Remote intelligent monitoring rolling robot

Abstract

The invention discloses a remote intelligent monitoring rolling robot, which relates to the technical field of robots, and comprises a rolling outer shell, a wear-resistant belt, a protective middle shell, a driving system, a main driving telescopic mechanism, a side rotating mechanism, a side telescopic system, a visual monitoring system, a locking device, an auxiliary lighting system, a charging device, a supporting mechanism and a pickup device, the wear-resistant belt is arranged in the middle of the rolling outer shell, the protective middle shell is arranged on the inner side of the middle of the rolling outer shell, the driving system is arranged on the inner side of the rolling outer shell, and the main drive telescopic mechanism is arranged on the inner side of the driving system. The remote intelligent monitoring rolling robot is used for remote intelligent monitoring of complex and severe environments, is designed to be of a spherical structure, is good in environmental adaptability, high in obstacle crossing capacity and capable of adapting to various special environments and working conditions, and the main drive telescopic mechanism is used for opening and retracting of a drive system, can normally roll after being opened and is locked and fixed after being retracted; and therefore, the ball is simple and portable.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a remote intelligent monitoring rolling robot. Background Art

[0002] With the rapid development of robot technology, robots have also been widely used in the fields of emergency rescue, reconnaissance and monitoring. Robots can complete monitoring and rescue tasks that are difficult for humans to complete in various complex environments, greatly improving human work efficiency and greatly reducing the dangers in many operations. The remote intelligent monitoring rolling robot is driven by a DC brushless motor. The spherical shell is made of high-performance resin material with a rubber coating. It has extremely high shock absorption performance and can absorb impact when dropped from a high altitude to protect the safety of the equipment when dropped. The equipment is equipped with a high-definition camera and a wireless data transmission system. It can shoot high-definition video during operation and transmit it to the control terminal in real time for real-time monitoring. The equipment is equipped with a real-time adaptive motion control system. After being dropped, it can detect the status of the equipment in time, automatically adjust the posture, and quickly enter the operating state. It can also detect and adjust the status of the equipment in real time during operation to ensure stability during operation. The equipment is equipped with a portable control terminal, which is easy to carry and can also be remotely controlled. It can adapt well to various reconnaissance and monitoring environments.

[0003] Due to the complex structural design, the existing remote detection equipment cannot adapt to different environments for monitoring during use, and cannot overcome obstacles, which limits the scope of use. To address the above problems, a remote intelligent monitoring rolling robot is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a remote intelligent monitoring rolling robot to solve the problem that the prior art proposed in the above background technology is complex in structural design, cannot adapt to different environments for monitoring during use, and cannot overcome obstacles when encountering them, thereby limiting the scope of use.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a remote intelligent monitoring rolling robot, comprising a rolling shell, a wear-resistant belt, a protective middle shell, a driving system, a main drive telescopic mechanism, a side slewing mechanism, a side telescopic system, a visual monitoring system, a locking device, an auxiliary lighting system, a charging device, a supporting mechanism and a sound pickup device, wherein the wear-resistant belt is arranged at the middle position of the rolling shell, the protective middle shell is arranged on the inner side of the middle part of the rolling shell, the driving system is arranged on the inner side of the rolling shell, the main drive telescopic mechanism is arranged on the inner side of the driving system, the side slewing mechanism is arranged on the main drive telescopic mechanism, the side telescopic system runs through one end of the rolling shell, the visual monitoring system is arranged at one end of the side telescopic system, the locking device is arranged inside the rolling shell, the auxiliary lighting system is arranged at the other end of the side telescopic system, the charging device is arranged at the end of the rolling shell, and the supporting mechanism is arranged inside the protective middle shell.

[0006] Preferably, a brushless DC motor is arranged on the inner side of the rolling shell, the brushless DC motor is connected to the drive system, the side of the brushless DC motor is connected to a motor seat, a rolling bearing is arranged on the bottom of the motor seat, a driving gear is arranged at one end of the brushless DC motor, a passive gear is arranged on the outer side of the driving gear, and a main shaft is connected to the outer side of the motor seat.

[0007] Preferably, a side surface of the locking device is connected to a limit pin, a main drive spring is arranged on the outer side of the main shaft, and a limit screw is arranged in the middle of the main shaft.

