A radiation-resistant six-tracked mobile robot

Abstract

This invention belongs to the field of tracked mobile robot technology, specifically a radiation-resistant six-tracked mobile robot, comprising an upper shell, a lower shell, a battery, a shielding enclosure, a main electrical control assembly, radiation-shielded electrical components, and six tracked moving parts. The six tracked moving parts include two main walking drive assemblies, two swing arm drive assemblies, two swing arm assemblies, two driving wheels, two driven wheels, two main walking tracks, four driven wheels, and four swing arm tracks. By coaxially arranging the main walking drive assemblies, driving wheels, driven wheels, and swing arm drive assemblies on the same side, this invention creates a cavity within the six tracked moving parts that can accommodate the main shell, resulting in a more compact overall structure and efficient space utilization. The shielding enclosure effectively protects and shields electrical components with low radiation dose rates, making the robot's overall operation more reliable.

Description

Technical Field

[0001] This invention belongs to the field of tracked mobile robot technology, specifically a radiation-resistant six-tracked mobile robot. Background Technology

[0002] Tracked mobile robots have advantages such as high traction, low slippage, and good off-road performance. They can be equipped with cameras, detectors, and other devices to replace humans in some dangerous tasks (such as bomb disposal and chemical detection), reducing unnecessary casualties. However, the chassis of current tracked mobile robots has low structural space utilization, and in environments with nuclear radiation, some radiation-sensitive electrical components are difficult to reliably protect. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a radiation-resistant six-tracked mobile robot.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A radiation-resistant six-tracked mobile robot includes an upper shell, a lower shell, a battery, a shielding housing, a main electronic control assembly, an electrical assembly requiring radiation shielding, and six tracked moving parts. The upper shell is mounted on the lower shell and together they form the main shell body. The battery, shielding housing, and main electronic control assembly are arranged sequentially from bottom to top within the main shell body. The electrical assembly requiring radiation shielding is disposed within the shielding housing. The main electronic control assembly and the electrical assembly requiring radiation shielding constitute the main body of the electronic control system, which is powered by the battery.

[0006] The six tracked moving parts are located on the outer periphery of the lower housing and are driven by the main body of the electronic control system.

[0007] The top of the upper housing is equipped with an antenna and a video system. The video system includes a video system mounting base and a camera and a light installed on the video system mounting base. The antenna, camera and light are respectively connected to the main body of the electronic control system.

[0008] The shielding enclosure includes a lower lead plate, an upper lead plate, a main body shell of the shielding enclosure, a front lead plate, a rear lead plate, and two side lead plates. The top and bottom of the main body shell of the shielding enclosure are open, and the bottom of the main body shell of the shielding enclosure is connected to the lower lead plate. The front lead plate, the rear lead plate, and the two side lead plates are respectively installed inside the main body shell of the shielding enclosure. The upper lead plate is connected to the top of the main body shell of the shielding enclosure. The lower lead plate, the upper lead plate, the front lead plate, the rear lead plate, and the two side lead plates surround an installation space for installing the electrical components to be shielded from radiation.

[0009] The top of the upper lead plate is provided with a handle A, and the top of the front lead plate, the top of the rear lead plate, and the top of the two side lead plates are respectively provided with handles B that pass through the upper lead plate.

[0010] The upper housing has an inspection port, and the inspection port is equipped with a sealing cover.

[0011] The shielding box body has connecting edges A extending outward from the top openings on the front and rear sides of the main shell. Each connecting edge A is provided with several quick clamps. The outer periphery of the upper lead plate is provided with connecting edges B at positions corresponding to each quick clamp. Each quick clamp presses the corresponding connecting edge B onto the connecting edge A.

[0012] The front and rear faces of the lower housing are respectively provided with connecting ring A and connecting ring B symmetrically arranged. The connecting ring A on the front face of the lower housing and the connecting ring B on the rear face of the lower housing are positioned in a front-to-back correspondence. The connecting ring B on the front face of the lower housing and the connecting ring A on the rear face of the lower housing are positioned in a front-to-back correspondence.

[0013] The six tracked moving parts include two main travel drive assemblies, two swing arm drive assemblies, two swing arm assemblies, two travel drive wheels, two travel driven wheels, two main travel tracks, four swing arm driven wheels and four swing arm tracks. Each of the main travel drive assemblies is respectively mounted on one of the connecting ring parts A, and each of the swing arm drive assemblies is respectively mounted on one of the connecting ring parts B.

