dial 247, the first drive push rod 2491, and the second drive push rod 2492, a fire-fighting robot chassis was developed that can improve the ability to get out of trouble in complex terrain and retract the spikes 23 on ordinary roads to avoid damaging the road surface, thus significantly improving the adaptability and practicality of the fire-fighting robot.

[0038] In some alternative embodiments, please refer to Figures 2 to 5 The prying teeth 248 have a prying surface 2481 and a connecting surface 2482 on both sides along the rotation direction. The connection angle A1 between the prying surface 2481 and the outer peripheral surface of the spike dial 247 is greater than the connection angle A2 between the connecting surface 2482 and the outer peripheral surface of the spike dial 247. This arrangement ensures that the prying teeth 248 can only push the spikes 23 outward from the track 21 when the spike dial 247 rotates in the first preset direction, while the prying teeth 248 and the spikes 23 are limited when rotating in the opposite direction. That is, when the spikes 23 are not extended, when the spike dial 247 rotates in the first preset direction, the prying surface 2481 gradually presses on the spikes 23 to push them outward. When the spikes 23 are not extended, when the spike dial 247 rotates in the second preset direction (opposite to the first preset direction), the spikes 23 will contact the connecting surface 2482 first, and the spikes 23 will block the movement of the connecting surface 2482.

[0039] Among them, the actuating surface 2481 is located in front of the connecting surface 2482 in the first preset direction.

[0040] In some alternative embodiments, please refer to Figures 2 to 5 The connection angle A1 between the actuating surface 2481 and the outer peripheral surface of the spike dial 247 is greater than 145 degrees and less than 180 degrees. In this embodiment, when the connection angle A1 is set between 145 degrees and 180 degrees, the fit between the spike dial 247 and the actuating surface 2481 is tighter and more efficient. This angle selection allows the drive push rod to smoothly rotate the spike dial 247 when activated, thereby causing the spikes 23 to quickly and stably protrude from the track 21, contact the ground, and penetrate. This significantly enhances the traction of the fire-fighting robot when climbing steep inclines, traveling on slippery surfaces, and in static water spraying conditions, effectively preventing displacement of the fire-fighting robot and improving its ability to escape obstacles and operational stability. In actual operation, this optimized angle design not only simplifies the action transition process but also ensures the rapid response and precise positioning of the spikes 23, avoiding risks caused by mechanical delays in emergency rescue scenarios. Furthermore, when the drive lever is activated, the spikes 23 retract smoothly without affecting the firefighting robot's movement under normal road conditions, thus avoiding damage to the road surface. This ingenious angle adjustment mechanism not only increases the firefighting robot's adaptability and reliability in complex environments but also provides a smoother and more efficient solution for switching between different task modes. Of course, in other embodiments not shown, the connection angle A1 can also be fine-tuned to adapt to more diverse terrains and rescue needs, demonstrating the flexible design potential of this proposal.

[0041] In some alternative embodiments, please refer to Figures 2 to 5 The spiked dial 247 has a central through hole 2473. The surface of the connecting plate 242 facing the spiked dial 247 has a connecting protrusion 2421, at least a portion of which is located within the central through hole 2473. The drive wheel assembly 22 also includes a drive motor and a connecting shaft. When the driving wheel is the spiked wheel 24, the drive motor is connected to the connecting protrusion 2421; when the driven wheel is the spiked wheel 24, the connecting shaft is connected to the connecting protrusion 2421. By providing a central through hole 2473 on the spiked dial 247, the connecting protrusion 2421 is exposed at the position of the central through hole 2473, facilitating the connection of the connecting protrusion 2421 to the drive motor or the connecting shaft.

[0042] In some alternative embodiments, multiple clearance holes 211 are equally spaced. This arrangement ensures that the drive wheel assembly 22 always has clearance holes 211 in contact with the spikes 23 when rotating. This not only facilitates the movement of the track 21, but also allows the spikes 23 to extend to the outside of the track 21 and contact the ground when climbing slopes or traveling on slippery surfaces. In other words, it ensures that the spikes 23 contact the ground when the drive wheel assembly 22 rotates, effectively improving the grip of the fire robot chassis at the ground contact point and significantly enhancing the overall stability and ability to escape from obstacles.

