A front-drive tracked robot

Abstract

The utility model discloses a front -drive formula tracked robot, to the swing mode of the load wheel group adjacent to drive wheel improves, will the load wheel group along the anti -explosion cabin swing mode, changes along the drive wheel swing mode, realizes the rear order partial displacement, simultaneously, utilize the spacing of the load wheel group and drive wheel with spacing limiting arm limit, when the load wheel group meets the barrier, can only swing along the drive wheel center under the action of spacing limiting arm, to ensure that the center of drive wheel and the distance of the load wheel group center is invariable, avoids various problems caused by the ground contact length reduction in the tracked travel process.

Description

Technical Field

[0001] This utility model relates to the field of fire-fighting robot technology, and in particular to a front-drive tracked robot. Background Technology

[0002] Firefighting robots, as a type of special-purpose robot, play a crucial role in firefighting. With the increasing construction of large-scale petrochemical enterprises, tunnels, subways, and other facilities, the potential hazards of leaks, explosions, and fires caused by oil, gas, toxic gases, and hazardous chemicals are constantly increasing. Firefighting robots, equipped with fire monitors and other firefighting equipment, can replace firefighters in entering dangerous accident sites involving flammable and explosive materials, toxic substances, oxygen deficiency, and dense smoke to detect, search for, and extinguish fires. This effectively addresses the challenges faced by firefighters in these locations, such as personal safety and insufficient on-site data collection.

[0003] Existing firefighting robots typically employ tracked drive systems. For example, patent application number CN201610622972.3, entitled "An Explosion-Proof Firefighting and Reconnaissance Robot," illustrates this. The tracked drive system mainly comprises multiple load-bearing wheel assemblies, guide wheel assemblies, tension wheel assemblies, drive wheels, and tracks. The guide wheel assemblies and drive wheels are located at the front and rear ends of the tracks, respectively. Each load-bearing wheel assembly is positioned between the drive wheel and the guide wheel assembly. The tracks are fitted between the drive wheel and each wheel assembly to ensure that the rotation of the drive wheel drives the track to roll, enabling the normal operation of the tracked system.

[0004] In the aforementioned patent, each load-bearing roller assembly has a rearward-biased structure. The load-bearing roller assembly located at the end of the installation is installed adjacent to the drive wheel. When the load-bearing roller assembly at the end of the installation encounters an obstacle, it will shift towards the drive wheel. The shift distance is set according to the track's operating environment. The larger the obstacle, the greater the distance between the drive wheel and the load-bearing roller assembly, ensuring that there is a sufficiently large clearance between the drive wheel and the load-bearing roller assembly to avoid contact between them during use. With this configuration, assuming the track's length in the direction of travel remains constant, the larger the obstacle in the track's application scenario, the shorter the distance between the first and last load-bearing roller assemblies, i.e., the shorter the ground contact distance. A shorter ground contact distance increases the vibration of the explosion-proof compartment, not only reducing ride comfort but also accelerating fatigue wear on track links, pins, load wheel bearings, and other components, shortening the service life of the track drive system and increasing maintenance frequency. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a front-drive tracked robot that improves the swinging method of the load-bearing wheel assembly adjacent to the drive wheel. Instead of the conventional method of swinging the load-bearing wheel assembly along the explosion-proof compartment, it changes the method to swinging along the drive wheel, achieving backward lateral movement. Simultaneously, a limiting arm restricts the distance between the load-bearing wheel assembly and the drive wheel. When the load-bearing wheel assembly encounters an obstacle, it can only swing along the center of the drive wheel under the action of the limiting arm, ensuring that the distance between the center of the drive wheel and the center of the load-bearing wheel assembly remains constant, thus avoiding various problems caused by the reduction in ground contact length during track movement.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a front-drive tracked robot, comprising a tracked drive chassis, the tracked drive chassis including an explosion-proof compartment and two drive mechanisms arranged on both sides of the explosion-proof compartment.

[0007] The drive mechanism includes a track, a drive wheel, a tension guide wheel assembly, a road wheel assembly, and multiple load wheel assemblies. The track is fitted onto the drive wheel, the tension guide wheel assembly, the road wheel assembly, and the multiple load wheel assemblies to form a ring structure.

[0008] Among them, the drive wheel and the tensioning guide wheel assembly are arranged at intervals, the load wheel group and multiple load wheel groups are arranged at intervals between the drive wheel and the guide tensioning wheel group, each load wheel group is swayed along the explosion-proof chamber, and each load wheel group is provided with a first shock absorber between itself and the explosion-proof chamber.

[0009] The road wheel assembly is adjacent to the drive wheel, and a second shock absorber is provided between the road wheel assembly and the explosion-proof compartment. A limit arm is provided between the road wheel assembly and the drive wheel to allow the road wheel assembly to swing along the axis of the drive wheel.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] Understandably, the drive mechanism of this application is equivalent to an existing tracked drive system. It is connected to an explosion-proof enclosure (or equipment), and the various components work together to form a tracked drive system for use, achieving the purpose of driving. Correspondingly, the motor, reducer, etc., that work with the drive wheel are installed in conjunction with the explosion-proof enclosure to ensure that the drive wheel can rotate under the action of the motor (or other driver) so as to drive the track to roll.

[0012] The structure of the load-bearing wheel assembly is similar to that of existing load-bearing wheel assemblies (load-bearing wheel assemblies or load-bearing wheel assemblies), mainly consisting of two rolling wheels connected by an axle. A shock absorber (spring shock absorber) is installed between the load-bearing wheel assembly and the explosion-proof compartment. The difference is that in the prior art, the load-bearing wheel assembly is hinged to the explosion-proof compartment whether it is tilting backward or forward to ensure that each load-bearing wheel assembly rotates along the explosion-proof compartment during use. However, in this application, the load-bearing wheel assembly adjacent to the drive wheel is connected to the drive wheel through a limiting arm, so that the load-bearing wheel assembly rotates along the drive wheel during use. Due to the existence of the limiting arm, the distance between the center of the load-bearing wheel assembly and the center of the drive wheel is limited to a constant (basically equal to the length of the limiting arm). Therefore, no matter the volume of the obstacle encountered, or the position to which the load-bearing wheel assembly swings, the suspended distance is also constant and will not change with the volume of the obstacle. This ensures that the entire drive system (drive mechanism) has sufficient ground distance and guarantees the performance of the entire drive system.

[0013] Furthermore, the limiting arm has a Y-shaped frame structure, with a plug section and a connecting section. The plug section is inserted into the drive wheel along both sides and is rotatably connected to the drive wheel. The connecting section is connected to the load wheel assembly.

[0014] Furthermore, the drive wheel is also equipped with a noise reduction auxiliary component, which includes at least one disc.

[0015] The disc is located on one side of the drive wheel and is fixedly connected to the drive wheel so that the disc has an annular support platform coaxial with the drive wheel, wherein the limiting arm is located on the outside of the disc and is rotatably connected to the disc.

[0016] Furthermore, at least one support portion is provided on the connection side between the drive wheel and the disc, and the disc is inserted into the support portion and connected to the drive wheel through multiple connectors;

[0017] The support and multiple connectors are arranged in a ring around the drive wheel, and the support and multiple connectors are distributed adjacent to each other along the diameter direction of the drive wheel.

[0018] Furthermore, the support portion is a protruding structure extending outward along the drive wheel connection side, or

[0019] The support part is a recessed structure that is recessed inward along the connection side of the drive wheel.

[0020] Furthermore, the tension guide wheel assembly includes a connecting arm, an auxiliary wheel assembly, a tension wheel assembly, and a mounting base.

[0021] The mounting base and the explosion-proof compartment are adjustable in position. The connecting arm is hinged to the mounting base. The auxiliary wheel group and the tensioning wheel group are rotatably connected to the connecting arm. The tensioning wheel group is located on the axial side of the auxiliary wheel group and is adjacent to the auxiliary wheel group. A third shock absorber is provided between the connecting arm and the mounting base. The connection end of the third shock absorber and the connecting arm is adjacent to the tensioning wheel group.

[0022] Furthermore, the mounting base includes a sliding seat and an adjusting seat, the adjusting seat is positioned on the sliding seat, the connecting arm is hinged to the adjusting seat, and the third shock absorber is hinged to the adjusting seat.

[0023] Furthermore, the main body of the explosion-proof compartment has a rectangular cavity structure, with a snap-fit ​​groove on each of its two long side walls.

[0024] Each snap-fit ​​groove protrudes outward along the side wall of the body and extends along the length of the body. The two ends of each snap-fit ​​groove are respectively connected to the two short side walls of the body, and the two ends of each snap-fit ​​groove are open.

[0025] The drive wheel is rotatably connected to the main body, and the tension guide wheel assembly, the load wheel group and multiple load wheel groups are installed in conjunction with the snap-fit ​​groove.

[0026] Furthermore, the drive wheel is equipped with a reducer and a motor for use. The motor is located inside the explosion-proof compartment, and the reducer is located outside the explosion-proof compartment. The reducer and the motor are connected to the side wall of the explosion-proof compartment through a transmission structure.

[0027] The transmission structure includes a detachable connecting seat and a fixed seat.

[0028] The connector is provided with a through-hole and rotatably connected rotating pin. One end of the rotating pin is provided with a coaxially extending insertion pin, and the other end of the rotating pin is provided with a coaxially recessed insertion groove.

[0029] The connecting seat has a baffle at one end near the rotating pin, and the fixed seat is adjacent to the insertion groove. The connecting seat and the fixed seat are connected so that the baffle and the fixed seat form a fixed space for snapping onto the side wall of the explosion-proof compartment.

[0030] Furthermore, the side of the baffle away from the fixed seat is provided with an annular protrusion structure to assist in the installation of the reducer;

[0031] The mounting base has an inwardly recessed annular mounting groove on the side away from the baffle to assist in motor installation.