[0014] Each swing arm assembly includes a connecting cylindrical portion and two swing arm portions symmetrically arranged on the outer sides of the connecting cylindrical portion. Each swing arm portion of the swing arm assembly has a driven wheel at one end away from the connecting cylindrical portion of the same swing arm assembly. One connecting cylindrical portion of the swing arm assembly is installed between the front main travel drive assembly and the swing arm drive assembly and is driven to rotate by the front swing arm drive assembly. The connecting cylindrical portion of the other swing arm assembly is installed between the rear main travel drive assembly and the swing arm drive assembly and is driven to rotate by the rear swing arm drive assembly. Each main travel drive assembly is connected to a travel drive wheel, and each swing arm drive assembly is also connected to a travel driven wheel axle. Each travel driven wheel axle has a travel driven wheel. The positions of each travel drive wheel correspond to the positions of one travel driven wheel and are connected via a main travel track. Each swing arm driven wheel is connected to an adjacent travel drive wheel or travel driven wheel via a swing arm track.

[0015] Each of the main travel drive components includes a main travel drive component support base, a drive motor A, and a reducer A. The main travel drive component support base is mounted on a corresponding connecting ring portion A. The reducer A is mounted on the main travel drive component support base. The housing of the reducer A is connected to the housing of the drive motor A. The output shaft of the drive motor A is connected to the input end of the reducer A. The output end of the reducer A is connected to the corresponding travel drive wheel. The drive motor A passes through the connecting cylindrical portion of the adjacent swing arm assembly. The drive motor A is controlled by the main body of the electronic control system.

[0016] Each of the swing arm assemblies has a transmission connection surface inside its connecting cylindrical portion. A potentiometer is provided between the transmission connection surface and the drive motor A located inside the connecting cylindrical portion of the same swing arm assembly. The potentiometer feeds back the swing angle value of the swing arm assembly to the main body of the electronic control system. The potentiometer is divided into a potentiometer fixed end installed on the housing of the drive motor A and a potentiometer rotating end installed on the transmission connection surface.

[0017] Each of the aforementioned swing arm drive assemblies includes a swing arm drive assembly support, a drive motor B, and a reducer B. The swing arm drive assembly support is mounted on a corresponding connecting ring portion B. The reducer B is mounted on the swing arm drive assembly support. The housing of the reducer B is connected to the housing of the drive motor B. The output shaft of the drive motor B is connected to the input end of the reducer B. The output end of the reducer B is connected to the transmission connection surface inside the connecting cylindrical portion of the corresponding swing arm assembly. A corresponding driven wheel axle is mounted on the side of the swing arm drive assembly support away from the adjacent swing arm assembly. The driven wheel axle is connected to the corresponding driven wheel via a rotary bearing. The drive motor B is controlled by the main body of the electronic control system.

[0018] Each of the main walking drive component support bases and each swing arm drive component support bases is fitted with a swing arm copper sleeve on its outer periphery. One end of the connecting cylindrical portion of each swing arm component is fitted onto the outer periphery of the swing arm copper sleeve fitted onto the main walking drive component support base, and the other end is fitted onto the outer periphery of the swing arm copper sleeve fitted onto the swing arm drive component support base.

[0019] The output shaft of the drive motor B is a dual-head output shaft, and an electromagnetic brake for braking the output shaft of the drive motor B is also installed on the driven wheel shaft. The electromagnetic brake is controlled by the main body of the electronic control system.

[0020] Several waterproof connectors A are also installed on the main walking drive component support base, and several waterproof connectors B are also installed on the walking driven wheel axle.

[0021] The left and right sides of the lower housing are respectively provided with a track support roller mounting seat and a main track tensioning roller. Each track support roller mounting seat is located on the inner side of the adjacent main track, and each track support roller mounting seat is provided with a plurality of track support rollers. Each main track tensioning roller is located on the outer side of the adjacent main track and tensions the main track.

[0022] Each of the swing arm assemblies is provided with a swing arm support roller and a swing arm track tensioning roller on the swing arm portion. Each swing arm support roller is located on the inner side of the adjacent swing arm track, and each swing arm track tensioning roller is located on the outer side of the adjacent swing arm track and tensions the swing arm track.