[0008] Preferably, a motor mounting seat is provided on the outer side of the main shaft, an unlocking motor is provided on the side of the motor mounting seat, a cam seat is provided on the shaft end of the unlocking motor, an unlocking cam is provided on the side of the cam seat, one end of the unlocking cam is connected with a pin pulling sleeve, the inner side of the pin pulling sleeve is connected with a pin seat, the limit pin is connected to the inner side of the pin seat, a pin spring is provided on the inner side of the pin seat, a limit nut is provided on the outer side of the limit pin, and a locking seat is fixedly connected to the outer side of the main shaft.

[0009] Preferably, two rotary motors are provided on the side of the side rotary mechanism, a high-precision potentiometer is installed on the side of the rotary motor, a camera seat is connected to the outer side of the visual monitoring system, a lighting seat is provided on the side of the auxiliary lighting system, the charging device is arranged in the middle of the lighting seat, side end covers are provided on the outer sides of the camera seat and the lighting seat, a rotary seat is provided at the rear end of the camera seat, a rotary sleeve is connected to the inner side of the rotary seat, a rotary shaft is provided at one end of the rotary sleeve, the rotary shaft is connected to the rotary motor, and rotary limit screws are installed at the corresponding positions of the camera seat and the lighting seat.

[0010] Preferably, a side telescopic limit screw is installed on the rotating shaft, a ball groove is provided at the side end of the side end cover, and two floating balls are installed on the inner side of the ball groove.

[0011] Preferably, the side of the protective middle shell is fixedly connected to a support leg via a support rotating shaft, a support torsion spring is arranged on the side of the support rotating shaft, a right claw and a left claw are hingedly fixed to the side of the protective middle shell via a central shaft, a claw pressure block is arranged on the outer side of the right claw and the left claw, and a claw torsion spring is arranged in the middle of the claw pressure block.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the remote intelligent monitoring rolling robot is used for remote intelligent monitoring in complex and harsh environments. It is designed as a spherical structure with good environmental adaptability and strong obstacle-crossing ability. It can adapt to various special environments and working conditions. The main drive telescopic mechanism is used to drive the opening and retraction of the system. It can roll normally after opening and be locked and fixed after retracting, and stored into a sphere, which is simple and portable.

[0013] 2. In the present invention, the non-powered unlocking design of the side telescopic system and the supporting mechanism eliminates the driving mechanism for extending and unlocking and supporting unlocking through reasonable mechanical structure coordination, which saves space, reduces energy consumption, and effectively reduces weight and improves endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a front view structural schematic diagram of the remote intelligent monitoring rolling robot of the present invention; Figure 2 It is a schematic diagram of the top view of the structure of the remote intelligent monitoring rolling robot of the present invention; Figure 3 It is a schematic diagram of the closed state structure of the remote intelligent monitoring rolling robot of the present invention; Figure 4 This is a schematic diagram of the structure of the driving system of the remote intelligent monitoring rolling robot of the present invention; Figure 5 This is a schematic diagram of the main drive telescopic mechanism structure of the remote intelligent monitoring rolling robot of the present invention; Figure 6 This is a schematic diagram of the locking device structure of the remote intelligent monitoring rolling robot of the present invention; Figure 7 It is a schematic diagram of the structure of the side rotation mechanism of the remote intelligent monitoring rolling robot of the present invention; Figure 8 It is a schematic diagram of the side telescopic mechanism structure of the remote intelligent monitoring rolling robot of the present invention; Fig. 9 It is a schematic diagram of the supporting mechanism structure of the remote intelligent monitoring rolling robot of the present invention.

