A foldable long-arm exploration robot

Abstract

This utility model relates to the field of robotics, and more particularly to a foldable long-armed exploration robot, comprising a main frame and a main control unit. A foldable long arm is mounted on the upper part of the main frame, comprising multiple arms with joints between them. A detection system is connected to the end of the foldable long arm furthest from the main frame via a joint, and a drive device is located at one end of each joint. The foldable long arm can be bent and folded via the joints, occupying less space during transportation compared to traditional exploration robots. For example, in air transport, it can be easily loaded into the cargo hold of a small aircraft, while traditional non-foldable large robots may require specialized large transport equipment or be impossible to transport at all. This portability advantage allows the foldable exploration robot to be deployed more quickly to remote areas or special environments, such as field geological exploration, dangerous area reconnaissance, and polar environment scientific expeditions for exploration tasks.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a foldable long-armed exploration robot. Background Technology

[0002] Exploration robots are robotic systems specifically designed to perform exploratory tasks in unknown, complex, or hazardous environments. They combine sensor technology, artificial intelligence, mobility, and autonomous decision-making to perform tasks such as information gathering, environmental modeling, and target identification in areas inaccessible to humans or where risks exist. Through advanced information technology, exploration robots push the limits of human physiology, providing crucial support for scientific research, resource development, and disaster relief. With continuous technological advancements, exploration robots will play a vital role in a wider range of fields.

[0003] However, some existing exploration robots are not easy to transport due to their large size, especially when working in the field. They are not convenient to carry, and the mechanical structure of some exploration robots cannot adapt to changes in terrain, resulting in poor traversal of complex terrain. Utility Model Content

[0004] In order to overcome the defects of the prior art mentioned above, the inventors conducted in-depth research and, after a great deal of creative work, completed this utility model.

[0005] Specifically, the technical problem to be solved by this utility model is to provide a foldable long-arm exploration robot to solve the technical problems of some existing exploration robots having low transportation convenience, being inconvenient to carry in the field, and having poor mechanical structure that cannot adapt to changes in terrain, resulting in poor passability in complex terrain.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A foldable long-armed exploration robot includes a main frame and a main control unit, with the main control unit located within the main frame. A foldable long arm is mounted on the upper end of the main frame, comprising multiple arms with joints between them. A detection system is connected to the end of each foldable long arm furthest from the main frame via a joint, and a drive device is located at one end of each joint. Two drive wheels are symmetrically positioned at the front and rear ends of the main frame. Moving components are fitted onto the outer walls of the two drive wheels on the same side of the main frame. Each moving component includes a first track mounted on the outer wall of the drive wheel, with anti-slip treads on the outer wall and track teeth on the inner wall that mate with the drive wheel. Climbing components are located on the side of each of the two drive wheels at the front end of the main frame furthest from the main frame. The drive device, the detection system, the drive wheels, and the climbing components are all controlled and connected to the main control unit.

[0008] Furthermore, the multiple long arms include a first long arm, a second long arm, and a third long arm connected in sequence. The first long arm is provided with a first joint between itself and the main frame, the first long arm is provided with a second joint between itself and the second long arm, the second long arm and the third long arm are provided with a third joint, and the third long arm is provided with a fourth joint between itself and the detection system.

[0009] Furthermore, the drive devices for the first, second, and third joints all include servo motors and harmonic reducers; the drive device for the fourth joint includes a servo motor and a planetary gear reducer.

[0010] Furthermore, the detection system includes one or more of the following: a gas sensor, a temperature and humidity sensor, a pressure sensor, a radiation sensor, and a camera module.

[0011] Furthermore, protective plates are provided on both sides of the main frame, and the protective plates are located between the drive wheel and the main frame.

[0012] Furthermore, the long arm is made of carbon fiber composite material, the main frame is made of aluminum alloy material, the main frame is modularly designed, the joints are made of polyoxymethylene plastic, and the protective plate is made of polycarbonate material.

[0013] Furthermore, it also includes a DC motor, each of which is driven and connected to one of the drive wheels.

[0014] Furthermore, the climbing assembly includes a connecting plate located on the side of the drive wheel away from the main frame. The front and rear ends of the connecting plate are respectively provided with a driven wheel and a driving wheel. The outer walls of the driving wheel and the driven wheel are wrapped with a second track, and the outer wall of the second track is provided with multiple sets of anti-slip blocks.