[0023] The advantages and positive effects of this invention are as follows:

[0024] This invention arranges the main walking drive assembly, walking drive wheel, walking driven wheel, and swing arm drive assembly on the same side in a coaxial manner, so that the six tracked moving parts form a cavity inside that can accommodate the main body of the shell, making the overall structure more compact and making reasonable use of space; the shielded box can effectively protect and shield electrical components with low radiation dose rate, making the overall operation of the robot more reliable. Attached Figure Description

[0025] Figure 1 This is one of the overall three-dimensional structural schematic diagrams of the present invention;

[0026] Figure 2 This is a second three-dimensional structural schematic diagram of the present invention;

[0027] Figure 3 This is a schematic diagram of the overall disassembled structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the upper housing structure of the present invention;

[0029] Figure 5 This is a schematic diagram of the disassembled structure of the shielding box of the present invention;

[0030] Figure 6 This is a side view of the lower housing and the six tracked moving parts of the present invention.

[0031] Figure 7 for Figure 6 Cross-sectional view at point AA;

[0032] Figure 8 This is a schematic diagram of the configuration structure of the main walking drive component of the present invention;

[0033] Figure 9 This is a schematic diagram of the arrangement structure of the swing arm drive assembly of the present invention;

[0034] Figure 10 for Figure 7 Enlarged view of point B;

[0035] Figure 11 for Figure 7 Enlarged view of point C;

[0036] Figure 12 This is a side view of the swing arm assembly of the present invention.

[0037] Figure 13 for Figure 12 Cross-sectional view at DD.

[0038] In the diagram: 101 is the upper shell, 1011 is the sealing cover, 102 is the lower shell, 1021 is the connecting ring A, 1022 is the connecting ring B, 2 is the antenna, 3 is the battery, 4 is the shielding enclosure, 401 is the lower lead plate, 402 is the upper lead plate, 4021 is the connecting edge B, 403 is the main shell of the shielding enclosure, 4031 is the connecting edge A, 404 is the front lead plate, 405 is the rear lead plate, 406 is the side lead plate, 407 is the handle A, 408 is the handle B, 409 is the quick clamp, 5 is the main electrical control assembly, 6 is the electrical assembly requiring shielding from radiation, 7 is the six-track moving part, 701 is the main walking drive assembly, 7011 is the main walking drive assembly support base, 7012 is the drive motor A, 7013 is the reducer A, 702 is the swing arm drive assembly, and 7021 is the swing arm. 7022 is the drive component support base, 7023 is the drive motor B, 7023 is the reducer B, 703 is the swing arm assembly, 7031 is the connecting cylinder part, 7032 is the swing arm part, 7033 is the transmission connection surface, 704 is the travel drive wheel, 705 is the travel driven wheel, 706 is the main travel track, 707 is the swing arm driven wheel, 708 is the swing arm track, 709 is the travel driven wheel axle, 710 is the potentiometer, 711 is the rotary bearing, 712 is the swing arm copper sleeve, 713 is the electromagnetic brake, 714 is the waterproof connector A, 715 is the waterproof connector B, 801 is the video system mounting base, 802 is the camera, 803 is the lighting lamp, 9 is the travel support roller mounting base, 10 is the main travel track tensioner, 11 is the travel support roller, 12 is the swing arm support roller, and 13 is the swing arm track tensioner. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1-13 The present invention will be described in further detail below.

[0040] A radiation-resistant six-tracked mobile robot, such as Figure 1-3As shown, this embodiment includes an upper housing 101, a lower housing 102, a battery 3, a shielding box 4, a main electronic control component 5, an electrical component requiring shielding from radiation 6, and a six-track moving component 7. The upper housing 101 is mounted on the lower housing 102 with screws and together with the lower housing 102 forms the main body of the housing. The battery 3, the shielding box 4, and the main electronic control component 5 are arranged sequentially from bottom to top in the main body of the housing. The electrical component requiring shielding from radiation 6 is disposed in the shielding box 4. The main electronic control component 5 and the electrical component requiring shielding from radiation 6 constitute the main body of the electronic control system, which is powered by the battery 3. The six-track moving component 7 is disposed on the outer periphery of the lower housing 102 and is driven by the main body of the electronic control system. In this embodiment, the main structure of the electronic control system, its internal connections, and its connection method with the battery 3 are all existing technologies. In this embodiment, the radiation-shielded electrical components 6 include existing electrical components in mobile robots that are resistant to radiation dose rates, including tilt sensors, two-wire transmitters, switches, and CAN-to-Ethernet modules. The main electronic control component 5 is a structure composed of other electrical components that can withstand a radiation dose of 10,000 Gy.