[0015] In the figure: 1. Rolling shell; 2. Wear-resistant belt; 3. Protective middle shell; 4. Driving system; 5. Main drive telescopic mechanism; 6. Side slewing mechanism; 7. Side telescopic system; 8. Visual monitoring system; 9. Locking device; 10. Auxiliary lighting system; 11. Charging device; 12. Support mechanism; 13. Sound pickup device; 14. DC brushless motor; 15. Driving gear; 16. Passive gear; 17. Rolling bearing; 18. Motor seat; 19. Side end cover; 20. Main shaft; 21. Limit screw; 22. Main drive spring; 23. Limit latch; 24. Locking seat; 25. Pin seat; 26. Latch spring; 27. Pin puller sleeve; 28. Limit nut; 29. ​​Unlocking cam; 30. Cam seat; 31. Motor mounting seat; 32. Unlocking motor; 33. Camera seat; 34. Rotating seat; 35. Rotating sleeve; 36. Rotating shaft; 37. Rotating limit screw; 38. Rotating motor; 39. High-precision potentiometer; 40. Rotating motor seat; 41. Lighting seat; 42. Side telescopic limit screw; 43. Floating ball; 44. Side telescopic spring; 45. Right clamping claw; 46. Left clamping claw; 47. Clamping claw pressure block; 48. Clamping claw torsion spring; 49. Support leg; 50. Support rotary shaft; 51. Support torsion spring. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example 1: Reference Figure 1-Figure 9As shown: a remote intelligent monitoring rolling robot, comprising a rolling shell 1, a wear-resistant belt 2, a protective middle shell 3, a driving system 4, a main drive telescopic mechanism 5, a side rotation mechanism 6, a side telescopic system 7, a visual monitoring system 8, a locking device 9, an auxiliary lighting system 10, a charging device 11, a supporting mechanism 12 and a sound pickup device 13, wherein the wear-resistant belt 2 is arranged at the middle position of the rolling shell 1, the protective middle shell 3 is arranged at the inner side of the middle part of the rolling shell 1, the driving system 4 is arranged at the inner side of the rolling shell 1, the main drive telescopic mechanism 5 is arranged at the inner side of the driving system 4, and the side rotation mechanism 6 is arranged at the inner side of the side telescopic system 7. The structure 6 is arranged on the main drive telescopic mechanism 5, the side telescopic system 7 runs through one end of the rolling shell 1, the visual monitoring system 8 is arranged at one end of the side telescopic system 7, the locking device 9 is arranged inside the rolling shell 1, the auxiliary lighting system 10 is arranged at the other end of the side telescopic system 7, the charging device 11 is arranged at the end of the rolling shell 1, and the supporting mechanism 12 is arranged inside the protective middle shell 3. The main drive system of the equipment adopts dual drive, through dual-wheel differential steering, and monitors feedback control through the high-precision encoder of the motor to ensure stable and reliable operation of the equipment;The equipment adopts a deformable structure with a shock-absorbing design. In the closed state, it is a small sphere, which is easy to carry. During operation, it can be manually thrown to the working position and opened by remote control with one button. At this time, the left and right drive systems 4 of the equipment are opened, the visual monitoring system 8 and the auxiliary lighting system 10 are automatically popped out, and the support mechanism 12 is automatically popped out. The equipment is in operation. The equipment can be operated by remote control to complete operations such as forward, backward, steering, and multi-angle shooting. The drive system 4 adopts dual drive, drives the rolling shell 1 to move through gear transmission, adopts dual-wheel differential steering, and uses the high-precision encoder of the motor for real-time monitoring and feedback control to ensure stable and reliable operation of the equipment. The main drive telescopic mechanism 5 adopts a telescopic mechanism for the main drive of the equipment. When not in operation, the rolling shells 1 on both sides are retracted and fixed by the locking device 9. When it needs to be operated, the locking device 9 is unlocked, and the rolling shells 1 on both sides are opened under the action of the spring. The visual monitoring system 8 and the auxiliary lighting system 10 on both sides of the side slewing mechanism 6 can rotate automatically to improve the visual monitoring field of view. Through the drive, with a high-precision potentiometer, the feedback rotation angle can be monitored in real time. The visual monitoring system 8 and the auxiliary lighting system 10 on both sides of the side telescopic system 7 The lighting system 10 can be extended and retracted when stored and extended when running. When retracted, it is locked by the steel ball between the lamp holder and the housing seat. When it needs to be extended, it pops out under the action of the spring. The visual monitoring system 8 is equipped with a high-definition night vision camera on the right side of the equipment, which can collect images in real time and perform monitoring operations. When the locking device 9 is stored, the visual monitoring system 8, the auxiliary lighting system 10 and the drive system 4 on both sides are retracted and locked and fixed under the action of the locking device 9. The locking device 9 is driven and driven by a cam mechanism to drive the pin pulling mechanism to unlock. The auxiliary lighting system 1 0 An infrared illuminator is installed on the left side of the device, which can provide auxiliary lighting for visual monitoring at night. The auxiliary lighting system 10 on the left side of the charging device 11 integrates a charging port inside, which can charge the device. The supporting mechanism 12 device has auxiliary support, which provides auxiliary support behind the device when the device is running, improving the stability of the device during operation; the slewing support rod is fixed by a locking claw, which opens under the action of a spring when unlocked, and provides auxiliary support during operation. The sound pickup device 13 device has a sound pickup function, and a sound pickup is installed on the protective middle shell 3, which can obtain audio data during monitoring operations. ;