[0015] Furthermore, it also includes a power supply module and a wireless communication module, both of which are controlled and connected to the main control unit.

[0016] After adopting the above technical solution, the beneficial effects of this utility model are:

[0017] 1. Compared with traditional exploration robots, the foldable long-arm exploration robot provided by this utility model has multiple long arms that can be bent and folded through joints, so that the foldable long arms can be folded and placed on the upper surface of the main frame, effectively reducing the overall size of the exploration robot and occupying less space during transportation. For example, in air transport, it can be easily loaded into the cargo hold of a small aircraft, while traditional non-foldable large robots may require special large transport equipment or cannot be transported at all. This portability advantage allows the foldable long-arm exploration robot to be deployed more quickly to remote areas or special environments, such as deep mountains and forests, isolated islands, polar regions and other environments for exploration tasks.

[0018] 2. The mechanical structure of the exploration robot in this utility model can be adaptively adjusted according to changes in terrain. For example, in complex terrains such as mountains and hills, the robot can fold part of its structure to lower its center of gravity and improve its stability. Furthermore, by installing climbing components, the drive wheels can drive the connecting plate to rotate, and the active wheel rotates simultaneously, driving the anti-slip block to rotate through the driven wheel. Thus, the robot can adjust the angle of the climbing components to cross larger obstacles. This terrain adaptability is a significant improvement over some rigid structure robots in the existing technology, which may easily tip over or get stuck in complex terrain. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a foldable long-arm exploration robot according to the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the foldable long-arm exploration robot and its detection system according to the present invention.

[0022] Figure 3 This is a three-dimensional structural diagram of the climbing component of a foldable long-arm exploration robot according to the present invention.

[0023] Figure 4 This is a three-dimensional structural diagram of the mobile component of a foldable long-arm exploration robot according to this utility model.

[0024] Figure 5 This is a structural block diagram of the main control unit of a foldable long-arm exploration robot according to this utility model.

[0025] In the diagram: 1. Main frame; 2. Protective plate; 3. Long arm; 31. Long arm one; 32. Long arm two; 33. Long arm three; 4. Joint; 41. First joint; 42. Second joint; 43. Third joint; 44. Fourth joint; 5. Drive unit; 6. Moving component; 61. First track; 62. Anti-slip tread; 63. Track teeth; 7. Drive wheel; 8. Climbing component; 81. Connecting plate; 82. Drive wheel; 83. Driven wheel; 84. Second track; 85. Anti-slip block; 9. Detection system. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] Meanwhile, the meaning of "and / or" or "the / or" appearing throughout the text is that it includes three options. Taking "A and / or B" as an example, it includes option A, option B, or an option that satisfies both A and B.

[0029] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0030] like Figures 1-5As shown, this embodiment provides a foldable long-arm exploration robot, including a main frame 1 and a main control unit, the main control unit being located within the main frame 1; a foldable long arm is provided at the upper end of the main frame 1, the foldable long arm including multiple long arms 3, each long arm 3 being connected to a joint 4, the end of the foldable long arm away from the main frame 1 being connected to a detection system 9 via the joint 4, and a drive device 5 being provided at one end of the joint 4; two drive wheels 7 are symmetrically provided at the front and rear ends of the main frame 1, respectively. A moving component 6 is fitted on the outer wall of the two drive wheels 7 on the same side. The moving component 6 includes a first track 61 that is driven on the outer wall of the drive wheel 7. The outer wall of the first track 61 is provided with anti-slip texture 62. The inner wall of the first track 61 is provided with track teeth 63 that cooperate with the drive wheel 7. A climbing component 8 is provided on the side of the two drive wheels 7 located at the front end of the main frame 1 away from the main frame 1. The drive device 5, the detection system 9, the drive wheels 7 and the climbing component 8 are all controlled and connected to the main control unit.

[0031] The exploration robot in this embodiment features foldable long arms 3 with multiple long arms 3 and joints 4. These long arms 3 can be bent and folded via the joints 4. This allows for the selection of the unfolding degree of the multiple long arms 3 based on the required length during actual operations. Furthermore, when the exploration robot is not in operation, the foldable long arms can be folded and placed on the upper surface of the main frame 1, effectively reducing the overall size of the exploration robot and allowing it to occupy less space during transportation. For example, in air transport, it can be easily loaded into the cargo hold of a small aircraft, whereas traditional non-foldable large robots may require specialized large transport equipment or may not be transportable at all. This portability advantage enables the foldable long-arm exploration robot to be deployed more quickly to remote areas or special environments, such as deep forests, isolated islands, and polar regions, for exploration tasks. Furthermore, the exploration robot can be folded into a compact shape when not in use, which is a great advantage in terms of storage. It can be stored efficiently in small spaces such as laboratory rooms, storage boxes in rescue vehicles, or simple warehouses in field bases. In contrast, existing non-foldable robots often require a large storage space, which can cause many inconveniences when space is limited.

