CN215851558U - Deformable crawler chassis and fire-fighting robot - Google Patents
Deformable crawler chassis and fire-fighting robot Download PDFInfo
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- CN215851558U CN215851558U CN202122142000.3U CN202122142000U CN215851558U CN 215851558 U CN215851558 U CN 215851558U CN 202122142000 U CN202122142000 U CN 202122142000U CN 215851558 U CN215851558 U CN 215851558U
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Abstract
The utility model discloses a deformable crawler chassis and a fire-fighting robot, comprising: a chassis main body; chassis main part left and right sides is connected with crawler travel mechanism respectively, crawler travel mechanism includes triangle-shaped supporting structure, triangle-shaped supporting structure includes: a front support mechanism and a rear support mechanism; the front supporting mechanism and the rear supporting mechanism are symmetrically arranged in front and back relative to a protruding shaft of the chassis main body and are hinged through four rods to form a double-layer triangular linkage; through the height of adjustment triangle-shaped supporting structure, change crawler travel mechanism's height, and then change the height of chassis main part, make the chassis height of the robot that adopts this chassis structure adjustable, and then promote the trafficability characteristic and the stability of robot.
Description
Technical Field
The utility model relates to the technical field of fire-fighting robots, in particular to a deformable crawler chassis and a fire-fighting robot.
Background
The crawler traveling mechanism is widely applied to field operation vehicles such as engineering machinery, tractors and the like; the walking device has enough strength and rigidity, has good traveling and steering capacity, and can meet the passing capacity of equipment under severe walking conditions.
When designing fire-fighting robot chassis, in order to promote crawler-type chassis robot's cross-country throughput, make chassis apart from ground height higher usually, lead to the focus of robot behind the equipment of carrying higher, the structure is not stable enough, at the in-process such as climbing, climbing stair or downhill path, produces the phenomenon of rolling easily.
However, if the height above the ground of the chassis is reduced in order to improve the stability of the robot, the chassis is likely to scratch when passing through an obstacle, and the robot cannot pass through the obstacle.
Therefore, in a fire scene, due to the complex scene environment, the robot is required to have good trafficability when facing obstacles and good stability when facing slopes such as stairs.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the first purpose of the utility model is to provide a deformable crawler chassis, which can adjust the height of the chassis of the robot according to the path condition, thereby improving the trafficability and stability of the robot.
A second object of the present invention is to provide a fire fighting robot using a deformable crawler chassis.
In order to achieve the purpose, the utility model adopts the following technical scheme:
in a first aspect, the present invention provides a transformable crawler chassis comprising: a chassis main body; the left side and the right side of the chassis main body are respectively connected with a crawler traveling mechanism.
The crawler traveling mechanism comprises a crawler belt, wherein the crawler belt is sleeved inside the crawler belt and supports the crawler belt to form a crawler belt ring: the height of the crawler traveling mechanism is changed by adjusting the height of the triangular support structure, and then the height of the chassis main body is changed.
The driving device includes: and the driving wheel is rotationally connected with the chassis main body through a driving motor transmission shaft and is used for driving the crawler to rotate.
The auxiliary moving device includes: and the auxiliary wheels move back and forth along the side plate of the chassis main body through the auxiliary wheel adjusting mechanism and are used for assisting in adjusting the track ring so as to keep the track in a tensioning state.
The triangular support structure includes: a front support mechanism and a rear support mechanism; the top ends of the front supporting mechanism and the rear supporting mechanism are hinged with the protruding shaft of the chassis main body respectively, the bottom ends of the front supporting mechanism and the rear supporting mechanism are connected with the ground part of the crawler belt in a sliding mode respectively, and the height of the triangular support structure is changed by adjusting the distance between the bottom end of the front supporting mechanism and the bottom end of the rear supporting mechanism.
The front supporting mechanism and the rear supporting mechanism are symmetrically arranged in front and back of a protruding shaft of the chassis main body.
The front support mechanism includes: the front loading wheel adjusting cantilever and the front loading wheel set rocker arm; the rear support mechanism includes: the rear loading wheel adjusting cantilever and the rear loading wheel set rocker arm; the front supporting mechanism and the rear supporting mechanism are hinged to the top end of the rear loading wheel adjusting cantilever through the top end of the front loading wheel adjusting cantilever, the bottom end of the front loading wheel adjusting cantilever is hinged to the front loading wheel set rocker arm body, the bottom end of the rear loading wheel adjusting cantilever is hinged to the rear loading wheel set rocker arm body, and the top end of the front loading wheel set rocker arm is hinged to the top end of the rear loading wheel set rocker arm to form a double-layer triangular linkage device.