[0041] Specifically, such as Figure 4 As shown, in this embodiment, the top of the upper housing 101 is respectively provided with an antenna 2 and a video system. The video system includes a video system mounting base 801 and a camera 802 and a lighting lamp 803 mounted on the video system mounting base 801. The antenna 2, camera 802, and lighting lamp 803 are respectively connected to the main body of the electronic control system. In this embodiment, the camera 802 and the lighting lamp 803 are respectively existing radiation-resistant camera products and radiation-resistant lamp products. The antenna 2 is existing technology. The connection methods of the antenna 2, camera 802, and lighting lamp 803 to the main body of the electronic control system are all existing technologies.

[0042] Specifically, such as Figure 5As shown, in this embodiment, the shielding box 4 includes a lower lead plate 401, an upper lead plate 402, a main body shell 403, a front lead plate 404, a rear lead plate 405, and two side lead plates 406. The top and bottom of the main body shell 403 are open, and the bottom of the main body shell 403 is connected to the lower lead plate 401. The front lead plate 404, the rear lead plate 405, and the two side lead plates 406 are respectively installed inside the main body shell 403. The upper lead plate 402 is connected to the top of the main body shell 403. The lower lead plate 401, the upper lead plate 402, the front lead plate 404, the rear lead plate 405, and the two side lead plates 406 enclose an installation space for installing the electrical components 6 that need to be shielded from radiation. The main body shell 403 of the shielding enclosure is used to accommodate and connect the lead plates. The lower lead plate 401, upper lead plate 402, front lead plate 404, rear lead plate 405, and two side lead plates 406 serve to prevent radiation from reaching the internal electrical components 6 that require shielding. In this embodiment, a through-hole is provided at a corresponding position on one of the side lead plates 406 and the main body shell 403 of the shielding enclosure, through which the wiring between the electrical components 6 requiring shielding and the main electrical control component 5 can pass.

[0043] Specifically, such as Figure 5 As shown, in this embodiment, the top of the upper lead plate 402 is provided with a handle A 407, and the tops of the front lead plate 404, the rear lead plate 405, and the two side lead plates 406 are respectively provided with handles B 408 that pass through the upper lead plate 402. The provision of handles A 407 and handles B 408 facilitates the handling of the upper lead plate 402, the front lead plate 404, the rear lead plate 405, and the two side lead plates 406.

[0044] like Figure 4 As shown, an inspection port is provided on the upper housing 101, and a sealing cover 1011 is installed on the inspection port by screws. When maintenance is required, the sealing cover 1011 can be opened, and the main electronic control component 5, the shielding box 4, and the battery 3 can be taken out in sequence.

[0045] Specifically, such as Figure 5As shown, in this embodiment, connecting edges A 4031 extend outward from the top openings on both the front and rear sides of the shielding box main body shell 403. Each connecting edge A 4031 is provided with two quick clamps 409. In this embodiment, a total of four commercially available quick clamps 409 are provided. The outer periphery of the upper lead plate 402 and the corresponding position of each quick clamp 409 are provided with connecting edges B 4021. Each quick clamp 409 presses the corresponding connecting edge B 4021 onto the connecting edge A 4031. The quick clamps 409 allow for quick loading and unloading of the upper lead plate 402 with connecting edges B 4021. In this embodiment, the interior of the upper housing 101 is also provided with a support edge for supporting the positioning edge A 4031. The connecting edge A 4031 can be placed on the support edge to support and position the entire shielding box 4. The edge of the main electrical control component 5 is provided with a buffer support foot that can be supported on the connecting edge A 4031. The structure of the buffer support foot adopts the prior art.

[0046] Specifically, such as Figure 2 As shown, in this embodiment, the front end face and the rear end face of the lower housing 102 are respectively provided with connecting ring A 1021 and connecting ring B 1022 symmetrically arranged. The connecting ring A 1021 on the front end face of the lower housing 102 and the connecting ring B 1022 on the rear end face of the lower housing 102 are arranged in a front-back correspondence. The connecting ring B 1022 on the front end face of the lower housing 102 and the connecting ring A 1021 on the rear end face of the lower housing 102 are arranged in a front-back correspondence.

[0047] like Figure 6-13 As shown, the six-track moving component 7 includes two main travel drive assemblies 701, two swing arm drive assemblies 702, two swing arm assemblies 703, two travel drive wheels 704, two travel driven wheels 705, two main travel tracks 706, four swing arm driven wheels 707, and four swing arm tracks 708. Each main travel drive assembly 701 is mounted on a connecting ring A 1021, and each swing arm drive assembly 702 is mounted on a connecting ring B 1022.