[0032] Furthermore, such as Figure 2As shown, the multiple sets of long arms 3 include long arm one 31, long arm two 32 and long arm three 33 connected in sequence. Long arm one 31 is provided with a first joint 41 between it and the main frame 1. Long arm one 31 is provided with a second joint 42 between it and long arm two 32. Long arm two and long arm three 33 are provided with a third joint 43. Long arm three 33 is provided with a fourth joint 44 between it and the detection system 9. Specifically, the driving device 5 of the first joint 41, the second joint 42 and the third joint 43 all include a servo motor and a harmonic reducer. The driving device 5 of the fourth joint 44 includes a servo motor and a planetary gear reducer.

[0033] In this embodiment, the movement of the foldable long arm relies on the coordinated action of four joints 4. Each joint 4 is driven by a high-precision servo motor. The motor works in conjunction with the corresponding transmission mechanism (reducer) to achieve precise rotation of the joint 4, with an angle control accuracy of ±0.1°. In addition, in order to accurately control the movement of the foldable long arm, inertial measurement units (IMUs) are installed in key parts of the robot body and the long arm. The inertial measurement units integrate a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, which can acquire the robot's attitude information (pitch angle, roll angle, yaw angle) and acceleration data in real time. Angle sensors are also arranged at the joints 4 to accurately measure the rotation angle of each joint 4, providing accurate position feedback for motion control. Furthermore, motion control algorithms are used to further improve the precision control of the foldable long arm's movements. These algorithms specifically include forward kinematics and inverse kinematics algorithms. The forward kinematics algorithm calculates the position and posture of the long arm's end effector based on the angles of each joint, while the inverse kinematics algorithm calculates the required angles for each joint based on the target position and posture of the foldable long arm's end effector. The combination of these two algorithms achieves precise control of the foldable long arm's movements. For example, when performing a target object grasping task, the inverse kinematics algorithm is first used to calculate the joint angles, and then the forward kinematics algorithm is used to verify the accuracy of the end effector position, ensuring the successful completion of the grasping action.

[0034] The specific movements of the four joints of the foldable long arm are as follows:

[0035] (1) First joint (shoulder joint)

[0036] Rotation preparation: Upon receiving the command from the main control unit, the servo motor of the first joint is powered on and started, driving the harmonic reducer to prepare for action. The absolute encoder feeds back the current joint angle information to the main control unit as a reference for the starting position.

[0037] Vertical rotation: The servo motor drives the first joint to rotate vertically through the harmonic reducer according to the control parameters calculated by the main control unit. It can achieve rotation at any angle within a range of 180°, so that the long arm 31 can adjust its direction on the horizontal plane and aim at different exploration targets.

[0038] Rotation stop: When the first joint rotates to the target angle, the servo motor stops rotating, the harmonic reducer locks the current position, and the absolute encoder monitors in real time and ensures that the joint angle remains stable.

[0039] (2) Second joint (upper arm joint)

[0040] Initialization and Feedback: The servo motor and absolute encoder of the second joint are initialized, and the absolute encoder feeds back the current joint angle to the main control unit;

[0041] Vertical pitch motion: According to the instructions of the main control unit, the servo motor drives the harmonic reducer to make the second joint pitch in the vertical plane. The range of motion is -90° to 90°. The long arm 2 32 can be raised or lowered, and the height and angle of the long arm 2 32 can be adjusted to adapt to different working scenarios and operation requirements.

[0042] Position holding: After reaching the target angle, the servo motor stops, and the harmonic reducer maintains the position of the second long arm 32, ensuring that the second long arm 32 remains stable during operation and preventing angle changes caused by external forces or other factors.

[0043] (3) Third joint (forearm joint)

[0044] Initial state confirmation: The servo motor and absolute encoder of the third joint enter the working state, and the absolute encoder feeds back the current initial joint angle to the main control unit;

[0045] Pitch motion execution: Under the control of the main control unit, the servo motor drives the long arm 33 to perform pitch motion in the vertical plane through the harmonic reducer. The range of motion is generally from -90° to 90°. Through coordinated movement with the second joint, the position and attitude of the end effector (detection system) can be adjusted more precisely to achieve close observation of the target object.