The bottom end of the rocker arm of the front load bearing wheel set and the bottom end of the rocker arm of the rear load bearing wheel set are respectively hinged with a load bearing wheel set, and the double-layer triangular linkage device is supported by the load bearing wheel sets and is in sliding connection with the ground part of the crawler.
The load wheel set comprises a plurality of load wheels, and hard connection or soft connection of energy absorption elements can be realized between the load wheels by adopting an element made of a material which is not easy to deform.
Chassis main part left and right sides symmetry is equipped with track stop device, track stop device includes: the upper limiting wheel, the lower limiting wheel and the limiting wheel height adjusting mechanism adjust the heights of the upper limiting wheel and the lower limiting wheel through the limiting wheel height adjusting mechanism, and the crawler belt is kept in a tensioning state through clamping and positioning of the upper limiting wheel and the lower limiting wheel.
In a second aspect, the utility model provides a fire fighting robot, employing a deformable crawler chassis as described above.
The utility model has the beneficial effects that:
(1) according to the crawler chassis, the height of the crawler chassis is adjusted through the matching of the loading wheel adjusting assembly and the auxiliary wheel adjusting assembly, so that the crawler chassis can be applied to mobile robots including fire-fighting robots, the height of the chassis can be changed according to the path conditions of the robots, and the trafficability and stability of the robots are improved.
(2) The driving motor adopts the reducing motor with the encoder, so that accurate driving adjustment can be performed, the driving force of the motor can be improved, the instantaneous driving force output capability during the adjustment of the height of the chassis can be effectively ensured, and the action response of the robot adopting the chassis structure is more accurate and rapid.
(3) The load wheel adjusting motors and the auxiliary wheel adjusting motors are respectively provided with a speed reducing motor which has a self-locking function, is provided with an encoder and has an output shaft as a standard screw rod, the accuracy of chassis adjustment is improved through the encoder and the screw rod, the bearing capacity of the chassis is improved through the speed reducing motor, so that the accurate adjusting function can be kept when the chassis carries a large load, the self-locking function ensures that the height of the chassis cannot be changed until the next adjusting instruction is given, and the effectiveness of chassis adjustment is ensured.
(4) In the load bearing wheel set, all load bearing wheels can be in hard connection by adopting elements made of materials which are difficult to deform or in soft connection by adopting energy absorption elements, so that different devices can be carried on the chassis, and when the elements made of materials which are difficult to deform are carried, the hard connection mode can be used, the maintenance cost is reduced, and the structural strength is enhanced; when the energy absorption element is carried, the flexible connection mode can be used, so that the chassis has the effects of shock absorption and energy absorption, and the overall operation performance of the robot is further enhanced.
(5) The front supporting mechanism and the rear supporting mechanism are symmetrically arranged in front and back of a protruding shaft of the chassis main body and are hinged through four rods to form a double-layer triangular linkage device.
(6) According to the utility model, the height of the crawler traveling mechanism is changed by adjusting the height of the triangular support structure, so that the height of the chassis main body is changed, the height of the chassis of the robot adopting the chassis structure is adjustable, and the trafficability characteristic and stability of the robot are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of a first operating state of the present invention;
FIG. 4 is a first schematic diagram illustrating a second operating state of the present invention;
FIG. 5 is a second schematic view of a second operating condition of the present invention;
101, a chassis shell, 102, a fixed frame, 103, a driving motor, 104, a driving motor mounting base, 105, an upper limit wheel, 106, a loading wheel adjusting beam, 107, a loading wheel adjusting motor, 108, an auxiliary wheel adjusting motor, 109, an auxiliary wheel adjuster, 110, an auxiliary wheel mounting bracket, 111, a driving wheel transmission shaft, 112, a driving wheel, 113, a lower limit wheel, 114, a rear loading wheel set (hard connection in this example), 115, a rear loading wheel set rocker arm, 116, a rear loading wheel adjusting cantilever arm, 117, a front loading wheel adjusting cantilever arm, 118, a front loading wheel set rocker arm, 119, a front loading wheel set (hard connection in this example), 120, an auxiliary wheel, 121, a crawler belt, 122, a limit wheel height adjusting mechanism, 123, an auxiliary wheel moving frame, 124, a first hinge point, 125, a second hinge point, 126, a third hinge point 127, a fourth hinge point, 128, a first hinge point, a second hinge point, a third hinge point, a fourth, A fifth hinge point 129, a sixth hinge point 130 and a loading wheel adjusting beam moving frame.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the utility model as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounted," "connected," and "fixed" may be fixed, detachable, or integral; the connection may be direct, indirect through an intermediate medium, an internal connection between two elements, or an interaction relationship between two elements; to those skilled in the art, the above terms are to be understood as having the specific meanings of the present invention according to specific situations and not as being limiting.