[0032] Furthermore, the protrusion structure has a stepped recessed structure inside, which has a detachable explosion-proof plate, and a second sealing ring is provided between the explosion-proof plate and the stepped recessed structure.

[0033] Furthermore, a fire sprinkler system is also installed above the explosion-proof compartment, and the fire sprinkler system has sprinkler heads;

[0034] The spray head includes, from top to bottom, a primary rotating seat, a primary spray sleeve, a secondary rotating seat, a secondary spray sleeve, and a base.

[0035] The primary rotating seat includes a primary positioning seat and a primary rotating sleeve that are set inside and outside and threadedly connected. The primary positioning seat is fixedly connected to the primary spray sleeve, and the upper part of the primary spray sleeve and the lower part of the primary rotating sleeve form a first umbrella-shaped spray gap. The primary rotating sleeve rotates along the primary positioning seat to change the size of the first umbrella-shaped spray gap.

[0036] The secondary rotating seat is fitted inside the primary spray sleeve. The secondary rotating seat includes a secondary positioning seat and a secondary rotating sleeve that are set inside and outside and threaded together. The secondary positioning seat is fixedly connected to the primary spray sleeve, and the secondary rotating sleeve is sealed and rotatably connected to the primary spray sleeve. The lower part of the secondary rotating seat and the upper part of the secondary spray sleeve form a second umbrella-shaped spray gap. The secondary rotating sleeve rotates along the secondary positioning seat to change the size of the second umbrella-shaped spray gap.

[0037] The secondary spray sleeve is sealed and fixed to the base, and the base is provided with a liquid inlet channel for guiding liquid. The liquid introduced by the liquid inlet channel enters the primary spray sleeve along the secondary spray sleeve and is jetted from the first umbrella-shaped spray gap and the second umbrella-shaped spray gap. Attached Figure Description

[0038] Figure 1 This is a structural schematic diagram of the present invention.

[0039] Figure 2 This is a schematic diagram of a tracked drive chassis according to the present invention;

[0040] Figure 3 This is a schematic diagram of a structure in which the drive wheel, the load-bearing wheel assembly, the body, and the driver unit cooperate in this utility model.

[0041] Figure 4 This is a schematic diagram of a possible arrangement of the drive wheel and the load-bearing wheel assembly of this utility model.

[0042] Figure 5 for Figure 4 A structural diagram from another perspective;

[0043] Figure 6 This is an exploded structural diagram of the connection between the drive wheel and the load-bearing wheel assembly in this utility model;

[0044] Figure 7 This is a connection structure diagram of the limiting arm, load-bearing shaft, and shock absorber in this utility model;

[0045] Figure 8 for Figure 7 A structural diagram from another perspective;

[0046] Figure 9 This is a schematic diagram of one structure of the limiting arm in this utility model;

[0047] Figure 10This is a schematic diagram of a structure in which the drive wheel, disc, and track are coordinated.

[0048] Figure 11 This is an exploded structural diagram of the drive wheel and disc in this utility model;

[0049] Figure 12 This is a schematic diagram of one structure of the drive wheel and disc in this utility model;

[0050] Figure 13 This is a schematic diagram of one structure of the drive wheel in this utility model;

[0051] Figure 14 This is a schematic diagram of one structure of the disc in this utility model;

[0052] Figure 15 These are schematic diagrams of four different structures of the support portion in this utility model;

[0053] Figure 16 In this utility model and Figure 15 Schematic diagrams of four types of disc structures in which the supporting parts of each component cooperate;

[0054] Figure 17 This is a schematic diagram of the connection structure between the tension guide wheel assembly, the track, and the body of this utility model;

[0055] Figure 18 This is a schematic diagram of the tensioning guide wheel assembly and its connection structure with the main body of this utility model;

[0056] Figure 19 This is a schematic diagram of a tensioning guide wheel assembly in this utility model;

[0057] Figure 20 for Figure 19 A structural diagram from another perspective;

[0058] Figure 21 This is a schematic diagram of the structure of the explosion-proof compartment body in this utility model;

[0059] Figure 22 for Figure 21 A structural diagram from another perspective;

[0060] Figure 23 A schematic diagram of the transmission structure of this utility model, which is installed in conjunction with a reducer, a motor, and an explosion-proof chamber.

[0061] Figure 24 This is an exploded view of one structure of the spray head in this utility model;

[0062] Figure 25 This is a schematic diagram of one structure of the spray head in this utility model;

[0063] Figure 26 This is a structural appearance diagram of the spray head in this utility model;

[0064] Figure 27 for Figure 26 A structural diagram from another perspective;

[0065] Figure 28 This is a schematic diagram showing the connection between the spray head, pipeline control switch, and connecting pipe of this utility model;

[0066] Figure 29 This is a side view of the tracked drive chassis in this utility model.

[0067] In the diagram: Load wheel assembly 600, first shock absorber 610, shock absorber seat 620, swing seat 630, swing arm 640, load wheel assembly 500, second shock absorber 510, limiting arm 520, insertion section 522, irregular arm 5221, ring connecting part 5222, extension section 5223, fixing section 5224, connecting section 521, shock absorber fixing block 530, load wheel 542, load shaft 541, drive wheel structure 200, drive wheel 220, support part 221, protrusion structure 2213, locking protrusion 2211, recessed groove 2214, groove 2212, disc 210, ring support Support platform 211, connecting plate 213, auxiliary support structure 2123, slot 2121, insert ring 2124, insert block 2122, weight reduction through groove 212, annular clearance groove 230, connector 240, connecting screw hole 241, track 100, auxiliary toothed ring 110, body 400, snap-fit ​​groove 410, auxiliary snap-fit ​​part 411, first chamber 420, first reinforcing structure 421, partition 430, second chamber 440, second reinforcing structure 441, motor 420, reducer 430, tension guide wheel assembly 300, tension wheel group 310, tension wheel 311, auxiliary wheel group 320, Auxiliary wheel; 321, Connecting arm; 330, Third shock absorber; 340, Mounting seat; 350, Sliding seat; 351, Adjusting seat; 352, Adjusting screw; 353, Connecting seat; 354, Transmission structure; 800, Connecting seat; 810, Fixed seat; 820, Annular mounting groove; 821, Rotating pin; 830, Insert pin; 831, Auxiliary mounting ring; 832, Insert groove; 840, Baffle; 841, Protrusion structure; 842, Explosion-proof plate; 843, Second sealing ring; 844, First sealing ring; Spray head; 700, First-stage rotating seat; 710, First-stage rotating sleeve; Friction protrusion; 7111. Primary positioning seat 712, buffer structure 713, connecting through hole 714, fixing part 715, first telescopic positioning pin 716, first positioning groove 717, scale 718, pointer 719, first umbrella-shaped spray gap 720, primary spray sleeve 730, water passage hole 731, secondary rotating seat 740, secondary rotating sleeve 741, secondary positioning seat 742, water passage channel 7421, second telescopic positioning pin 732, second positioning groove 743, secondary spray sleeve 750, second umbrella-shaped spray gap 760, base 770, liquid inlet channel 771, locking part 772, rotating spray sleeve 780. Detailed Implementation

[0068] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0069] like Figure 1-29As shown, a front-drive tracked robot includes a tracked drive chassis, which includes an explosion-proof compartment and two drive mechanisms arranged on both sides of the explosion-proof compartment.

[0070] To facilitate the installation of the drive mechanism, this application improves the structure of the explosion-proof compartment to provide a highly stable explosion-proof compartment structure. Specifically, the explosion-proof compartment of this application includes a rectangular cavity structure body 400, with a cover plate (not marked in this application) connected to the body 400. The rectangular cavity structure of the body 400 is more suitable for the installation of the drive mechanism, facilitating the placement of each wheel set of the drive mechanism on the same plane for the installation of the track 100. At the same time, the rectangular cavity structure has better strength than other irregular structures and is also easier to manufacture and perform performance checks.

[0071] The drive mechanism is located on both sides of the long sidewall of the body 400 and connected to the body 400. To increase the connection stability between the body 400 and the drive mechanism, this application provides a snap-fit ​​groove 410 on each of the two long sidewalls of the body 400. The snap-fit ​​groove 410 can be a rectangular through groove, a dovetail through groove, etc. In this application, considering the connection method between the component and the snap-fit ​​groove 410 (bolt fixing), it is necessary to ensure that the two sidewalls of each snap-fit ​​groove 410 have sufficient thickness and that the sidewalls remain unchanged along their width direction. Therefore, the snap-fit ​​groove 410 in this application is a rectangular through groove structure, and each snap-fit ​​groove 410 protrudes outward along the sidewall of the body 400 and extends along the length direction of the body 400. The two ends of each snap-fit ​​groove 410 are connected to the two short sidewalls of the body 400, and the two ends of each snap-fit ​​groove 410 are open.

[0072] This application improves the structure of the explosion-proof compartment, such as... Figure 21 , 22 As shown, only one snap-fit ​​groove 410 is provided on the side wall of the main body 400. The snap-fit ​​groove 410 is a through groove along the length of the main body 400 and is located in the middle of the side wall of the main body 400. This arrangement can facilitate the position adjustment and fixed installation of each component along the length of the snap-fit ​​groove 410, and also ensure that the connection points of each component and the main body 400 are concentrated in the middle of the main body 400, so that the side wall of the main body 400 is more evenly stressed. During the design, by strengthening the local structure (material, size, etc.), the potential problems of cracks and breakage that may occur during long-term use can be minimized.

[0073] During actual installation, some wheel components of the drive mechanism need to be installed in conjunction with the side wall of the locking groove 410. At this time, the width of the side wall of the locking groove 410 needs to be expanded. Therefore, this application provides auxiliary locking components on each locking groove 410. The auxiliary locking components include two auxiliary locking portions 411 extending outwards from each other along the two side walls of the locking groove 410. For example... Figure 20 , 21As shown in Figure 22, this part of the structure is used to cooperate with the tension guide wheel assembly 300 of the drive mechanism to assist in fixing the tension guide wheel assembly 300 to the body 400.