[0046] Angle stabilization control: When the long arm 33 reaches the specified angle, the servo motor stops running, and the harmonic reducer keeps the joint angle stable to ensure that the end effector (detection system) can accurately complete the observation task.

[0047] (4) Fourth joint (wrist joint)

[0048] Preparation and Feedback: The servo motor and absolute encoder of the fourth joint have been initialized, and the absolute encoder transmits the current angle information to the main control unit;

[0049] Horizontal plane rotation: According to the instructions of the main control unit, the servo motor drives the fourth joint through the planetary gear reducer, so that the end effector (detection system) rotates 360° in the vertical plane to observe the environment in different directions;

[0050] Precise position control: When the fourth joint rotates to the target angle, the servo motor stops, and the planetary gear reducer fixes the fourth joint in the corresponding position, ensuring that the end effector (detection system) can accurately align with the target and meet the accuracy requirements of the task.

[0051] Furthermore, the detection system 9 includes one or more of the following: a gas sensor, a temperature and humidity sensor, a pressure sensor, a radiation sensor, and a camera module. Specifically, the detection system 9 may include a camera module and a searchlight to acquire visual information about the surrounding environment and achieve functions such as target recognition and obstacle detection through image processing algorithms. Depending on the needs of different exploration tasks, the detection system 9 can be equipped with different environmental monitoring sensors such as gas sensors, temperature and humidity sensors, pressure sensors, and radiation sensors. In industrial environments or underground space exploration tasks where gas leaks may occur, the gas sensor can monitor the concentration changes of harmful gases in the environment in real time, such as carbon monoxide, methane, and sulfur dioxide. Once a harmful gas level is detected to be exceeded, an alarm is immediately issued, and the data is transmitted to the main control unit. The main control unit can take appropriate measures as needed, such as stopping progress, activating ventilation equipment, or guiding the exploration robot to evacuate from the danger zone. The radiation sensor is used to detect the radiation dose in the environment and is suitable for exploration tasks in special environments such as near nuclear facilities or areas with radioactive material leaks. It can monitor radiation levels in real time, provide safety warnings to operators, and ensure the safety of the exploration robot and operators. In addition, temperature and humidity sensors, air pressure sensors, etc. can be equipped according to actual needs to monitor environmental parameters such as temperature, humidity, and air pressure, providing data support for environmental research and mission decision-making.

[0052] Furthermore, such as Figure 1 As shown, protective plates 2 are provided on both sides of the main frame 1, and the protective plates 2 are located between the drive wheel 7 and the main frame 1. In this embodiment, by providing protective plates 2, the main frame 1 and the main control unit installed on the main frame 1 can be protected.

[0053] Furthermore, the long arm 3 is made of carbon fiber composite material, the main frame 1 is made of aluminum alloy, the main frame 1 is a modular design, the joint 4 is made of polyoxymethylene plastic, and the protective plate 2 is made of polycarbonate. In this embodiment, the protective plate 2 of the exploration robot needs to have certain protective properties, such as waterproofing, dustproofing, and impact resistance. Polycarbonate is chosen because of its advantages such as high transparency, high impact resistance, good heat resistance, and dimensional stability. In addition, the protective performance of the protective plate 2 can be further improved by implementing surface treatment technology, such as spraying a wear-resistant and corrosion-resistant coating. The joint 4 is a key part of the robot structure, bearing a large amount of friction and stress concentration. Therefore, the material of the joint 4 needs to have high wear resistance, high strength, and good self-lubricating properties. Polyoxymethylene plastic is a suitable material. It has excellent mechanical properties, high hardness, good wear resistance, and a low coefficient of friction, which can reduce wear during the repeated rotation of the joint 4 and extend the service life of the joint. At the same time, in order to enhance the overall strength of the joint, reinforcing materials such as glass fiber can be added to the polyoxymethylene plastic. The main frame 1 is made of 6061-T6 aluminum alloy. 6061-T6 aluminum alloy has high yield strength and tensile strength, capable of withstanding the stress during various movements and operations of the robot. Simultaneously, aluminum alloy has a relatively low density, helping to reduce the overall weight of the robot, improving its portability and energy efficiency. Furthermore, aluminum alloy is easily processed into various shapes and structures, facilitating the modular design of the main frame 1. For the long arm 3, which needs to maintain good flexibility and structural strength during folding and unfolding, carbon fiber composite material is the preferred material. Carbon fiber has an extremely high strength-to-weight ratio; its strength is comparable to steel, but its weight is far lower. Carbon fiber composite material is made by combining carbon fiber with a suitable resin matrix, and its performance can be adjusted according to specific design requirements. This material can ensure the structural integrity under the frequent folding and extending movements of the long arm 3, preventing cracks or breakage due to excessive bending.