The first embodiment is as follows:
the utility model is described in detail below with reference to the accompanying drawings and specific embodiments, and the specific structure is as follows:
as shown in fig. 1, the present embodiment provides a transformable crawler chassis comprising: chassis main part, drive assembly, bogie wheel adjust assembly and auxiliary wheel adjust assembly.
The chassis main body includes: chassis housing 101 and motor mounting base.
The chassis housing 101 is provided with a fixing frame 102 for increasing the bearing capacity of the chassis housing 101, and the chassis housing 101 is provided with a groove for ensuring the installation space of other assemblies.
The motor mounting base comprises three parts, namely a left auxiliary wheel adjusting motor base, a right auxiliary wheel adjusting motor base, a loading wheel adjusting motor base and a left driving motor mounting base 104 and a right driving motor mounting base.
The driving assembly comprises a left driving motor, a right driving motor, a left driving wheel transmission shaft, a right driving wheel transmission shaft, a driving wheel 112, a left crawler belt, a right crawler belt and an upper limiting wheel and a lower limiting wheel which are respectively arranged on two sides of the chassis main body.
The left and right driving motors 103 are respectively mounted on left and right driving motor mounting bases 104 of the chassis shell 101, output shafts of the left and right driving motors are respectively connected with left and right driving wheel transmission shafts 111, the left and right driving wheel transmission shafts 111 are respectively provided with driving wheels 112, left and right crawlers are respectively mounted on two sides of the chassis body, upper and lower limiting wheels are divided into a left group and a right group, and are respectively mounted on the left and right sides of the chassis body to limit the positions of the crawlers and the driving wheels 112.
The bogie wheel adjustment assembly comprises: a bogie wheel adjustment motor 107, a bogie wheel adjustment beam 106, a front bogie wheel adjustment cantilever 117, a rear bogie wheel adjustment cantilever 116, a front load wheel set swing arm 118, a rear load wheel set swing arm 115, and a load wheel set.
The load wheel adjusting motor 107 is mounted on a load wheel adjusting motor base of the chassis body, and the load wheel adjusting beam 106, the left and right front and rear load wheel adjusting cantilevers, and the left and right front and rear load wheel set rocker arms form a load wheel adjusting frame.
The load wheel group is composed of a plurality of load wheels and a load wheel frame.
The auxiliary wheel adjustment assembly includes an auxiliary wheel adjustment motor 108, an auxiliary wheel adjuster 109, an auxiliary wheel mounting bracket 110, and an auxiliary wheel 120.
The auxiliary wheel adjusting motor 108 is respectively mounted on the left and right auxiliary wheel adjusting motor bases, the auxiliary wheel adjuster 109 is connected with the auxiliary wheel mounting bracket 110, and the auxiliary wheel 120 is mounted on the auxiliary wheel mounting bracket 110.
The embodiment can be further perfected by the following measures:
as a further improvement, the motor mounting bases of all the parts are respectively positioned on the same horizontal plane.
As a further improvement, the left and right driving motors 103 are both speed reducing motors with encoders; each load wheel adjusting motor 107 and each auxiliary wheel adjusting motor 108 are speed reducing motors having a self-locking function, provided with encoders, and having output shafts as standard screws.
As a further improvement, in the load bearing wheel set, the load bearing wheels can be connected with each other through hard connection by adopting an element made of a material which is not easy to deform or through soft connection by adopting an energy absorption element.