[0074] In actual installation, the main body 400 will also house a motor 460 (servo motor 460, stepper motor 460, or other electrically controlled motor 460) for driving the drive mechanism. The motor 460 requires explosion-proof protection. Therefore, this application divides the internal structure of the main body 400. Specifically, the main body 400 has an opening at the top, and the interior is divided into a first chamber 420 and a second chamber 440 by a partition 430. The opening of the first chamber 420 is higher than the opening of the second chamber 440, creating a stepped structure at the opening of the main body 400. The first chamber 420 is used to install the motor 460, which is fitted against the bottom of the first chamber 420. To ensure the safety of the motor 460 in the first chamber 420, this application provides a first reinforcing structure 421 at the bottom of the first chamber 420. The first reinforcing structure 421 consists of multiple reinforcing ribs arranged side-by-side. Similarly, considering the types of components (controllers, etc.) installed in the second chamber 440, to ensure the safety of the components, this application provides a second reinforcing structure 441 within the second chamber 440. The second reinforcing structure 441 is similar to the first reinforcing structure 421, mainly consisting of multiple reinforcing ribs arranged side-by-side. However, each reinforcing rib of the second reinforcing structure 441 covers the inner wall and bottom of the first chamber 420, further increasing the strength of the second chamber 440.

[0075] Based on the explosion-proof compartment with the above structure, the drive mechanism of this application includes a track 100, a drive wheel 220, a tension guide wheel assembly 300, a road wheel set 500, and multiple load wheel sets 600. The track 100 is sleeved on the drive wheel 220, the tension guide wheel assembly 300, the road wheel set 500, and the multiple load wheel sets 600, so that the track 100 forms a ring structure; wherein, the drive wheel 220 and the tension guide wheel assembly 300 are spaced apart, and the road wheel set 500 and the multiple load wheel sets... The load wheel sets 600 are spaced apart between the drive wheel 220 and the guide tension wheel set 311 310. Each load wheel set 600 is oscillating along the body 400 and is provided with a first shock absorber 610 between itself and the body 400. The load wheel set 500 is adjacent to the drive wheel 220. A second shock absorber 510 is provided between the load wheel set 500 and the body 400. A limiting arm 520 is provided between the load wheel set 500 and the drive wheel 220 so that the load wheel set 500 oscillates along the axis of the drive wheel 220.

[0076] It is understood that the track 100 structure of this application is equivalent to the existing track 100 drive system, and is connected to the body 400 (or equipment). The various components cooperate effectively to form a track 100 drive system for use, thereby achieving the purpose of driving. Correspondingly, the motor 420, reducer 430, etc., which cooperate with the drive wheel 220, are installed in conjunction with the body 400 to ensure that the drive wheel 220 can rotate under the action of the motor 420 (or other driver) so as to drive the track 100 to roll.

[0077] The structure of the load-bearing wheel assembly 500 is similar to that of existing load-bearing wheel assemblies 500 (load-bearing wheel assemblies or load-bearing wheel assemblies 600), mainly consisting of two rolling wheels connected by an axle. A shock absorber (spring shock absorber) is provided between the load-bearing wheel assembly 500 and the main body 400. The difference lies in the fact that in the prior art, the load-bearing wheel assembly 500 is hinged to the main body 400 regardless of whether it is tilting backward or forward to ensure that each load-bearing wheel assembly 500 rotates along the main body 400 during use; while in this application, the load-bearing wheel assembly 500 adjacent to the drive wheel 220 is connected by a limiting arm 520. Connected to the drive wheel 220, the load rotates along the drive wheel 220 during use. Due to the presence of the limiting arm 520, the distance between the center of the load wheel assembly 500 and the center of the drive wheel 220 is essentially constant (basically equal to the length of the limiting arm 520). Therefore, regardless of the volume of the obstacle encountered or the position to which the load wheel assembly 500 swings, the suspension distance remains constant and will not change with the volume of the obstacle. This ensures that the entire drive system (track 100 structure) has sufficient ground contact distance, guaranteeing the various performance characteristics of the entire drive system.

[0078] When the drive wheel 220 and the load-bearing wheel assembly 500 are installed, they are arranged with their axes parallel. Therefore, in order for the load-bearing wheel assembly 500 to swing along the drive wheel 220, the limiting arm 520 needs to be set on both sides of the drive wheel 220 and rotatably connected to it. This ensures that the rotation of the drive wheel 220 is not affected, and the swing of the load-bearing wheel assembly 500 along the drive wheel 220 is also unaffected. Therefore, in this application, the limiting arm 520 is located on one side of the drive wheel 220, coaxially set and rotatably connected to the drive wheel 220. If the limiting arm 520 is a common rod-shaped structure, and considering that the drive wheel 220 has two sides, under normal circumstances, only one limiting arm 520 is needed to achieve the swing of the load-bearing wheel assembly 500 along the drive wheel 220. To increase the stability of the load-bearing wheel assembly 500, when using a rod-shaped limiting arm 520, a limiting arm 520 can be connected to both the inner and outer sides of the drive wheel 220. The two limiting arms 520 are connected to the drive wheel 220 and the load-bearing wheel assembly 500 respectively by rotational clamping, so as to ensure that the load-bearing wheel assembly 500 swings along the drive wheel 220.

[0079] In this application, the structure of the limiting arm 520 is designed in conjunction with the mechanism of the drive wheel 220 and the load-bearing wheel assembly 500, such as... Figure 9 As shown, specifically, the limiting arm 520 has a Y-shaped frame structure. The limiting arm 520 has a socket section 522 and a connecting section 521. The socket section 522 is inserted into the drive wheel 220 along both sides of the drive wheel 220 and is rotatably connected to the drive wheel 220. The connecting section 521 is connected to the load wheel assembly 500. The socket section 522 of the limiting arm 520 has two irregular arms 5221. The two irregular arms 5221 are detachably connected to the connecting section 521 to form the socket section 522. The structure of each irregular arm 5221 has a ring connecting part 5222 adapted to the installation of the drive wheel 220, an extension section 5223 that avoids the disc 210, and a fixing section 5224 for connecting with the connecting section 521. The ring connecting part 5222 is rotatably connected to the shaft connection structure in the middle of the drive wheel 220 through a bearing. Based on this irregular structure, it is adapted to the assembly structure of the drive wheel 220 and the disc 210 of this application. At the same time, the detachable connection of the plug section and the connecting section 521 can facilitate the overall production of the limit arm 520 and the assembly of each component.

[0080] To facilitate the connection between the limiting arm 520 and the load-bearing wheel assembly 500, the load-bearing wheel assembly 500 of this application includes two load-bearing wheels 542 arranged side by side and a load-bearing shaft 541 coaxially arranged with the two load-bearing wheels 542. The two load-bearing wheels 542 are located at both ends of the load-bearing shaft 541 and are rotatably connected to the load-bearing shaft 541 via bearings. The load-bearing shaft 541 is fixedly connected to the limiting arm 520. One end of the second shock absorber 510 can be connected to either the load-bearing shaft 541 or the limiting arm 520, such as... Figure 3-8 As shown in this application, the lower end of the second shock absorber 510 is hinged to the connecting section 521, and the upper end of the second shock absorber 510 is hinged to the connecting seat on the body 400. The connecting seat is slidably connected to the body 400 and locked with bolts, which can be used to adjust the pressure of the second shock absorber 510 to ensure that the second shock absorber 510 is adapted to the entire track 100 drive mechanism.

[0081] In the prior art, the drive wheel 220 of the gear structure can only mesh with the track 100 simply. However, the drive wheel 220 basically mates with the middle of the annular structure of the track 100 (the width of the track 100 is greater than the thickness of the drive wheel 220). Since the drive wheel 220 is usually located in front of or behind the drive mechanism of the track 100, during the meshing process between the track 100 and the drive wheel 220, the rolling of the track 100 has an impact effect on the drive wheel 220 (due to the lack of support on the annular edge of the track 100). Therefore, noise and vibration are easily generated between the rotation of the drive wheel 220 and the track 100.

[0082] To address the aforementioned issues, the drive wheel 220 of this application is further provided with a noise reduction auxiliary component, which includes at least one disc 210. The drive wheel 220 and the two discs 210 constitute a drive wheel structure 200, which has a noise reduction function. To facilitate the installation of the discs 210 and the drive wheel 220, the disc 210 of this application is located on one side of the drive wheel 220 and connected to the drive wheel 220, so that the disc 210 has an annular support platform 211 coaxially arranged with the drive wheel 220; at least one support portion 221 is provided on the connection side between the drive wheel 220 and the disc 210, and the disc 210 is inserted into the support portion 221 and connected to the drive wheel 220 through multiple connectors 240; the support portion 221 and the multiple connectors 240 are respectively arranged in a ring along the drive wheel 220, and the support portion 221 and the multiple connectors 240 are distributed adjacently along the diameter direction of the drive wheel 220.