[0048] like Figure 12 and Figure 13As shown, each swing arm assembly 703 includes a connecting cylindrical portion 7031 and two swing arm portions 7032 symmetrically arranged on the outer sides of the connecting cylindrical portion 7031. Each swing arm portion 7032 of each swing arm assembly 703 has a swing arm driven wheel 707 at one end away from the connecting cylindrical portion 7031 of the same swing arm assembly 703. The connecting cylindrical portion 7031 of one swing arm assembly 703 is mounted between the front main travel drive assembly 701 and the swing arm drive assembly 702, and is driven to rotate by the front swing arm drive assembly 702. The connecting cylindrical portion 7031 of the other swing arm assembly 703 is mounted on the rear main travel drive assembly 701. Each main travel drive assembly 701 is connected to a travel drive wheel 704 and is driven to rotate by the rearward swing arm drive assembly 702. Each swing arm drive assembly 702 is also connected to a travel driven wheel axle 709, and each travel driven wheel axle 709 is equipped with a travel driven wheel 705. The positions of each travel drive wheel 704 correspond to the positions of each travel driven wheel 705 and are connected by a main travel track 706. Each swing arm driven wheel 707 is connected to an adjacent travel drive wheel 704 or travel driven wheel 705 through a swing arm track 708. Each main travel drive assembly 701 drives a main travel track 706 to rotate, and the travel drive wheel 704 and travel driven wheel 705 connected to the main travel track 706 respectively drive the corresponding swing arm track 708 to rotate together. The forward, backward, and turning movements of the radiation-resistant six-tracked mobile robot can be achieved by adjusting the speed and driving direction of the two main walking drive components 701.

[0049] Specifically, such as Figure 8 As shown, in this embodiment, each main travel drive assembly 701 includes a main travel drive assembly support 7011, a drive motor A 7012, and a reducer A 7013. The main travel drive assembly support 7011 is mounted on the corresponding connecting ring portion A 1021, and the reducer A 7013 is mounted on the main travel drive assembly support 7011. The housing of the reducer A 7013 is connected to the housing of the drive motor A 7012. The output shaft of the drive motor A 7012 is connected to the input end of the reducer A 7013, and the output end of the reducer A 7013 is connected to the corresponding travel drive wheel 704. The drive motor A 7012 passes through the connecting cylindrical portion 7031 of the adjacent swing arm assembly 703, and the drive motor A 7012 is controlled by the main body of the electronic control system. In this embodiment, the drive motor A 7012 is a commercially available DC brushed motor, and the reducer A 7013 is also a commercially available product.

[0050] like Figure 7 and Figure 10As shown, each swing arm assembly 703 has a transmission connection surface 7033 inside the connecting cylindrical portion 7031. A potentiometer 710 is provided between the transmission connection surface 7033 and the drive motor A7012 located inside the connecting cylindrical portion 7031 of the same swing arm assembly 703. The potentiometer 710 is a commercially available product. The potentiometer 710 feeds back the swing angle value of the swing arm assembly 703 to the main body of the electronic control system. The potentiometer 710 is divided into a potentiometer fixed end installed on the housing of the drive motor A7012 and a potentiometer rotating end installed on the transmission connection surface 7033.

[0051] like Figure 9 As shown, each swing arm drive assembly 702 includes a swing arm drive assembly support 7021, a drive motor B7022, and a reducer B7023. The swing arm drive assembly support 7021 is mounted on the corresponding connecting ring portion B1022. The reducer B7023 is mounted on the swing arm drive assembly support 7021. The housing of the reducer B7023 is connected to the housing of the drive motor B7022. The output shaft of the drive motor B7022 is connected to the input end of the reducer B7023. The output end of the reducer B7023 is connected to the transmission connection surface 7033 inside the connecting cylindrical portion 7031 of the corresponding swing arm assembly 703. A corresponding driven wheel axle 709 is mounted on the side of the swing arm drive assembly support 7031 away from the adjacent swing arm assembly 703. The driven wheel axle 709 and the corresponding driven wheel 705 are connected by a rotating bearing 711. The drive motor B7022 is controlled by the main body of the electronic control system. In this embodiment, the drive motor B 7022 is a commercially available DC brushed torque motor, and the reducer B 7023 is also a commercially available product.