[0018] like Figure 4As shown, a brushless DC motor 14 is arranged inside the rolling housing 1, and the brushless DC motor 14 is connected to the driving system 4. A motor seat 18 is connected to the side of the brushless DC motor 14, and a rolling bearing 17 is arranged at the bottom of the motor seat 18. A driving gear 15 is arranged at one end of the brushless DC motor 14, and a passive gear 16 is arranged outside the driving gear 15. A main shaft 20 is connected to the outside of the motor seat 18. The driving system 4 is driven by the brushless DC motor 14, and the motor is mounted on the motor seat 18. The motor has a high-precision encoder, which can detect the output speed in real time and feed it back to the control system for precise control of the vehicle speed and steering. This system is driven by gears, and the driving gear 15 is mounted on the brushless DC motor 14, and the rolling housing 1 is driven to move through the passive gear 16. The rolling housing 1 and the motor seat 18 are driven by the rolling bearing 17, and are pressed and fixed on the motor seat 18 through the side end cover 19, and the motor seat 18 is mounted on the main shaft 20.

[0019] like Figure 5 As shown, the side of the locking device 9 is connected to a limit pin 23, the outer side of the main shaft 20 is provided with a main drive spring 22, and the middle part of the main shaft 20 is provided with a limit screw 21. The main drive telescopic mechanism 5 is used to open and retract the drive system 4. It can roll normally after opening, and is locked and fixed after retracting, and is stored into a sphere, which is simple and portable. The main drive telescopic mechanism 5 is telescopically guided by the spline of the main shaft 20 on the motor seat 18, and is fixed by the limit pin 23 of the locking device 9 after retraction; when it needs to run, the locking device 9 controls the limit pin 23 to be pulled out and unlocked, and the main shaft 20 is opened under the action of the main drive spring 22. Two limit screws 21 are installed on the motor seat 18, and there are U-shaped long grooves at the corresponding positions at both ends of the main shaft 20. The top of the limit screw 21 is inserted into the U-shaped long groove, which plays a limiting role and controls the telescopic stroke of the motor seat 18.

[0020] like Figure 6As shown, a motor mounting seat 31 is arranged on the outer side of the main shaft 20, an unlocking motor 32 is arranged on the side of the motor mounting seat 31, a cam seat 30 is arranged on the shaft end of the unlocking motor 32, an unlocking cam 29 is arranged on the side of the cam seat 30, one end of the unlocking cam 29 is connected to a pin puller sleeve 27, the inner side of the pin puller sleeve 27 is connected to a pin seat 25, a limit pin 23 is connected to the inner side of the pin seat 25, a pin spring 26 is arranged on the inner side of the pin seat 25, a limit nut 28 is arranged on the outer side of the limit pin 23, a locking seat 24 is fixedly connected to the outer side of the main shaft 20, and a locking device 9 is used for the structure on both sides. Telescopic locking and unlocking are driven by an unlocking motor 32, which is mounted on a motor mounting seat 31, which is fixed on the main shaft 20. A cam seat 30 is mounted on the shaft end of the unlocking motor 32, and an unlocking cam 29 is fixed to the cam seat 30. The unlocking cam 29 is inserted into the pin puller sleeve 27, which is on the pin seat 25. The limit pin 23 is mounted in the pin seat 25 and is naturally inserted out under the action of the pin spring 26. A limit nut 28 is fixed to the tail of the limit pin 23, and the pin seat 25 is on the locking seat 24, which is fixed to the main shaft 20. When the two-side mechanisms are retracted, the limit pin 23 is retracted under the action of the back thrust of the motor seat 18. When the pin hole of the motor seat 18 is pushed back to align with the limit pin 23, the limit pin 23 is naturally extended under the action of the pin spring 26 to complete the locking action of the motor seat 18. When the equipment needs to be unlocked for operation, the unlocking motor 32 is remotely controlled to rotate, driving the unlocking cam 29 to rotate. The unlocking cam 29 rotates to a high position, driving the pin puller sleeve 27 to be pulled out upward, and pulling up the limit pin 23 through the limit nut 28. At this time, the motor seat 18 pops out, and the unlocking motor 32 continues to rotate and reset, so that the limit pin 23 returns to the pin position under the action of the pin spring 26, waiting for the next passive pin action when the motor seat 18 is retracted.