[0083] Understandably, the track 100 has various structures. Based on the structure of the track 100, the disc 210 and the drive wheel 220 can have various combinations. For example, when the track 100 has the structure described in the existing patent CN201510288339.0, the drive wheel is originally adapted to the track 100 of this structure. The drive wheel 220 is a columnar structure with a hollow cylinder. Multiple openings are made on the side wall of the hollow cylindrical structure, and the openings can cooperate with this type of track 100. Correspondingly, the disc 210 adopts a columnar structure. The disc 210 is attached to the drive wheel 220. Then, the circumference of the columnar disc 210 is the annular support platform 211, and the circular radius of the annular support platform 211 is larger than the cylindrical radius of the drive wheel 220 to ensure that the annular support platform 211 can support the annular edge of the track 100, and the drive wheel 220 can cooperate with the drive teeth in the middle of the track 100. Of course, the track 100 can also adopt the structure described in the existing patent CN201680068390.3. In this case, the drive wheel 220 is similar to a gear structure, and the annular center of this type of track 100 also has two auxiliary toothed rings 110 spaced apart. When the disc 210 and the drive wheel 220 cooperate, they need to avoid the auxiliary toothed rings 110. Therefore, the structure of the disc 210 is such that the outer side is higher than the inner side, and there is at least a clearance space. Correspondingly, the annular support platform 211 is the structure where the outer side of the disc 210 is located. The overall structure of the disc 210 can be trumpet-shaped, stepped cylindrical, etc., as long as it can support the annular edge of the track 100 on the outside, and the annular support platform 211 and the drive wheel 220 form a clearance space, without affecting the use of the auxiliary toothed rings 110.

[0084] It can be seen that regardless of the structure of the track 100, the combination of the drive wheel 220 and the disc 210 can be adapted to the track 100 with the corresponding structure, so that the drive wheel 220 can drive the track 100 to rotate. As long as the annular support platform 211 of the disc 210 can support the annular edge of the track 100, the disc 210 can rotate synchronously when the drive wheel 220 rotates. Moreover, the radius of the annular support platform 211 is adapted to the annular edge structure of the track 100, ensuring that during the engagement of the drive wheel 220 and the track 100, the annular support platform 211 can connect with the edge of the track 100 to support the edge of the track 100, thus achieving the purpose of silent driving.

[0085] like Figure 10-14 As shown, in this application, the track 100 has the structure described in the prior art patent CN201680068390.3. Correspondingly, the drive wheel 220 is similar to a gear structure, and the disc 210 is a hollow truncated cone structure with a constriction facing the drive wheel 220. The truncated cone can be a square pyramid, a truncated cone, or a combination thereof, as long as the circumferential sidewall adjacent to the large end of the disc 210 has a circular support platform 211 structure. In this application, as... Figure 11 , 12 As shown, the disc 210 is a hollow truncated cone structure. The small end of the disc 210 has an outwardly extending annular connecting plate 213. The connecting plate 213 is connected to the drive wheel 220. After the disc 210 is connected to the drive wheel 220, the annular support platform 211 and the drive wheel 220 are spaced apart and form an annular clearance groove 230. The annular clearance groove 230 is used for the movement of each tooth structure on the auxiliary tooth ring 110 on the track 100.

[0086] Since the drive wheel 220 mainly mates with the annular center of the track 100, therefore, as Figure 10 , 11 As shown in Figures 1 and 12, in this application, a disc 210 is provided on each side of the drive wheel 220, which can support the two annular edges of the track 100 and further ensure the silent driving effect.

[0087] To ensure that the support portion 221 provides support to the disk 210 along the diameter of the drive wheel 220, there can be one or more support portions 221, distributed along the diameter of the drive wheel 220. The support portion 221 can be a structure formed by multiple support plates arranged in a ring (the support plates can be simple straight plates, curved plates, etc.), a ring-shaped enclosure structure, or a ring-shaped groove 2212 structure. When the disk 210 is inserted into the support portion 221, the connection point between the disk 210 and the drive wheel 220 must have a recessed or protruding structure adapted to the support portion 221 to achieve the insertion of the disk 210 into the support portion 221. The annular support platform 211 is located near the periphery of the drive wheel 220. Since the compressive force on the disc 210 is directed towards the inside of the drive wheel 220, the support 221 and multiple connectors 240 are arranged along the diameter of the drive wheel 220. This allows the support 221 to provide additional support force at the connection point between the support 221 and the disc 210, in addition to the force exerted by the multiple connectors 240 (bolts, etc.). This counteracts the downward pressure on the disc 210 during use, thereby increasing the connection stability between the disc 210 and the drive wheel 220 and extending the service life of the overall drive wheel structure.

[0088] In some embodiments of this application, when the overall thickness of the drive wheel 220 is relatively thin, the support portion 221 can adopt a protruding structure that protrudes outward along the connecting side of the drive wheel 220. The protruding structure can be a circular protruding structure, a square protruding structure, or multiple plate-shaped protruding structures, etc. Then, as long as the disc 210 has a snap-fit ​​structure that cooperates with the outer side of the protruding structure, the support portion 221 can provide support force along the force direction of the disc 210, offset the force on each connecting member 240, increase the connection strength between the disc 210 and the drive wheel 220, and improve the overall service life of the drive wheel structure 200.

[0089] Specifically, when the support part 221 is a protruding structure extending along the drive wheel 220, such as... Figure 15 As shown in (1) and (3), the support 221 can also be a ring-shaped protrusion structure 2213 or multiple protrusions 2211 arranged in a ring. The protrusion structure 2213 can be a circular, square or other ring-shaped structure; each protrusion 2211 can be a common straight plate structure, an arc-shaped plate structure, etc. Similarly, the ring structure surrounded by each protrusion 2211 can also be a circular or square ring.

[0090] In accordance with the structure of the support part 221 described above, in order for the disk 210 to be inserted into the support part 221, as follows: Figure 16 As shown in (1) and (3), the disk 210 has at least an annular auxiliary support structure 2123 sleeved on the outside of the protrusion structure 2213, or the disk 210 has multiple slots 2121 for inserting each protrusion 2211.

[0091] When the support part 221 is an annular protrusion structure 2213, the auxiliary support structure 2123 cooperates with the protrusion structure 2213. The auxiliary support structure 2123 can be an annular groove structure opened on the connecting plate 213, and the annular groove structure is engaged with the outside of the protrusion structure 2213. Alternatively, the auxiliary support structure 2123 can be an annular hole structure, which is the inner side of the connecting plate 213. In this case, the annular hole structure fits perfectly on the outside of the protrusion structure 2213. Therefore, when the auxiliary support structure 2123 cooperates with the protrusion structure 2213, it can also provide support along the force direction of the disk 210 to provide additional support force to counteract the downward pressure on the disk 210 during use, thereby increasing the connection stability between the disk 210 and the drive wheel 220 and increasing the service life of the overall drive wheel structure.

[0092] When the support portion 221 has multiple latching protrusions 2211, each latching groove 2121 is formed on the connecting plate 213, and its distribution structure is the same as that of each latching protrusion 2211, ensuring that each latching groove 2121 can be engaged with each latching protrusion 2211. Alternatively, the latching groove 2121 can also be a latching block provided on the connecting plate 213, with the latching blocks connected along the inner or outer side of the connecting plate 213. The latching groove 2121 can be a through groove structure or a blind groove structure.

[0093] like Figure 11-14 As shown, in one embodiment of this application, the protrusion structure 2213 is a circular ring structure, the connecting plate 213 is a circular annular plate structure, the connecting plate 213 is sleeved on the outside of the protrusion structure 2213, and the inner sidewall structure of the connecting plate 213 is equivalent to the auxiliary support structure 2123.

[0094] In some embodiments of this application, when the thickness of the drive wheel 220 is sufficiently large, the support portion 221 can also be a recessed structure that is recessed inward along the connection side of the drive wheel 220. Similarly, the recessed structure can be an annular groove structure or a recessed structure formed by multiple groove structures. The disc 210 is provided with a plug-in structure that can be inserted into the recessed structure, so that after the disc 210 and the support portion 221 are connected, the support portion 221 provides support along the force direction of the disc 210, providing additional support force to counteract the downward pressure on the disc 210 during use, thereby increasing the connection stability between the disc 210 and the drive wheel 220 and increasing the service life of the overall drive wheel structure.

[0095] Based on the structural design of the protruding support portion 221, the recessed support portion 221 can also have a similar structure, such as... Figure 15 As shown in (2) and (4), the support portion 221 can be an annular recessed groove 2214 or a plurality of grooves 2212 arranged in a ring. Correspondingly, as Figure 16As shown in (1) and (3), when the disc 210 is engaged with the recessed groove 2214, the connecting plate 213 of the disc 210 is provided with a protruding insert ring 2124 that is inserted into the recessed groove 2214; when the disc 210 is engaged with each groove 2212, the disc 210 has multiple insert blocks 2122 for inserting into each groove 2212.

[0096] In some embodiments of this application, the connector 240 is a connecting bolt, which is used to connect the connecting plate 213 and the drive wheel 220. Multiple connectors 240 are arranged in a ring along the axis of the drive wheel 220, and are located between the annular clearance groove 230 and the support portion 221. Figure 11 , 12 As shown in Figures 1, 13, and 14, multiple sets of connecting screw holes 241 are provided on the connecting side of the drive wheel 220 and the connecting plate 213 respectively. Each connecting bolt passes through the corresponding set of connecting screw holes 241 to realize the connection between the connecting plate 213 and the drive wheel 220.

[0097] To facilitate the connection of the connector 240 and further reduce the weight of the disk 210 and the energy consumption of the driver (drive motor) connected to the drive wheel 220, this application provides multiple weight-reducing slots 212 on the circumferential sidewall of the disk 210. The weight-reducing slots 212 facilitate the connector 240 to pass through the connecting plate 213 to connect the connecting plate 213 and the drive wheel 220, and also reduce the overall weight of the disk 210 by utilizing the hollow structure.

[0098] It is worth noting that the support portions 221 on both sides of the drive wheel 220 can adopt the same structure or a combination of different structures. The drive wheel 220 is made of steel or cast iron, and the disc 210 is made of aluminum alloy, plastic parts (engineering plastics), lightweight materials (light alloys), etc.