[0043] In another aspect, this utility model also provides a firefighting robot, including the aforementioned firefighting robot chassis. By employing a walking mechanism 20 with retractable spikes 23, the firefighting robot can dynamically adjust the contact state between the spikes 23 and the ground when facing complex environments such as steep inclines, slippery roads, or static water spraying operations, significantly improving grip, stability, and escape capabilities. When extended, the spikes 23 can penetrate the ground, providing additional friction; when retracted, they are completely housed within the tracks 21, preventing damage to the road surface and reducing the load on the firefighting robot itself, thus improving driving efficiency. This design allows the firefighting robot to flexibly adapt to various working scenarios, improving its flexibility and effectiveness in firefighting operations. Therefore, the firefighting robot integrating this chassis performs better in complex environments, solving the problems of poor stability and limited adaptability caused by insufficient grip in traditional designs, and improving the safety, stability, and operational efficiency of the firefighting robot in firefighting operations.

[0044] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0047] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A firefighting robot chassis, characterized in that, The chassis includes a main body (10) and at least two walking mechanisms (20), the at least two walking mechanisms (20) being located on opposite sides of the main body (10), and the walking mechanism (20) comprising: Track (21), the track (21) having a plurality of clearance holes (211) spaced apart along the circumferential direction of the track (21); A drive wheel assembly (22) is provided on the outside of the track (21). The drive wheel assembly (22) has a plurality of retractable spikes (23). A portion of the spikes (23) is located in the clearance hole (211). When the spikes (23) are in the extended state, they extend through the clearance hole (211) to the outside of the track (21). When the spikes (23) are in the retracted state, they are located inside the track (21).

2. The fire-fighting robot chassis according to claim 1, characterized in that, The drive wheel assembly (22) includes at least one drive wheel and at least one driven wheel, at least one of the drive wheel and the driven wheel being a spike wheel (24), the spike wheel (24) having a plurality of retractable spikes (23), the plurality of spikes (23) being arranged circumferentially spaced along the spike wheel (24).

3. The fire-fighting robot chassis according to claim 2, characterized in that, The spike wheel (24) includes: The wheel frame (241) has a connecting plate (242) and a connecting ring (243). The connecting plate (242) is located on one side of the connecting ring (243) and connected to the connecting ring (243) to form a receiving groove (244). The connecting ring (243) has a plurality of mounting holes spaced apart along the circumference, and each mounting hole is provided with a corresponding spike (23). A drive component (246) is located within the receiving groove (244) and is used to drive the spike (23) to extend and retract.

4. The firefighting robot chassis according to claim 3, characterized in that, The drive component (246) includes: A spiked disc (247) is provided with a plurality of teeth (248) on its outer peripheral surface, and the plurality of teeth (248) are provided in a one-to-one correspondence with the plurality of spikes (23); A drive unit (249) is connected to the spike dial (247) and is used to drive the spike dial (247) to rotate forward and backward relative to the wheel frame (241).

5. The fire-fighting robot chassis according to claim 4, characterized in that, The spiked disc (247) includes a first receiving hole (2471) and a second receiving hole (2472), the first receiving hole (2471) and the second receiving hole (2472) being spaced apart, and the driving member (249) includes: A first drive push rod (2491) is located inside the first receiving hole (2471) and is used to push the spike dial (247) to rotate forward. The second drive push rod (2492) is located inside the second receiving hole (2472) and is used to push the spike dial (247) to reverse.

6. The fire-fighting robot chassis according to claim 4, characterized in that, The prying tooth (248) has a prying surface (2481) and a connecting surface (2482) on both sides along the rotation direction. The connection angle A1 between the prying surface (2481) and the outer peripheral surface of the spiked disc (247) is greater than the connection angle A2 between the connecting surface (2482) and the outer peripheral surface of the spiked disc (247).

7. The fire-fighting robot chassis according to claim 6, characterized in that, The connection angle A1 between the actuating surface (2481) and the outer peripheral surface of the spike dial (247) is greater than 145 degrees and less than 180 degrees.

8. The fire-fighting robot chassis according to claim 4, characterized in that, The spiked dial (247) has a central through hole (2473), and the surface of the connecting plate (242) facing the spiked dial (247) has a connecting protrusion (2421), at least a portion of which is located within the central through hole (2473). The drive wheel assembly (22) further includes a drive motor and a connecting shaft. When the driving wheel is the spike wheel (24), the drive motor is connected to the connecting protrusion (2421); When the driven wheel is the spike wheel (24), the connecting shaft is connected to the connecting protrusion (2421).

9. The fire-fighting robot chassis according to any one of claims 1 to 8, characterized in that, The multiple clearance holes (211) are arranged at equal intervals.

10. A firefighting robot, characterized in that, The fire-fighting robot chassis includes any one of claims 1 to 9.

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