[0021] like Figure 7As shown, two rotary motors 38 are arranged on the side of the side rotary mechanism 6, and a high-precision potentiometer 39 is installed on the side of the rotary motor 38. The outer side of the visual monitoring system 8 is connected to the camera seat 33, and the side of the auxiliary lighting system 10 is provided with a lighting seat 41. The charging device 11 is arranged in the middle of the lighting seat 41. The outer sides of the camera seat 33 and the lighting seat 41 are provided with a side end cover 19. The tail end of the camera seat 33 is provided with a rotary seat 34, and the inner side of the rotary seat 34 is connected to a rotary sleeve 35. One end of the rotary sleeve 35 is provided with a rotary shaft 36. 36 is connected to the rotary motor 38, and the camera seat 33 is installed with a rotary limit screw 37 at the position corresponding to the lighting seat 41. The side rotary mechanism 6 is used to drive the visual monitoring system 8 and the auxiliary lighting system 10 to rotate synchronously to increase the monitoring range. The side rotary mechanism 6 is driven by two rotary motors 38. The rotary motor 38 is installed with a high-precision potentiometer 39, which can monitor and feedback the motor rotation angle signal in real time to ensure synchronous rotation of both sides, so that the visual monitoring system 8 and the auxiliary lighting system 10 have the same viewing angle, and ensure the stability of image acquisition in a dark environment. The visual monitoring system 8 is installed on the camera seat 33, and the auxiliary lighting system 10 is installed on the lighting seat 41. The charging device 11 is integrated in the middle of the lighting seat 41. The camera seat 33 and the lighting seat 41 are both installed in the side end cover 19, and a rotating seat 34 is installed at the tail. The rotating sleeve 35 is inserted into the rotating seat 34, and the two insertion positions are provided with rotation limit grooves. The rotating sleeve 35 and the rotating shaft 36 are also plugged together through the rotation limit hole, and the rotating shaft 36 is fixed on the shaft of the rotating motor 38. The rotating motor 38 and the high-precision potentiometer 39 are installed on the rotating motor seat 40, and the rotating motor seat 40 is installed on the side end cover 19. When it is necessary to adjust the angle of the visual monitoring system 8 and the auxiliary lighting system 10, the rotating motor 38 drives the rotating shaft 36 to rotate, and drives the rotating sleeve 35 to rotate, and drives the camera seat 33 and the lighting seat 41 to rotate through the rotating seat 34. There is a rotation limit groove on the side end cover 19, and the corresponding positions of the camera seat 33 and the lighting seat 41 are provided with rotation limit screws 37, which can be used to safely limit the rotation angle.