[0099] The drive wheel 220 requires a driver. In the prior art, the driver (reducer and motor) is located inside the explosion-proof compartment (body 400). This application improves the connection structure between the existing drive wheel 220 and the driver. Specifically, this application also provides a transmission structure 800. The transmission structure 800 is used to realize the cooperative installation of the reducer 450, the motor 460 and the side wall of the body 400. The transmission structure 800 includes a detachably connected connecting seat 810 and a fixed seat 820. The connecting seat 810 is provided with a through and rotatably connected rotating pin 830. One end of the rotating pin 830 is provided with a coaxially extending insertion pin 831, and the other end of the rotating pin 830 is provided with a coaxially recessed insertion groove 832. The end of the connecting seat 810 near the rotating pin 830 has a baffle 840. The fixed seat 820 is adjacent to the insertion groove 832. The connecting seat 810 is connected to the fixed seat 820 so that the baffle 840 and the fixed seat 820 form a fixed space for engaging the side wall of the body 400.

[0100] Understandably, the transmission structure 800 connects the reducer 450 and the motor 460. The rotating pin 830 on the connecting seat 810 effectively extends the output shaft of the motor 460. The connecting seat 810, equipped with the rotating pin 830, also features a baffle 840, which functions as a snap-fit. During installation, the length of the connecting seat 810 is appropriately set based on the structure of the main body 400 (or other main body 400). After the connecting seat 810 passes through the main body 400, the connection between the connecting seat 810 and the fixed seat 820 allows the transmission structure 800 and... The main body 400 is connected, and then the output shaft of the motor 460 is fixed to the insertion groove 832. The insertion pin 831 is fixed to the input end of the reducer 450, which can realize the installation of the reducer 450 externally and the motor 460 internally. At the same time, the baffle 840 set on the connecting seat 810 can not only facilitate the connection with the main body 400, but also facilitate the connection of the end of the reducer 450, and has a better explosion-proof effect. Thus, the external installation of the reducer 450 is realized, which is conducive to the small size design of the main body 400. At the same time, it can also reduce the rate of temperature rise inside the main body 400 and increase the service life of the motor 460.

[0101] The connecting seat 810 and the fixing seat 820 engage to secure the mounting position. Therefore, the shape of the connecting seat 810 is designed according to the structure of the main body 400. For example, if the through hole of the main body 400 is cylindrical, the connecting seat 810 will be a cylindrical structure that fits the through hole. If the through hole is rectangular, the connecting seat will be a rectangular cylindrical structure. The baffle 840 extends outwards. Similarly, it is only necessary to ensure that the baffle 840 covers the through hole at the mounting position. Therefore, the projection of the outer shape of the baffle 840 can be circular, rectangular, or any other arbitrary structure.

[0102] Correspondingly, the fixing seat 820 is located at the end of the connecting seat 810 and fixed to the connecting seat 810. At least it must be ensured that the fixing seat 820 can cover the end of the connecting seat 810 so that the combination of the fixing seat 820, the baffle 840 and the connecting seat 810 is similar to an I-beam structure, clamping and fixing the through hole (or through slot) of the body 400, providing more installation methods for the combination of the reducer 450 and the motor 460.

[0103] In this application, the transmission structure 800 is used in an explosion-proof robot so that the reducer 450 can be externally mounted. The connection between the reducer 450 and the motor 460 is a transitional connection via a rotating pin 830 (shaft structure). The rotating shaft is rotatably mounted within the connecting seat 810 via multiple bearings. Considering the balance of the connection force, the connecting seat 810 is set as a cylindrical structure. This ensures that after the connecting seat 810 is fixed to the body 400, when the rotating pin 830 is in use, the connection point between the transmission structure 800 and the body 400 (or other body 400) experiences a more balanced force. Therefore, as follows... Figure 23 As shown, the connecting seat 810 of this application has a cylindrical structure. The rotating pin 830 is coaxially arranged with the connecting seat 810. The baffle 840 is connected to the end of the connecting seat 810 and extends outward. The baffle 840 is a ring-shaped plate structure coaxially arranged with the connecting seat 810. The baffle 840 is sealed and fixed to the outer wall of the body 400 (or other installation position). The fixing seat 820 also adopts a ring-shaped plate structure. The fixing seat 820 covers the end of the connecting seat 810 and is detachably connected to the connecting seat 810. The fixing seat 820 is fixedly connected to the motor 460. The output shaft of the motor 460 is embedded in the insertion groove 832 and fixed with the rotating pin 830. After the motor 460, transmission structure 800 and reducer 450 are assembled, the motor 460 can drive the reducer 450 to rotate. Then the drive wheel 220 (or other components) connected to the reducer 450 can rotate.

[0104] Since the reducer 450 is located outside the main body 400 (or other components), to enhance the sealing effect of the connection between the baffle 840 and the main body 400, this application provides a first sealing ring 844 on the inner side of the baffle 840. For example... Figure 23 As shown, the first sealing ring 844 is sleeved on the connecting seat 810 and positioned close to the baffle 840. A groove-shaped structure for embedding the first sealing ring 844 is provided on the outer wall of the body 400. The setting of the first sealing ring 844 can increase the sealing effect between the baffle 840, the connecting seat 810 and the body 400.

[0105] The baffle 840 needs to be fixed to the reducer 450 and the body 400 (including the side wall of the body 400). Considering the structure of the body 400 (circular through hole) and the reducer 450, the baffle 840 of this application has an annular protrusion structure 841 on the side away from the fixing seat 820 to assist in the installation of the reducer 450. The protrusion structure 841 is used to engage the reducer 450. After the reducer 450 is engaged on the baffle 840, it can be locked in place using multiple fixing bolts. At this time, the insertion pin 831 is inserted into the input end of the reducer 450. Similarly, to facilitate the connection between the fixing seat 820, the connecting seat 810, and the motor 460, this application has an inwardly recessed annular mounting groove 821 on the side of the fixing seat 820 away from the baffle 840 to assist in the installation of the motor 460. The annular mounting groove 821 can engage the end of the motor 460, and then multiple fixing bolts are used to fix the motor 460 to the fixing seat 820.

[0106] To enhance the explosion-proof effect at the connection between the reducer 450 and the transmission structure 800, this application includes a stepped recessed structure inside the protrusion structure 841. This stepped recessed structure has a detachably connected explosion-proof plate 842, and a second sealing ring is provided between the explosion-proof plate 842 and the stepped recessed structure. The insertion pin 831 has an outwardly protruding auxiliary mounting ring 8311, and the explosion-proof plate 842 has a groove to accommodate this auxiliary mounting ring 8311. Figure 23 As shown, the stepped recessed structure is a stepped groove formed by two recessed grooves facing the inner wall of the baffle 840. The auxiliary mounting ring 8311 is fixed to the insertion pin 831 along the bottom of the groove of the stepped recessed structure, so that the connecting seat 810 and the rotating pin 830 can form a snap-fit ​​structure. The explosion-proof plate 842 is covered on the auxiliary mounting ring 8311 and fixed to the outside of the baffle 840. The second sealing ring 843 is located between the explosion-proof plate 842 and the inner wall of the recessed groove inside the stepped recessed structure. The explosion-proof plate 842, the stepped recessed structure, the second sealing ring 843 and the auxiliary mounting ring 8311 of this application can significantly improve the explosion-proof effect of the insertion pin 831 and the connecting seat 810, thereby ensuring the explosion-proof effect of the reducer 450 and the baffle 840, so that the transmission structure 800 also has a certain explosion-proof effect.

[0107] The connection method between the tension guide wheel assembly 300 and the main body 400 of the drive mechanism in this application has also been improved. In the prior art (CN201610622972.3), the tension guide wheel assembly 300 and the main body 400 are connected through multiple points, indicating that the shock absorber needs to have a connection point with the main body 400, and the swing arm structure of the tension guide wheel assembly 300 also needs to be connected with the main body 400. The relative positions of the shock absorber, the tension guide wheel assembly 300, and the main body 400 all need to be adjusted to adapt to the tension of the track 100. In the existing installation method, when adjusting and connecting the tension guide wheel assembly 300 and the main body 400, multiple connection points need to be set on the main body 400, which will damage the structural stability of the main body 400 and reduce the service life of the main body 400. During adjustment, the shock absorber and the tension guide wheel assembly 300 also need to be fixed separately, and the installation process is also relatively cumbersome. Therefore, this application improves the structure of the tension guide wheel assembly 300 to avoid the above problems.

[0108] Specifically, the tensioning guide wheel assembly 300 includes a connecting arm 330, an auxiliary wheel assembly 320, a tensioning wheel assembly 310, a third shock absorber 340, and a mounting base 350. The mounting base 350 is installed in an adjustable position. The connecting arm 330 is hinged to the mounting base 350. The auxiliary wheel assembly 320 and the tensioning wheel assembly 310 are respectively connected to the connecting arm 330. The tensioning wheel assembly 310 is located on the axial side of the auxiliary wheel assembly 320 and is adjacent to the auxiliary wheel assembly 320. The third shock absorber 340 is installed between the mounting base 350 and the connecting arm 330, and the connection end of the third shock absorber 340 and the connecting arm 330 is adjacent to the tensioning wheel assembly 310.

[0109] Understandably, the auxiliary wheel set 320 and tension wheel set 310 are existing wheel set structures, mainly consisting of two rotating wheels arranged side by side. These two rotating wheels are arranged side-by-side along the width of the track 100 and respectively roll in contact with the track 100. The auxiliary wheel set 320 and tension wheel set 310 can have two contact points with the track 100. Specifically, as... Figure 18 , 19 As shown in Figure 20, the auxiliary wheel assembly 320 includes two auxiliary wheels 321 arranged side by side and an auxiliary shaft coaxially arranged with the two auxiliary wheels 321 and rotating relative to them. The two auxiliary wheels 321 are located at both ends of the auxiliary shaft and are rotatably connected to the auxiliary shaft through rotating bearings or other rotating components. Each auxiliary wheel 321 is in rolling contact with the track 100, and the middle part of the auxiliary shaft is fixedly connected to the connecting arm 330. Therefore, when the track 100 rotates under the action of the drive wheel, each auxiliary wheel 321 provides support without affecting the rolling of the track 100. Similarly, the tension wheel assembly 310 includes two tension wheels 311 arranged side by side and a tension shaft coaxially arranged with the two tension wheels 311 and rotating relative to them. The two tension wheels 311 are located at both ends of the tension shaft and are rotatably connected to the tension shaft through rotating bearings or other rotating components. Each tension wheel 311 is in rolling contact with the track 100, and the middle part of the tension shaft is fixedly connected to the connecting arm 330. When the track 100 rotates under the action of the drive wheel, each tensioning wheel 311 can provide support force without affecting the rolling of the track 100.