[0052] In this embodiment, the axial center lines of the drive motor A 7012, reducer A7013, drive wheel 704, driven wheel 705, drive motor B 7022, and reducer B 7023, all located on the same side (i.e., all on the front or all on the rear), are all collinear. In this embodiment, the drive wheel 704, the driven wheel 705, and the swing arm driven wheel 707 are all equipped with end covers for sealing and protecting internal components. In this embodiment, all rotating connections in the six-track moving component 7 are equipped with commercially available sealing rings, achieving an IP65 protection rating.

[0053] Specifically, such as Figure 11As shown, in this embodiment, a swing arm copper sleeve 712 is respectively fitted around the outer periphery of each main drive component support 7011 and each swing arm drive component support 7021. One end of the connecting cylindrical portion 7031 of each swing arm component 703 is fitted onto the outer periphery of the swing arm copper sleeve 712 fitted on the main drive component support 7011, and the other end is fitted onto the outer periphery of the swing arm copper sleeve 712 fitted on the swing arm drive component support 7021. The provision of the swing arm copper sleeve 712 can make the rotation of the swing arm component 703 more stable.

[0054] Specifically, such as Figure 9 As shown, in this embodiment, the output shaft of the drive motor B 7022 is a dual-head output shaft. An electromagnetic brake 713 for braking the output shaft of the drive motor B 7022 is also installed on the driven wheel shaft 709. The electromagnetic brake 713 is controlled by the main body of the electronic control system. The electromagnetic brake 713 is a commercially available product. When the electromagnetic brake 713 grips the output shaft of the drive motor B 7022, there is no relative movement between the swing arm assembly 703 and the lower housing 102.

[0055] like Figure 8 and Figure 9 As shown, several waterproof connectors A 714 are installed on the main drive assembly support 7011, and several waterproof connectors B 715 are installed on the driven wheel axle 709. The waterproof connectors A 714 are used to connect the drive motor A 7012 and the potentiometer 710 to the main electrical control system in the housing body, providing waterproofing and ensuring reliable connection. The waterproof connectors B 715 are used to connect the drive motor B 7022, the electromagnetic brake 713, and the main electrical control system in the housing body, providing waterproofing and ensuring reliable connection.

[0056] Specifically, such as Figure 6 As shown, in this embodiment, the left and right sides of the lower housing 102 are respectively provided with support roller mounting seats 9 and main track tensioning rollers 10. Each support roller mounting seat 9 is located on the inner side of the adjacent main track 706, and each support roller mounting seat 9 is provided with a plurality of support rollers 11. Each main track tensioning roller 10 is located on the outer side of the adjacent main track 706 and tensions the main track 706. The configuration structure of the support rollers 11 and the main track tensioning rollers 10 are both existing technologies. The support rollers 11 support the main track 706 in contact with the ground, and the main track tensioning rollers 10 tension the main track 706, enabling the main track 706 to operate reliably.

[0057] like Figure 12As shown, each swing arm assembly 703 has a swing arm support roller 12 and a swing arm track tensioning roller 13 on its swing arm portion 7032. Each swing arm support roller 12 is located on the inner side of an adjacent swing arm track 708, and each swing arm track tensioning roller 13 is located on the outer side of an adjacent swing arm track 708 and tensions the swing arm track 708. The swing arm assembly 703 can swing down below the main travel track 706 to achieve the function of lifting the main body of the housing. The arrangement structure of the swing arm support roller 12 and the swing arm track tensioning roller 13 are both existing technologies. The swing arm support roller 12 supports the swing arm track 708 in contact with the ground, and the swing arm track tensioning roller 13 tensions the swing arm track 708, so that the swing arm track 708 can operate reliably.

[0058] Working principle:

[0059] By coaxially arranging the main walking drive assembly 701, walking drive wheel 704, walking driven wheel 705, and swing arm drive assembly 702 on the same side, the entire interior of the six-tracked moving component 7 forms a cavity that can accommodate the main body of the shell, making the overall structure more compact. By adjusting the speed and driving direction of the two sets of main walking drive assemblies 701, the radiation-resistant six-tracked mobile robot can move forward, backward, and turn. The swing arm drive assembly 702 drives the swing arm assembly 703 to rotate. The shielding box 4 effectively protects and shields electrical components with low radiation dose rates.