When the robot control system sends an instruction, the chassis needs to be changed from the first working state to the second working state, the load wheel adjusting motor 107 receives the instruction and rotates the instruction to stop after the instruction sets a turn number, and when the load wheel adjusting motor 107 rotates, the load wheel adjusting frame which is composed of the load wheel adjusting beam 106, the rear load wheel set rocker arm 115, the rear load wheel adjusting cantilever arm 116, the front load wheel adjusting cantilever arm 117 and the front load wheel set rocker arm 118 and arranged on the left side and the right side is driven to drive the load wheel set to move towards the middle, so that the height of the chassis is improved.
When the bogie wheel adjusting motor 107 executes the instruction, the auxiliary wheel adjusting motor 108 is stopped after executing the instruction and rotating the instruction for a given number of turns, and when the auxiliary wheel adjusting motor 108 rotates, the auxiliary wheel mounting bracket 110 is driven by the auxiliary wheel adjuster 109 to move backwards, so that the auxiliary wheel 120 further moves backwards, the crawler is kept in a tight state, and the passing capacity of the chassis is improved.
When the robot control system sends out an instruction, the chassis needs to have a second working state to be changed to the first working state, the load wheel adjusting motor 107 receives the instruction and rotates the instruction to stop after giving a turn number, and when the load wheel adjusting motor 107 rotates, the load wheel adjusting frame which is composed of the load wheel adjusting beam 106, the rear load wheel group rocker arm 115, the rear load wheel adjusting cantilever arm 116, the front load wheel adjusting cantilever arm 117 and the front load wheel group rocker arm 118 and arranged on the left side and the right side is driven to drive the load wheel group to move towards the front side and the rear side, so that the height of the chassis is reduced.
When the bogie wheel adjusting motor 107 executes the instruction, the auxiliary wheel adjusting motor 108 is enabled to execute the instruction and stop after rotating the instruction for a given number of turns, and when the auxiliary wheel adjusting motor 108 rotates, the auxiliary wheel mounting bracket 110 is driven to move forwards through the auxiliary wheel adjuster 109, so that the auxiliary wheel 120 further moves forwards, the crawler is kept in a tight state, and the stability of the chassis is improved.
Example two:
the utility model is described in detail below with reference to the accompanying drawings and specific embodiments, and the specific structure is as follows:
as shown in fig. 1, the present embodiment provides a transformable crawler chassis comprising: a chassis main body.
The chassis body adopts the bucket type structure, and each side encloses into chassis casing 101 through the flat board, and chassis casing 101 is inside to be provided with the fixed frame 102 that depends on chassis casing 101, fixed frame 102 adopts frame structure for strengthen chassis casing 101's support strength.
The left side and the right side of the rear end of the chassis shell 101 are symmetrically provided with driving motor mounting bases 104, the driving motor 103 is fixed in the chassis shell 101 by the driving motor mounting bases 104, and the driving motor 103 penetrates through a side plate of the chassis shell 101 through a driving motor transmission shaft 111 to be connected with a driving wheel 112.
The auxiliary wheel moving frame 123 is symmetrically provided with hollow auxiliary wheel moving frames 123 on the left side and the right side of the front end of the chassis shell 101, an auxiliary wheel mounting support 110 is arranged on the inner side of each auxiliary wheel moving frame 123, an auxiliary wheel adjuster 109 is rotatably connected to the inner side of each auxiliary wheel mounting support 110 through a transmission shaft, an auxiliary wheel 120 is fixedly connected to the outer side of each auxiliary wheel mounting support 110, and each auxiliary wheel adjuster 109 is controlled to rotate through an auxiliary wheel adjusting motor 107 to drive the auxiliary wheel mounting supports 110 and the auxiliary wheels 120 to move back and forth along the auxiliary wheel moving frames 123.
The chassis shell 101 middle part left and right sides symmetry is equipped with hollow-out bogie wheel adjusting beam and removes frame 130, bogie wheel adjusting beam 106 runs through the bogie wheel adjusting beam of the chassis shell 101 left and right sides and removes frame 130 and be connected with chassis shell 101 to through the control of bogie wheel adjusting motor 107, make bogie wheel adjusting beam 106 remove frame 130 along the bogie wheel adjusting beam and reciprocate.
Preferably, a self-locking mechanism is arranged between the bogie adjusting beam 106 and the bogie adjusting beam moving frame 130, so that the bogie adjusting beam 106 can be positioned at a corresponding position of the bogie adjusting beam moving frame 130 when no external force is driven.