[0110] The connecting arm 330 acts as a connector, linking the auxiliary wheel assembly 320, the mounting base 350, and the tensioning wheel assembly 310. Therefore, the connecting arm 330 can be any structure that achieves this function, such as a plate structure or a bracket structure. When using the tensioning mechanism of this application, it is necessary to ensure that the tensioning wheel assembly 310 and the auxiliary wheel assembly 320 are always in contact with the track 100. Therefore, the tensioning wheel assembly 310 and the auxiliary wheel assembly 320 need to swing along the body 400 under the action of the connecting arm 330. Correspondingly, to achieve this function, such as... Figure 17 , 18As shown in Figures 19 and 20, the connecting arm 330 of this application is rotatably connected to the hinge shaft on the mounting base 350, and the hinge shaft is parallel to the auxiliary shaft and the tensioning shaft. Therefore, the hinge point of the connecting arm 330 and the mounting base 350, the rotation point of the auxiliary wheel assembly 320 (the position of the auxiliary shaft axis), and the rotation point of the tensioning wheel assembly 310 (the position of the tensioning shaft axis) can form a triangular positioning on the same plane. By adjusting the position of the mounting base 350 on the body 400, the tension of the track 100 can be adjusted.

[0111] The third shock absorber 340 is a shock-absorbing spring. One end of the third shock absorber 340 is hinged to the mounting base 350, and the other end is hinged to the connecting arm 330. When the tensioning mechanism is in use, the auxiliary wheel set 320 and the tensioning wheel set 310 can swing along the hinge point between the connecting arm 330 and the mounting base 350. At the same time, it can also ensure that the auxiliary wheel set 320 and the tensioning wheel set 310 are always in contact with the track 100, with two contact fulcrums, ensuring the stability of the track 100 in use.

[0112] The auxiliary wheel assembly 320 and tension wheel assembly 310 can be installed in various ways depending on the overall layout. For example, if the tension wheel assembly 310 is located diagonally above the auxiliary wheel assembly 320, then the third shock absorber 340 is connected above the tension wheel assembly 310. Alternatively, the tension wheel assembly 310 can be located diagonally below the auxiliary wheel assembly 320, in which case the third shock absorber 340 is connected below the tension wheel assembly 310. Both layouts allow the auxiliary wheel assembly 320 and tension wheel assembly 310 to swing around the hinge point between the connecting arm 330 and the mounting base 350.

[0113] The mounting base 350 facilitates the assembly of the entire tensioning guide wheel assembly and allows for the adjustment of the track tension 100 by adjusting the mounting position of the mounting base 350 on the main body 400. Furthermore, connecting the third shock absorber 340 to the mounting base 350 reduces the number of additional connection points required on the main body 400. This makes the tensioning mechanism of this application easy to install on the main body 400 and reduces the layout of mounting points on the main body 400, which is beneficial for the simplified design of the main body 400.

[0114] To facilitate the adjustment of the positions of the mounting base 350 and the body 400, a snap-fit ​​groove 410 can be provided on the side wall (connecting side) of the body 400. The mounting base 350 can slide to a suitable position in the snap-fit ​​groove 410, and then multiple locking bolts can be used to realize the position adjustment of the mounting base 350 and the body 400, thereby facilitating the installation and tension adjustment of the track 100.

[0115] Since different third shock absorbers 340 have different factory preloads, fine-tuning is required during assembly according to on-site installation requirements. To achieve this function, this application adopts a split-type mounting base 350. Specifically, as shown... Figure 18 ,19 As shown in Figure 20, the mounting base 350 includes a sliding base 351 and an adjusting base 352. The adjusting base 352 is positioned on the sliding base 351. The connecting arm 330 is hinged to the adjusting base 352, and the third shock absorber 340 is hinged to the adjusting base 352. The sliding base 351 is a horizontal block structure that fits into the snap-fit ​​groove 410. The sliding base 351 has a sliding block embedded in the snap-fit ​​groove 410 to allow the sliding base 351 to slide along the snap-fit ​​groove 410. The sliding base 351 has multiple locking holes, and the body 400 has multiple sets of connecting holes that are adapted to the locking holes (each set has multiple connecting holes that match the multiple locking holes). After the locking holes coincide with the corresponding connecting holes, the sliding base 351 and the body 400 can be fixed in different positions by using locking bolts. When the sliding seat 351 is connected to the body 400, the tension adjustment of the tensioning mechanism and the track 100 can be basically limited. In order to further enable the third shock absorber 340 to reach the best working state, the adjusting seat 352 of this application is connected to the sliding seat 351 in a different position to achieve fine adjustment of the pre-pressure of the third shock absorber 340.

[0116] Specifically, to achieve the conditions for adjusting seat 352 and sliding seat 351, the adjusting seat 352 of this application is positioned on the sliding seat 351 by adjusting components, such as... Figure 18 , 19 As shown, the adjusting assembly includes an adjusting screw 353, which extends along the sliding direction of the sliding seat 351. The adjusting screw 353 is connected to a connecting seat 354 on the sliding seat 351, and also passes through the adjusting seat 352, where it is threadedly connected. A locking nut is also provided on the adjusting screw 353. Rotating the locking nut locks the adjusting screw 353 to the connecting seat 354, thus locking the adjusting screw to the connecting seat 354 (sliding seat 351). At this time, the adjusting seat 352 is locked to the sliding seat 351. Rotating the locking nut unlocks the adjusting screw 353 and the connecting seat 354. Rotating the adjusting screw 353 then changes the position of the adjusting seat 352 on the sliding seat 351, thereby adjusting the position of the adjusting seat 352 and the sliding seat 351. Of course, the adjusting screw 353 and the sliding seat 351 and adjusting seat 352 can also be connected in other ways to achieve a changeable position of the adjusting seat 352 on the sliding seat 351. The adjusting seat 352 needs to be slidably set on the sliding seat 351. Since the sliding seat 351 is in contact with the side wall of the body 400, there is a sliding gap between the sliding seat 351 and the body 400. In order to increase the sliding stability of the adjusting seat 352 and the sliding seat 351, and in combination with the structural characteristics of the body 400, such as Figure 18 , 19As shown in Figure 20, the adjusting seat 352 covers the sliding seat 351 in the vertical direction, and the adjusting seat 352 has a locking part in the vertical direction. The two locking parts are respectively locked between the sliding seat 351 and the body 400 in the vertical direction, so that the adjusting seat 352 and the sliding seat 351 are locked and slidably connected.

[0117] In this application, the tensioning pulley assembly 310 is located diagonally above the auxiliary pulley assembly 320. Correspondingly, the third shock absorber 340 is located above the tensioning pulley assembly 310. Based on the limitation of the installation position, and to facilitate the connection between the connecting arm 330 and the adjusting seat 352, as well as the connection between the third shock absorber 340 and the adjusting seat 352, as follows... Figure 18 , 19 As shown in Figure 20, the adjusting seat 352 has a hinge and a connecting part in the vertical direction. The hinge is connected to the connecting arm 330, and the connecting part is connected to the third shock absorber 340. The connection and hinge parts facilitate the installation of the connecting arm 330 and the third shock absorber 340.

[0118] This application improves the structure of the existing tensioning mechanism, making the overall tensioning mechanism more compact and easier to install, while also making the track 100 run more smoothly.

[0119] This application is based on an improved explosion-proof cabin structure and drive mechanism. The connection method between each wheel assembly of the drive mechanism and the side wall of the explosion-proof cabin is as follows: Figure 29 As shown, each load wheel assembly 600 has a structure consisting of two rolling wheels connected to a rolling shaft. The rolling wheels are rotatably connected to the rolling shaft via bearings. The two rolling wheels are tactilely connected to the track 100. A swing arm 640 is fixed on the rolling shaft. The swing arm 640 is hinged to a swing seat 630 on the main body 400. The swing seat 630 is slidably disposed within a locking groove 410 and fixedly connected by bolts. The upper end of the first shock absorber 610 is hinged to a shock absorber seat 620, which is slidably disposed within the locking groove 410 and fixedly connected by bolts. The lower end of the first shock absorber 610 is hinged to the lower part of the swing arm 640, so that each load wheel assembly 600 can provide downward compressive force to achieve the purpose of load application.

[0120] The entire robot is used in firefighting operations. For this purpose, a fire sprinkler system is installed above the explosion-proof cabin. The principle of the fire sprinkler system is the same as existing technology (CN201811138538.3). This application mainly improves the structure of the sprinkler head 700 mounted on the fire sprinkler system. Specifically, as follows... Figure 24-28As shown, the spray head 700 includes, from top to bottom, a primary rotating seat 710, a primary spray sleeve 730, a secondary rotating seat 740, a secondary spray sleeve 750, and a base 770. The spray head 700 of this application also mainly consists of five parts; however, the structure of each part has been redesigned to allow the spray head 700 to have two umbrella-shaped spray channels while also enabling gear adjustment.