Claims

1. A radiation tolerant six-track mobile robot, characterized by: The device includes an upper housing (101), a lower housing (102), a battery (3), a shielding box (4), a main electrical control assembly (5), an electrical component requiring shielding from radiation (6), and a six-track moving part (7). The upper housing (101) is mounted on the lower housing (102) and together with the lower housing (102) constitute the main body of the housing. The battery (3), the shielding box (4), and the main electrical control assembly (5) are arranged sequentially from bottom to top in the main body of the housing. The electrical component requiring shielding from radiation (6) is arranged in the shielding box (4). The main electrical control assembly (5) and the electrical component requiring shielding from radiation (6) constitute the main body of the electrical control system. The main body of the electrical control system is powered by the battery (3). The six tracked moving parts (7) are disposed on the outer periphery of the lower housing (102) and are driven by the main body of the electronic control system; The lower housing (102) has a connecting ring A (1021) and a connecting ring B (1022) symmetrically arranged on its front and rear faces, respectively. The connecting ring A (1021) on the front face of the lower housing (102) and the connecting ring B (1022) on the rear face of the lower housing (102) are positioned in a front-to-back correspondence. The connecting ring B (1022) on the front face of the lower housing (102) and the connecting ring A (1021) on the rear face of the lower housing (102) are positioned in a front-to-back correspondence. The six-track moving component (7) includes two main travel drive assemblies (701), two swing arm drive assemblies (702), two swing arm assemblies (703), two travel drive wheels (704), two travel driven wheels (705), two main travel tracks (706), four swing arm driven wheels (707), and four swing arm tracks (708). Each of the main travel drive assemblies (701) is mounted on one of the connecting ring portions A (1021), and each of the swing arm drive assemblies (702) is mounted on one of the connecting ring portions B (1022). Each swing arm assembly (703) includes a connecting cylindrical portion (7031) and two swing arm portions (7032) symmetrically arranged on the outer sides of the connecting cylindrical portion (7031). Each swing arm portion (7032) of each swing arm assembly (703) has a swing arm driven wheel (707) at one end away from the connecting cylindrical portion (7031) of the same swing arm assembly (703). One swing arm assembly (7031) is mounted between the front main travel drive assembly (701) and the swing arm drive assembly (702) and is driven to rotate by the front swing arm drive assembly (702). The other swing arm assembly (7033) is mounted between the rear main travel drive assembly (701) and the swing arm drive assembly (702). The swing arm drive assembly (702) is driven to rotate by the swing arm drive assembly (702) on the rear side. Each of the main walking drive assemblies (701) is connected to a walking drive wheel (704). Each of the swing arm drive assemblies (702) is also connected to a walking driven wheel shaft (709). Each walking driven wheel shaft (709) is provided with a walking driven wheel (705). The position of each walking drive wheel (704) corresponds to the position of a walking driven wheel (705) and is connected through a main walking track (706). Each swing arm driven wheel (707) is connected to an adjacent walking drive wheel (704) or walking driven wheel (705) through a swing arm track (708). Each of the main walking drive components (701) includes a main walking drive component support (7011), a drive motor A (7012), and a reducer A (7013). The main walking drive component support (7011) is mounted on a corresponding connecting ring A (1021). The reducer A (7013) is mounted on the main walking drive component support (7011). The housing of the reducer A (7013) is connected to the housing of the drive motor A (7012). The output shaft of the drive motor A (7012) is connected to the input end of the reducer A (7013). The output end of the reducer A (7013) is connected to the corresponding walking drive wheel (704). The drive motor A (7012) is inserted into the connecting cylindrical portion (7031) of the adjacent swing arm component (703). The drive motor A (7012) is controlled by the main body of the electronic control system. Each of the swing arm assemblies (703) has a transmission connection surface (7033) inside its connecting cylindrical portion (7031). A potentiometer (710) is provided between the transmission connection surface (7033) and the drive motor A (7012) located inside the connecting cylindrical portion (7031) of the same swing arm assembly (703). The potentiometer (710) feeds back the swing angle value of the swing arm assembly (703) to the main body of the electronic control system. The potentiometer (710) is divided into a potentiometer fixed end installed on the housing of the drive motor A (7012) and a potentiometer rotating end installed on the transmission connection surface (7033). Each of the aforementioned swing arm drive assemblies (702) includes a swing arm drive assembly support (7021), a drive motor B (7022), and a reducer B (7023). The swing arm drive assembly support (7021) is mounted on a corresponding connecting ring B (1022), and the reducer B (7023) is mounted on the swing arm drive assembly support (7021). The housing of the reducer B (7023) is connected to the housing of the drive motor B (7022), and the output shaft of the drive motor B (7022) is connected to the output shaft of the reducer B (7023). The input end is connected, and the output end of the reducer B (7023) is connected to the transmission connection surface (7033) inside the connecting cylindrical part (7031) of the corresponding swing arm assembly (703). The swing arm drive assembly support (7021) is mounted on the side away from the adjacent swing arm assembly (703) with the corresponding walking driven wheel axle (709). The walking driven wheel axle (709) is connected to the corresponding walking driven wheel (705) through a rotating bearing (711). The drive motor B (7022) is controlled by the main body of the electronic control system. The main walking drive assembly (701), walking drive wheel (704), walking driven wheel (705), and swing arm drive assembly (702) located on the same side are coaxially arranged.