The bogie wheel adjusting beam 106 penetrates through the left end and the right end of the chassis shell 101 and is respectively connected with the top ends of the front bogie wheel adjusting cantilever 117 and the rear bogie wheel adjusting cantilever 116 to a first hinge point 124; the bottom end of the front loading wheel adjusting cantilever 117 is fixed on the second hinge point 125 of the front loading wheel set rocker 118, the bottom end of the rear loading wheel adjusting cantilever 116 is fixed on the third hinge point 126 of the rear loading wheel set rocker 115, the front loading wheel set rocker 118 and the top end of the rear loading wheel set rocker 115 are connected to the fourth hinge point 127, the bottom end of the front loading wheel set rocker 118 and the front loading wheel set 119 are connected to the fifth hinge point 128, and the bottom end of the rear loading wheel set rocker 115 and the rear loading wheel set 114 are connected to the sixth hinge point 129.
Preferably, the front and rear load wheel set swing arms 118 and 115 are provided with sliding grooves, so that the second hinge point 125 and the third hinge point 126 can move up and down along the sliding grooves, so as to adapt to the change of the hinge positions of the front and rear load wheel set swing arms 117 and 116 and the rear and rear load wheel set swing arms 115 and 116 caused by the change of the included angles between the front and rear load wheel set adjusting cantilevers 117 and 116.
When the ground clearance of the chassis is increased by the deformable crawler chassis, the bogie wheel adjusting motor 107 controls the bogie wheel adjusting beam 106 to rotate and move downwards along the bogie wheel adjusting beam moving frame 130, so as to drive the front bogie wheel adjusting cantilever 117 and the rear bogie wheel adjusting cantilever 116 to rotate downwards by taking the first hinge point 124 as a center, and further reduce an included angle between the front bogie wheel adjusting cantilever 117 and the rear bogie wheel adjusting cantilever 116; the bottom end of the front loading wheel adjusting cantilever 117 and the bottom end of the rear loading wheel adjusting cantilever 116 are enabled to drive the front loading wheel set rocker 118 and the rear loading wheel set rocker 115 to simultaneously rotate downwards by taking the fourth hinge point 127 as a center, so that the included angle between the front loading wheel set rocker 118 and the rear loading wheel set rocker 115 is reduced, the ground clearance of the fourth hinge point 127 is improved by supporting the front loading wheel set rocker 118 and the rear loading wheel set rocker 115 through the front loading wheel set 119 and the rear loading wheel set 114, meanwhile, the ground clearance of the first hinge point 124 is improved by supporting the front loading wheel set rocker 118 and the rear loading wheel set rocker 115 to the front loading wheel adjusting cantilever 117 and the rear loading wheel adjusting cantilever 116, the ground clearance of the loading wheel adjusting beam 106 is finally improved, and further, the ground clearance is improved by driving the chassis shell 101 through the loading wheel adjusting beam 106.
When the height of the chassis housing 101 from the ground is increased, the height of the track ring 121 sequentially supported by the driving wheel 112, the rear load wheel set 114, the front load wheel set 119, and the auxiliary wheel 120 from the rear to the front is also increased, and at this time, the auxiliary wheel adjusting motor 108 drives the auxiliary wheel adjuster 109 to rotate, and the auxiliary wheel mounting bracket 110 and the auxiliary wheel 120 move backward along the auxiliary wheel moving frame 123 together, so that the width of the track ring 121 is shortened in cooperation with the increase in the height of the track ring 121.
Preferably, the chassis shell 101 is symmetrically provided with crawler belt limiting devices at the left side and the right side behind the bogie wheel adjusting beam moving frame 130; track stop device includes: an upper limit wheel 105, a lower limit wheel 113, a limit wheel height adjusting mechanism 122; the upper limiting wheel 105 and the lower limiting wheel 113 are respectively in sliding connection with the limiting wheel height adjusting mechanism 122 through a connecting mechanism, and the heights of the upper limiting wheel 105 and the lower limiting wheel 113 are adjusted through the limiting wheel height adjusting mechanism 122.
The upper limiting wheel 105 is arranged on the outer side of the track ring 121; the lower limiting wheel 113 is arranged on the inner side of the track ring 121; the height position of the crawler ring 121 at the crawler limiting device 122 is limited by clamping and positioning the upper limiting wheel 105 and the lower limiting wheel 113, so that the local shape of the crawler ring 121 is changed, and the crawler ring 121 is always in a tensioning state.