[0121] Specifically, the primary rotating seat 710 includes a primary positioning seat 712 and a primary rotating sleeve 711, which are internally and externally disposed and threadedly connected. The primary rotating sleeve 711 has a connecting through hole 714 with a multi-stage stepped hole structure. The primary positioning seat 712 passes through the connecting through hole 714 and is threadedly connected to any stepped hole sidewall of the connecting through hole 714. The primary positioning seat 712 is sealed to the remaining stepped hole sidewalls of the connecting through hole 714 and is braked by a first limiting member. Figure 24 , 25 As shown, the connecting through hole 714 is a three-step hole structure consisting of four holes decreasing in size from top to bottom. The connecting through hole 714 is actually composed of four coaxially arranged circular holes connected sequentially, with the diameter of each circular hole gradually decreasing. The exterior of the first-stage rotating sleeve 711 can be a cylindrical structure or other structures, as long as the bottom of the first-stage rotating sleeve 711 has a circular groove structure. This circular groove structure, in conjunction with the upper middle part of the first-stage spray sleeve 730, forms the first umbrella-shaped spray gap 720. In this application, considering the aesthetic appearance of the spray head 700, the exterior of the first-stage rotating sleeve 711 is cylindrical. To facilitate the rotation of the first-stage rotating sleeve 711, multiple friction protrusions 7111 are provided on the exterior of the first-stage rotating sleeve 711 for operator control. Correspondingly, based on the structure of the connecting through hole 714, the primary positioning seat 712 is a block structure with sequentially narrowed openings adapted to the connecting through hole 714. The primary positioning seat 712 is threadedly connected to the inner wall of the circular hole at the lowest position of the connecting through hole 714. At the same time, the primary positioning seat 712 and the inner wall of the third circular hole of the connecting through hole 714 are sealed together by a sealing ring. Furthermore, there is sufficient clearance between the step formed by the third circular hole and the lowest circular hole and the primary positioning seat 712 to facilitate the up and down movement of the primary rotating sleeve 711.

[0122] Based on the structure of the primary rotating seat 710, when the primary positioning seat 712 is fixed, an external force drives the primary rotating sleeve 711 to rotate, which can cause the primary rotating sleeve 711 to move up and down. The primary spray sleeve 730, located below the primary rotating seat 710, is fixed to the primary positioning seat 712. The up and down movement of the primary rotating sleeve 711 can change the gap between the primary rotating sleeve 711 and the primary spray sleeve 730. Therefore, it is only necessary to form a first umbrella-shaped spray gap 720 between the upper part of the primary spray sleeve 730 and the lower part of the primary rotating sleeve 711. The primary rotating sleeve 711 rotates along the primary positioning seat 712 to change the size of the first umbrella-shaped spray gap 720.

[0123] To ensure a more uniform water flow in the first umbrella-shaped spray gap 720, this application provides a buffer structure 713 at the bottom of the first-stage rotating sleeve 711. The buffer structure 713 and the first-stage spray sleeve 730 form a buffer cavity, which is connected to the first umbrella-shaped spray gap 720. The structure of the buffer cavity can buffer high-speed liquid, avoid excessive local flow velocity, and ensure the uniformity of the jet velocity.

[0124] like Figure 24 , 25 As shown, the upper end of the primary spray sleeve 730 is horizontally positioned, opposite to the buffer structure 713 at the bottom of the primary rotating sleeve 711, to form a buffer cavity. The side wall of the primary spray sleeve 730 near its upper end has a conical structure, which engages with the edge of the buffer structure 713 of the primary rotating sleeve 711 to form a first umbrella-shaped spray gap 720. To ensure liquid jetting, the primary spray sleeve 730 has a cavity structure with an open lower end. The upper part of the primary spray sleeve 730 and the bottom of the primary rotating sleeve 711 are spaced apart to form a first water outlet cavity. The first water outlet cavity has a gap cavity structure that is larger in the middle and smaller at the edges. The structure in the middle of the water outlet cavity changes from large to small towards the edges, so that the first water outlet cavity forms a buffer cavity and the first umbrella-shaped spray gap 720. To ensure that water can enter the first water outlet chamber, this application provides multiple water passage holes 731 on the upper part of the first-stage spray sleeve 730 that communicate with the first water outlet chamber. The water passage holes 731 communicate with the first umbrella-shaped spray gap 720.

[0125] The secondary rotating seat 740 is located below the primary spray sleeve 730 and is partially embedded within the primary spray sleeve 730. Specifically, as shown... Figure 24 , 25As shown, the secondary rotating seat 740 is fitted inside the primary spray sleeve 730. The secondary rotating seat 740 includes a secondary positioning seat 742 and a secondary rotating sleeve 741, which are internally and externally disposed and threadedly connected. The secondary positioning seat 742 has a T-shaped structure, and its upper part is fitted and fixed to the top of the primary spray sleeve 730. The upper part of the secondary positioning seat 742 has a water passage 7421 communicating with the water passage hole 731. The upper part of the secondary rotating sleeve 741 is embedded in the primary spray sleeve 730 and is sealed to the inner wall of the primary spray sleeve 730 by a sealing ring. The secondary rotating sleeve 741 is threadedly connected to the secondary positioning seat 742, and the secondary rotating sleeve 741 has sufficient vertical movement clearance within the primary spray sleeve 730 to ensure that the secondary rotating sleeve 741 can move up and down under the action of external force. To ensure that water can pass through the secondary rotating sleeve 741 and enter the first outlet chamber above, the secondary rotating sleeve 741 has a water passage groove communicating with the water passage 7421, and there can be multiple water passage grooves. The lower part of the secondary rotating seat 740 cooperates with the upper part of the secondary spray sleeve 750, and the upper structure of the secondary spray sleeve 750 is similar to the upper structure of the primary spray sleeve 730, so that the lower end of the secondary rotating sleeve 741 and the upper part of the secondary spray sleeve 750 form a second umbrella-shaped spray gap 760. The secondary spray sleeve 750 is fixed to the secondary positioning seat 742, and the secondary rotating sleeve 741 rotates along the secondary positioning seat 742 to change the size of the second umbrella-shaped spray gap 760.

[0126] The lower part of the secondary spray sleeve 750 is sealed and fixed to the base 770, and the base 770 is provided with a liquid inlet channel 771 for guiding liquid. The liquid introduced by the liquid inlet channel 771 enters the primary spray sleeve 730 along the secondary spray sleeve 750 and is jetted from the first umbrella-shaped spray gap 720 and the second umbrella-shaped spray gap 760.

[0127] To facilitate the fixing of each component, the primary positioning seat 712 is fixed to the secondary positioning seat 742 via a fixing member 715. The secondary positioning seat 742 passes through the secondary spray sleeve 750 and is connected to a locking member 772 to fix the secondary positioning seat 742 to the secondary spray sleeve 750. The fixing member 715 is a locking bolt, and the locking member 772 is a fixing nut. Through the interconnected multi-segment structure, the primary positioning seat 712, the first spray pipe, the secondary positioning seat 742, and the secondary spray sleeve 750 can be fixedly connected.

[0128] During use, rotating the primary rotating sleeve 711 and / or the secondary rotating sleeve 741 can adjust the corresponding spray gap. However, to ensure that the primary rotating sleeve 711 and / or the secondary rotating sleeve 741 will not move again after the position is moved, it is necessary to brake the primary rotating sleeve 711 and the secondary rotating sleeve 741. For this purpose, this application provides a first limiting member between the primary positioning seat 712 and the primary rotating sleeve 711, and a second limiting member between the secondary rotating sleeve 741 and the primary spray sleeve 730. The first limiting member and the second limiting member have similar structures, both using the cooperation of elastic steel balls and multiple positioning grooves to achieve positioning.

[0129] Specifically, for ease of demonstration, the first limiting component includes a first telescopic positioning pin 716 and multiple first positioning grooves 717 that cooperate with the first telescopic positioning pin 716. The first telescopic positioning pin 716 cooperates with any of the first positioning grooves 717 to limit the position of the primary positioning seat 712 and the first rotating sleeve. Theoretically, if the first telescopic positioning pin 716 and the multiple first positioning grooves 717 are selectively arranged on the primary positioning seat 712 and the primary rotating sleeve 711, the limiting function can be achieved. Figure 24 , 25 As shown, this application arranges multiple first positioning grooves 717 around the outside of the first-stage positioning seat 712. The first telescopic positioning pin 716 is telescopically positioned on the inner wall of the connecting through hole 714 (on the first-stage rotating sleeve 711) by using a combination of spring and limiting hole. Without other external force, the first telescopic positioning pin 716 can cooperate with any first positioning groove 717 under the action of spring to achieve the limiting of the first-stage positioning seat 712 and the first-stage rotating sleeve 711.

[0130] Similarly, the second limiting component includes a second telescopic positioning pin 732 and a plurality of second positioning grooves 743 that cooperate with the second telescopic positioning pin 732. The second telescopic positioning pin 732 cooperates with any of the second positioning grooves 743 to limit the position of the primary spray sleeve 730 and the first rotating sleeve. Figure 24 , 25 As shown, the second telescopic positioning pin 732 adopts a structure similar to the first telescopic positioning pin 716 and is telescopically set on the inner wall of the first-stage spray sleeve 730. Each second positioning groove 743 is arranged in a ring along the outer wall of the second-stage rotating sleeve 741. Under the action of the spring, the second telescopic positioning pin 732 cooperates with any first positioning groove 717 to realize the limiting of the first-stage spray sleeve 730 and the second-stage rotating sleeve 741.

[0131] To expand the spraying range, this application includes a rotating spray sleeve 780 around the first umbrella-shaped spray gap 720. The rotating spray sleeve 780 is located at the bottom of the first-stage rotating sleeve 711 and rotatably connected to it. Multiple inclined spray teeth are evenly distributed on the rotating spray sleeve 780. Water jets from the first umbrella-shaped spray gap 720 impact these spray teeth, driving the rotating spray sleeve 780 to rotate and further disperse the jetting water, thereby increasing the spraying range.