2. The radiation tolerant six-track mobile robot of claim 1, wherein: The top of the upper housing (101) is provided with an antenna (2) and a video system. The video system includes a video system mounting base (801) and a camera (802) and a lighting lamp (803) mounted on the video system mounting base (801). The antenna (2), camera (802) and lighting lamp (803) are respectively connected to the main body of the electronic control system.

3. The radiation tolerant six-track mobile robot of claim 1, wherein: The shielding enclosure (4) includes a lower lead plate (401), an upper lead plate (402), a main body shell (403), a front lead plate (404), a rear lead plate (405), and two side lead plates (406). The top and bottom of the main body shell (403) are open. The bottom of the main body shell (403) is connected to the lower lead plate (401). The front lead plate (404), the rear lead plate (405), and the two side lead plates (406) are installed inside the main body shell (403). The upper lead plate (402) is connected to the top of the main body shell (403). The lower lead plate (401), the upper lead plate (402), the front lead plate (404), the rear lead plate (405), and the two side lead plates (406) surround an installation space for installing the shielded irradiated electrical component (6).

4. The radiation tolerant six-track mobile robot of claim 3, wherein: The top of the upper lead plate (402) is provided with a handle A (407), and the top of the front lead plate (404), the top of the rear lead plate (405) and the top of the two side lead plates (406) are respectively provided with handles B (408) that pass through the upper lead plate (402). The upper housing (101) has an inspection port, and the inspection port is provided with a sealing cover (1011).

5. The radiation tolerant six-track mobile robot of claim 3, wherein: The shielding box body shell (403) has connecting edges A (4031) extending outward from the top openings on the front and rear sides. Each connecting edge A (4031) is provided with a number of quick clamps (409). The outer periphery of the upper lead plate (402) is provided with connecting edges B (4021) at the positions corresponding to each quick clamp (409). Each quick clamp (409) presses the corresponding connecting edge B (4021) onto the connecting edge A (4031).

6. The radiation tolerant six-track mobile robot of claim 1, wherein: Each of the main walking drive component support base (7011) and each swing arm drive component support base (7021) is respectively fitted with a swing arm copper sleeve (712) on its outer periphery. One end of the connecting cylindrical part (7031) of each swing arm component (703) is fitted on the outer periphery of the swing arm copper sleeve (712) fitted on the main walking drive component support base (7011), and the other end is fitted on the outer periphery of the swing arm copper sleeve (712) fitted on the swing arm drive component support base (7021).

7. The radiation tolerant six-track mobile robot of claim 1, wherein: The output shaft of the drive motor B (7022) is a double-headed output shaft. An electromagnetic brake (713) for braking the output shaft of the drive motor B (7022) is also installed on the driven wheel shaft (709). The electromagnetic brake (713) is controlled by the main body of the electronic control system. Several waterproof connectors A (714) are also installed on the main walking drive component support base (7011), and several waterproof connectors B (715) are also installed on the walking driven wheel axle (709).

8. The radiation tolerant six-track mobile robot of claim 1, wherein: The lower housing (102) is provided with a track support roller mounting seat (9) and a main track tensioning roller (10) on its left and right sides respectively. Each track support roller mounting seat (9) is located on the inner side of the adjacent main track (706). Each track support roller mounting seat (9) is provided with a plurality of track support rollers (11). Each main track tensioning roller (10) is located on the outer side of the adjacent main track (706) and tensions the main track (706). Each of the swing arm assemblies (703) has a swing arm support roller (12) and a swing arm track tensioning roller (13) on its swing arm portion (7032). Each swing arm support roller (12) is located on the inner side of the adjacent swing arm track (708), and each swing arm track tensioning roller (13) is located on the outer side of the adjacent swing arm track (708) and tensions the swing arm track (708).

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