Example three:
the embodiment provides a fire-fighting robot, which adopts the deformable crawler chassis as described in the first embodiment or the second embodiment.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A transformable crawler chassis, comprising: a chassis main body; the left side and the right side of the chassis main body are respectively connected with a crawler traveling mechanism;
the crawler traveling mechanism comprises a crawler belt, wherein the crawler belt is sleeved inside the crawler belt and supports the crawler belt to form a crawler belt ring: the height of the crawler traveling mechanism is changed by adjusting the height of the triangular support structure, and then the height of the chassis main body is changed.
2. The transformable crawler chassis of claim 1, wherein the drive means comprises: and the driving wheel is rotationally connected with the chassis main body through a driving motor transmission shaft and is used for driving the crawler to rotate.
3. The transformable crawler chassis of claim 1, wherein the auxiliary locomotion device comprises: and the auxiliary wheels move back and forth along the side plate of the chassis main body through the auxiliary wheel adjusting mechanism and are used for assisting in adjusting the track ring so as to keep the track in a tensioning state.
4. The transformable crawler chassis of claim 1, wherein the triangular support structure comprises: a front support mechanism and a rear support mechanism; the top ends of the front supporting mechanism and the rear supporting mechanism are hinged with the protruding shaft of the chassis main body respectively, the bottom ends of the front supporting mechanism and the rear supporting mechanism are connected with the ground part of the crawler belt in a sliding mode respectively, and the height of the triangular support structure is changed by adjusting the distance between the bottom end of the front supporting mechanism and the bottom end of the rear supporting mechanism.
5. A deformable track chassis as claimed in claim 4, in which the front and rear support mechanisms are symmetrically disposed fore and aft about the projecting axis of the chassis body.
6. The transformable crawler chassis of claim 5, wherein the front support mechanism comprises: the front loading wheel adjusting cantilever and the front loading wheel set rocker arm; the rear support mechanism includes: the rear loading wheel adjusting cantilever and the rear loading wheel set rocker arm; the front supporting mechanism and the rear supporting mechanism are hinged to the top end of the rear loading wheel adjusting cantilever through the top end of the front loading wheel adjusting cantilever, the bottom end of the front loading wheel adjusting cantilever is hinged to the front loading wheel set rocker arm body, the bottom end of the rear loading wheel adjusting cantilever is hinged to the rear loading wheel set rocker arm body, and the top end of the front loading wheel set rocker arm is hinged to the top end of the rear loading wheel set rocker arm to form a double-layer triangular linkage device.
7. A deformable crawler chassis according to claim 6, wherein the bottom ends of the rocker arms of the front and rear sets are respectively hinged with a set of weight wheels supporting a double triangular linkage through the set of weight wheels and slidably connected to the ground portion of the crawler.
8. The transformable crawler chassis of claim 7, wherein the set of road wheels comprises a plurality of road wheels, each road wheel being either rigidly connected by a non-deformable material element or flexibly connected by an energy absorbing element.
9. The transformable crawler chassis of claim 1, wherein the chassis body is symmetrically provided with crawler limiting devices on the left and right sides, the crawler limiting devices comprising: the upper limiting wheel, the lower limiting wheel and the limiting wheel height adjusting mechanism adjust the heights of the upper limiting wheel and the lower limiting wheel through the limiting wheel height adjusting mechanism, and the crawler belt is kept in a tensioning state through clamping and positioning of the upper limiting wheel and the lower limiting wheel.
10. A fire fighting robot, characterized in that a deformable crawler chassis according to claims 1-9 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122142000.3U CN215851558U (en) | 2021-09-06 | 2021-09-06 | Deformable crawler chassis and fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122142000.3U CN215851558U (en) | 2021-09-06 | 2021-09-06 | Deformable crawler chassis and fire-fighting robot |
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| Publication Number | Publication Date |
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| CN215851558U true CN215851558U (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122142000.3U Active CN215851558U (en) | 2021-09-06 | 2021-09-06 | Deformable crawler chassis and fire-fighting robot |
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| Country | Link |
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| CN (1) | CN215851558U (en) |
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2021
- 2021-09-06 CN CN202122142000.3U patent/CN215851558U/en active Active
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