[0132] To facilitate user confirmation of the vertical movement distances of the primary rotating sleeve 711 and the secondary rotating sleeve 741, rotation markers can be installed between the primary positioning seat 712 and the primary rotating sleeve 711, and between the secondary rotating sleeve 741 and the primary spray sleeve 730, respectively. Figure 27 As shown, the rotation indicator can be composed of scale 718 and pointer 719. Using the scale 718 corresponding to pointer 719, the operator can be assisted in judging the vertical movement distance of the first-level rotating sleeve 711 and the second-level rotating sleeve 741.

[0133] like Figure 28 As shown, when the spray head 700 of this application is in use, a pipeline control switch and a connecting pipe can also be connected below the base 770 to control the use of the spray head 700.

[0134] The spray head 700 of this application improves upon existing designs by utilizing internal and external threaded connections. This ensures the central structure remains fixed while the external structure can move vertically. The external vertically movable structure consists of a primary rotating sleeve 711 and a secondary rotating sleeve 741. The primary spray sleeve 730 and the primary rotating sleeve 711 cooperate to form a first umbrella-shaped spray gap 720. When the position of the primary rotating sleeve 711 changes, the first umbrella-shaped spray gap 720 changes accordingly, allowing the liquid passing through the first umbrella-shaped spray gap 720 to have different jet velocities, thus achieving different coverage areas. Similarly, the vertical movement of the secondary rotating sleeve 741 also changes the distance of the second umbrella-shaped spray gap 760, allowing the liquid passing through the second umbrella-shaped spray gap 760 to have different jet velocities, thus achieving different coverage areas. Therefore, the spray head 700 of this application, with two umbrella-shaped spray channels, allows for adjustment of each umbrella-shaped spray channel to adapt to different installation and usage environments.

[0135] A rotary sealing ring is provided between the rotating pin 830 and the connecting seat 810. In order to ensure the sealing performance, other components also need to be provided with corresponding sealing grooves and sealing ring mating structures to ensure the sealing effect or explosion-proof performance.

[0136] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0137] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model 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 utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0138] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A front-drive tracked robot, characterized in that: It includes a tracked chassis, which includes an explosion-proof compartment and two drive mechanisms located on both sides of the explosion-proof compartment. The drive mechanism includes a track (100), a drive wheel (220), a tension guide wheel assembly (300), a road wheel assembly (500), and multiple load wheel assemblies (600). The track (100) is fitted onto the drive wheel (220), the tension guide wheel assembly (300), the road wheel assembly (500), and the multiple load wheel assemblies (600) so that the track (100) forms a ring structure. Among them, the drive wheel (220) and the tensioning guide wheel assembly (300) are spaced apart, the load wheel group (500) and multiple load wheel groups (600) are spaced apart between the drive wheel (220) and the guide tensioning wheel group (310), each load wheel group (600) is swayed along the explosion-proof chamber, and each load wheel group (600) is provided with a first shock absorber (610) between itself and the explosion-proof chamber; The road wheel assembly (500) is adjacent to the drive wheel (220), a second shock absorber (510) is provided between the road wheel assembly (500) and the explosion-proof compartment, and a limiting arm (520) is provided between the road wheel assembly (500) and the drive wheel (220) so that the road wheel assembly (500) swings along the axis of the drive wheel (220).

2. The front-drive tracked robot according to claim 1, characterized in that: The limiting arm (520) has a Y-shaped frame structure. The limiting arm (520) has a plug section (522) and a connecting section (521). The plug section (522) is plugged into the drive wheel (220) along both sides of the drive wheel (220) and is rotatably connected to the drive wheel (220). The connecting section (521) is connected to the load wheel set (500).

3. The front-drive tracked robot according to claim 1 or 2, characterized in that: The drive wheel (220) is also provided with a noise reduction auxiliary component, which includes at least one disc (210). The disc (210) is located on one side of the drive wheel (220) and is fixedly connected to the drive wheel (220) so that the disc (210) has an annular support platform (211) coaxially arranged with the drive wheel (220), wherein the limiting arm (520) is located on the outside of the disc (210) and is rotatably connected to the disc (210).

4. The front-drive tracked robot according to claim 3, characterized in that: At least one support (221) is provided on the connection side between the drive wheel (220) and the disc (210). The disc (210) is inserted into the support (221) and connected to the drive wheel (220) through multiple connectors (240). The support (221) and multiple connectors (240) are arranged in a ring along the drive wheel (220), and the support (221) and multiple connectors (240) are distributed adjacent to each other along the diameter direction of the drive wheel (220).

5. The front-drive tracked robot according to claim 4, characterized in that: The support part (221) is a protruding structure that extends outward along the connection side of the drive wheel (220), or The support part (221) is a recessed structure that is recessed inward along the connection side of the drive wheel (220).

6. The front-drive tracked robot according to claim 1, 2, 4 or 5, characterized in that: The tension guide wheel assembly (300) includes a connecting arm (330), an auxiliary wheel assembly (320), a tension wheel assembly (310), and a mounting base (350). The mounting base (350) is adjustable in position to the explosion-proof compartment. The connecting arm (330) is hinged to the mounting base (350). The auxiliary wheel assembly (320) and the tensioning wheel assembly (310) are rotatably connected to the connecting arm (330). The tensioning wheel assembly (310) is located on the axial side of the auxiliary wheel assembly (320) and adjacent to the auxiliary wheel assembly (320). A third shock absorber (340) is provided between the connecting arm (330) and the mounting base (350). The connection end of the third shock absorber (340) and the connecting arm (330) is adjacent to the tensioning wheel assembly (310).

7. The front-drive tracked robot according to claim 6, characterized in that: The mounting base (350) includes a sliding base (351) and an adjusting base (352). The adjusting base (352) is positioned on the sliding base (351). The connecting arm (330) is hinged to the adjusting base (352). The third shock absorber (340) is hinged to the adjusting base (352).

8. The front-drive tracked robot according to claim 1, 2, 4, 5 or 7, characterized in that: The main body (400) of the explosion-proof compartment has a rectangular cavity structure, and each of the two long side walls of the main body (400) is provided with a snap-fit ​​groove (410). Each snap-fit ​​groove (410) protrudes outward along the side wall of the body (400) and extends along the length of the body (400). The two ends of each snap-fit ​​groove (410) are respectively connected to the two short side walls of the body (400), and the two ends of each snap-fit ​​groove (410) are open. The drive wheel (220) is rotatably connected to the body (400), and the tension guide wheel assembly (300), the load wheel set (500) and multiple load wheel sets (600) are installed in conjunction with the snap-fit ​​groove (410).

9. The front-drive tracked robot according to claim 1, 2, 4, 5 or 7, characterized in that: The drive wheel (220) is equipped with a reducer (450) and a motor (460) for use. The motor (460) is located inside the explosion-proof compartment, and the reducer (450) is located outside the explosion-proof compartment. The reducer (450) and the motor (460) are connected to the side wall of the explosion-proof compartment through a transmission structure (800). The transmission structure (800) includes a detachably connectable connecting seat (810) and a fixed seat (820). The connecting seat (810) is provided with a through and rotatably connected rotating pin (830). One end of the rotating pin (830) is provided with a coaxially extending insertion pin (831), and the other end of the rotating pin (830) is provided with a coaxially recessed insertion groove (832). The connecting seat (810) has a baffle (840) at one end near the rotating pin (830), and the fixed seat (820) is adjacent to the insertion groove (832). The connecting seat (810) is connected to the fixed seat (820) so that the baffle (840) and the fixed seat (820) form a fixed space for snapping onto the side wall of the explosion-proof compartment.

10. The front-drive tracked robot according to claim 9, characterized in that: The baffle (840) has an annular protrusion structure (841) on the side away from the fixed seat (820) to assist in the installation of the reducer (450); The mounting base (820) has an inwardly recessed annular mounting groove (821) on the side away from the baffle (840) for assisting in the installation of the motor (460).

11. The front-drive tracked robot according to claim 10, characterized in that: The protrusion structure (841) has a stepped recessed structure inside, and the stepped recessed structure has a detachable explosion-proof plate (842). A second sealing ring (843) is provided between the explosion-proof plate (842) and the stepped recessed structure.

12. The front-drive tracked robot according to claim 1, 2, 4, 5, 7, 10 or 11, characterized in that: The explosion-proof compartment is also equipped with a fire sprinkler system, which has sprinkler heads. The spray head (700) includes, from top to bottom, a primary rotating seat (710), a primary spray sleeve (730), a secondary rotating seat (740), a secondary spray sleeve (750), and a base (770). The first-stage rotating seat (710) includes a first-stage positioning seat (712) and a first-stage rotating sleeve (711) that are set inside and outside and threaded together. The first-stage positioning seat (712) is fixedly connected to the first-stage spray sleeve (730), and the upper part of the first-stage spray sleeve (730) and the lower part of the first-stage rotating sleeve (711) form a first umbrella-shaped spray gap (720). The first-stage rotating sleeve (711) rotates along the first-stage positioning seat (712) to change the size of the first umbrella-shaped spray gap (720). The secondary rotating seat (740) is sleeved inside the primary spray sleeve (730). The secondary rotating seat (740) includes a secondary positioning seat (742) and a secondary rotating sleeve (741) that are set inside and outside and threaded together. The secondary positioning seat (742) is fixedly connected to the primary spray sleeve (730), and the secondary rotating sleeve (741) is sealed and rotatably connected to the primary spray sleeve (730). The lower part of the secondary rotating seat (740) and the upper part of the secondary spray sleeve (750) form a second umbrella-shaped spray gap (760). The secondary rotating sleeve (741) rotates along the secondary positioning seat (742) to change the size of the second umbrella-shaped spray gap (760). The secondary spray sleeve (750) is sealed and fixed to the base (770), and the base (770) is provided with a liquid inlet channel (771) for guiding liquid. The liquid introduced by the liquid inlet channel (771) enters the primary spray sleeve (730) along the secondary spray sleeve (750) and is jetted from the first umbrella-shaped spray gap (720) and the second umbrella-shaped spray gap (760).

Images