[0054] Furthermore, it also includes four DC motors, each of which is connected to one of the drive wheels 7. In this embodiment, DC motors are used to drive and control the drive wheels 7, thereby controlling the movement of the first track 61. Specifically, the main control unit uses an H-bridge circuit to control the forward and reverse rotation and speed of the DC motors. The main control unit adjusts the running speed and direction of the first track 61 according to its instructions, realizing the robot's forward, backward, and turning actions. Simultaneously, a current feedback mechanism monitors the operating current of each DC motor in real time. When the current is too high, the drive parameters are adjusted promptly to prevent the DC motors from being overloaded and damaged.

[0055] Furthermore, such as Figure 3As shown, the climbing component 8 includes a connecting plate 81 located on the side of the drive wheel 7 away from the main frame 1. Driven wheels 83 and drive wheels 82 are respectively provided at the front and rear ends of the connecting plate 81. A second track 84 is wound around the outer walls of the drive wheel 82 and driven wheels 83, and multiple sets of anti-slip blocks 85 are provided on the outer walls of the second track 84. The mechanical structure of this exploration robot can adaptively adjust according to terrain changes. For example, in complex terrains such as mountains and hills, the robot can fold parts of its structure to lower its center of gravity and improve stability. In this embodiment, by installing the climbing component 8, the drive wheel 7 can drive the connecting plate 81 to rotate, and the drive wheel 82 simultaneously rotates, driving the anti-slip blocks 85 to rotate through the driven wheel 83. Thus, the robot can adjust the angle of the climbing component 8 to cross larger obstacles. This terrain adaptability is a significant improvement compared to some rigid structure robots in the prior art, where existing robots may easily tip over or get stuck in complex terrain.

[0056] Furthermore, it also includes a power supply module and a wireless communication module, both of which are controlled and connected to the main control unit.

[0057] Combination Figure 5 The specific workflow of the aforementioned foldable long-arm exploration robot is as follows:

[0058] (1) Initialization and self-test

[0059] Upon powering on the robot, each hardware module initializes, such as the main control unit, sensors, and drive motors, to perform self-checks and ensure they are functioning properly. The absolute encoder calibrates the initial positions of each joint, providing accurate starting position information for subsequent motion control. The sensor system warms up and initializes, while the camera module adjusts its focus and sets image parameters.

[0060] (2) Task planning and command issuance

[0061] Based on the needs of the exploration task, the operator plans the robot's movement path, operation objectives, and other task information through a remote control terminal or a preset program; the task instructions are transmitted to the robot's main control unit through a wireless communication module, and the main control unit parses and processes the instructions to clarify the specific tasks and objectives of each stage;

[0062] (3) Environmental perception and information collection

[0063] The robot explores and acquires real-time information about its surrounding environment, such as terrain, obstacle distribution, and air quality, through environmental perception sensors such as camera modules and gas sensors. The sensors convert the collected analog signals into digital signals and transmit them to the main control unit for processing and analysis. The main control unit uses image processing algorithms to recognize and analyze the images from the camera module in order to understand the detailed situation of the surrounding environment.

[0064] (4) Motion control and operation execution

[0065] Based on task instructions and environmental information, the main control unit calculates the target angles and motion trajectories of each joint of the four-degree-of-freedom foldable long arm using inverse kinematics algorithms. Based on the current actual position of each joint (feedback from the absolute encoder), it calculates the angle deviation and uses a PID control algorithm to generate control parameters for the servo motors of each joint. The drive main control unit drives the servo motors to rotate using PWM technology according to the control parameters, thereby moving each joint of the long arm and enabling the end effector to reach the designated position and complete the corresponding operation, such as a mechanical gripper grasping an object or a camera module capturing a specific area.

[0066] (5) Feedback and Adjustment

[0067] During the exploration of robot movement and operation, sensors continuously provide real-time feedback on environmental information and the robot's own state information, such as joint angles, motor current, and the position and posture of the end effector. Based on the feedback information, the main control unit continuously adjusts the motion control strategy and parameters to adapt to environmental changes and ensure accurate task execution. For example, if a new obstacle is detected ahead, the robot will replan its path; if the position of the end effector is found to deviate from the target position, the joint movement will be adjusted in time to correct it.

[0068] (6) Task completion and data transmission

[0069] After the exploration robot completes its preset exploration task, it organizes and packages the collected data (such as environmental images, sensor measurement data, robot motion trajectory, etc.); and transmits the data to a remote control terminal or a designated storage device via a wireless communication module for subsequent analysis and processing by the operator; at the same time, the robot can enter standby mode or execute the next task instruction.

[0070] It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. Furthermore, it should be understood that after reading the technical description of this utility model, those skilled in the art can make various alterations, modifications, and / or variations to this utility model, and all such equivalent forms also fall within the scope of protection defined by the appended claims.

Claims

1. A foldable long-arm exploration robot, comprising a main body frame (1) and a master control unit, the master control unit being located in the main body frame (1); characterized in that: The upper end of the main frame (1) is provided with a foldable long arm, which includes multiple long arms (3). Each long arm (3) is connected to a joint (4). The end of the foldable long arm away from the main frame (1) is connected to a detection system (9) through the joint (4). One end of the joint (4) is provided with a driving device (5). The front and rear ends of the main frame (1) are respectively provided with two driving wheels (7). The outer walls of the two driving wheels (7) located on the same side of the main frame (1) are fitted with moving components (6). The component (6) includes a first track (61) that is driven on the outer wall of the drive wheel (7). The outer wall of the first track (61) is provided with anti-slip texture (62). The inner wall of the first track (61) is provided with track teeth (63) that cooperate with the drive wheel (7). The two drive wheels (7) located at the front end of the main frame (1) are provided with climbing components (8) on the side away from the main frame (1). The drive device (5), the detection system (9), the drive wheel (7) and the climbing components (8) are all controlled and connected to the main control unit.

2. The collapsible, long-arm, exploratory robot of claim 1, wherein: The multiple long arms (3) include a first long arm (31), a second long arm (32), and a third long arm (33) connected in sequence. The first long arm (31) is provided with a first joint (41) between itself and the main frame (1), the first long arm (31) is provided with a second joint (42) between itself and the second long arm (32), the second long arm (2) and the third long arm (33) are provided with a third joint (43), and the third long arm (33) is provided with a fourth joint (44) between itself and the detection system (9).

3. The collapsible, long-arm, exploratory robot of claim 2, wherein: The drive units (5) of the first joint (41), the second joint (42) and the third joint (43) all include servo motors and harmonic reducers; the drive unit (5) of the fourth joint (44) includes a servo motor and a planetary gear reducer.

4. The collapsible, long-arm, exploratory robot of claim 3, wherein: The detection system (9) includes one or more of the following: gas sensor, temperature and humidity sensor, air pressure sensor, radiation sensor, and camera module.

5. The collapsible, long-arm, exploratory robot of claim 1, wherein: Protective plates (2) are provided on both sides of the main frame (1), and the protective plates (2) are located between the drive wheel (7) and the main frame (1).

6. The foldable long-armed exploration robot according to claim 5, characterized in that: The long arm (3) is made of carbon fiber composite material, the main frame (1) is made of aluminum alloy material, the main frame (1) is modularly designed, the joint (4) is made of polyoxymethylene plastic, and the protective plate (2) is made of polycarbonate material.

7. The foldable long-armed exploration robot according to claim 1, characterized in that: It also includes four DC motors, each of which is driven by one of the drive wheels (7).

8. The foldable long-arm exploration robot according to claim 1, characterized in that: The climbing assembly (8) includes a connecting plate (81) located on the side of the drive wheel (7) away from the main frame (1). The connecting plate (81) has a driven wheel (83) and a driving wheel (82) at its front and rear ends, respectively. The outer walls of the driving wheel (82) and the driven wheel (83) are wrapped with a second track (84), and the outer wall of the second track (84) is provided with multiple sets of anti-slip blocks (85).

9. The foldable long-armed exploration robot according to claim 1, characterized in that: It also includes a power module and a wireless communication module, both of which are connected to the main control unit for control.

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