[0022] like Figure 8As shown, a side telescopic limit screw 42 is installed on the rotating shaft 36, a ball groove is provided on the side end of the side end cover 19, and two floating balls 43 are installed inside the ball groove. The side telescopic system 7 is used for the retraction and ejection of the visual monitoring system 8 and the auxiliary lighting system 10 on both sides. The camera seat 33 and the lighting seat 41 are both installed in the side end cover 19, and a rotating seat 34 is installed at the tail. The rotating sleeve 35 is inserted on the rotating seat 34. The flange step on the rotating sleeve 35 plays a role in extending and limiting. The rotating sleeve 35 and the rotating shaft 36 are also plugged together through the rotation limit hole. The rotating sleeve 35 has a U-shaped long groove. The rotating shaft 36 is installed with a side telescopic limit screw 42, which can limit the telescopic stroke of the rotating sleeve 35 on the rotating shaft 36. The rotating shaft 36 is fixed on the shaft of the rotating motor 38. The side end cover 19 is provided with a ball groove, and two floating balls 43 are installed in the inner floating state. When in the retracted state, the camera seat 33 and the lighting seat 41 on both sides need to be pressed into the inside of the side end cover 19 first. At this time, the floating balls 43 are in the ball groove on the main shaft 20 and are in a floating state. As the camera seat 33 and the lighting seat 41 are retracted and retracted to the floating ball 43 position, the floating balls 43 will be pushed up and pushed into the ball groove on the main shaft 20. After the camera seat 33 and the lighting seat 41 are fully inserted, the floating ball 43 is aligned with the ball groove on the camera seat 33 and the lighting seat 41. At this time, the side end cover 19 can be further compressed to push the motor seat 18 to retract inward along the main shaft 20. When the side end cover 19 is retracted until the floating ball 43 leaves the ball groove on the main shaft 20, the floating ball 43 shrinks inward and is firmly stuck in the ball groove on the camera seat 33 and the lighting seat 41, so that the mechanisms on both sides cannot escape, completing the retraction and locking action. When it is necessary to extend, the reverse action is performed, first the motor seat 18 is unlocked to drive the side end cover 19 to escape, when the side end cover 19 is detached, the floating ball 43 enters the ball groove on the guide main shaft 20, the camera seat 33 and the lighting seat 41 are ejected outward under the action of the side telescopic spring 44, so that the floating ball 43 is ejected into the ball groove on the main shaft 20, completing the unlocking action, and the camera seat 33 and the lighting seat 41 are ejected, completing the extension action.

[0023] like Fig. 9As shown, the side of the protective middle shell 3 is fixedly connected with a support leg 49 through a support rotating shaft 50, and a support torsion spring 51 is arranged on the side of the support rotating shaft 50. The side of the protective middle shell 3 is hingedly fixed with a right claw 45 and a left claw 46 through a spindle, and a claw pressure block 47 is arranged on the outside of the right claw 45 and the left claw 46, and a claw torsion spring 48 is arranged in the middle of the claw pressure block 47 to provide auxiliary support and improve the stability of the robot during operation. The support leg 49 is hingedly fixed to the protective middle shell 3 through the support rotating shaft 50. The protective middle shell 3 has a limited boss to prevent the support leg 49 from opening too much and affecting the operation stability. The support rotating shaft 50 is supported by a support torsion spring 51, which can automatically open the support leg 49 when the support mechanism 12 is unlocked, and provide support force for the support leg 49 during operation. The support leg 49 has a slot on the inner side, and the left claw 46 and the right claw 45 have conical claws on the top. The left claw 46 and the right claw 45 are hinged and fixed through the core shaft on the protective middle shell 3, and are fixed by a claw pressure block 47. After the pressure block is fixed, a rotation gap is left between the claw and the claw. The claw torsion spring 48 is installed on the central axis of the claw pressure block 47, which generates an opening torque on the claws on both sides, so that the left claw 46 and the right claw 45 are always in an open state. When the support leg 49 is retracted, the support leg 49 will compress the conical surface on the left claw 46 and the right claw 45, so that the two claws retract. When the left claw 46 and the right claw 45 are aligned with the slots on both sides of the support leg 49, the left claw 46 and the right claw 45 are naturally opened under the action of the claw torsion spring 48 to clamp the support leg 49. When the robot is closed as a whole, the rolling shell 1 retracts. At this time, the inner side elevation of the rolling shell 1 will shrink inward until it contacts the outer end faces of the left claw 46 and the right claw 45, and press the outer end faces of the two claws, so that the left claw 46 and the right claw 45 rotate and shrink along the central axis of the claw pressure block 47, and disengage from the slot of the support leg 49. At this time, the support leg 49 naturally opens under the action of the support torsion spring 51. However, since the rolling shell 1 has retracted into place, the shell surface will prevent the support leg 49 from opening. When the equipment needs to be operated, after unlocking, the rolling shell 1 opens, and the support leg 49 will be naturally released, completing the deployment action of the support mechanism 12.

[0024] In the present invention, when the remote intelligent monitoring rolling robot is used, first of all, the remote intelligent monitoring rolling robot is used for remote intelligent monitoring of complex and harsh environments. It is designed as a spherical structure, has good environmental adaptability, strong obstacle crossing ability, and can adapt to various special environments and working conditions. The equipment is driven by a DC brushless motor 14, and can be remotely controlled to automatically unfold the operation. The rolling shell 1 is made of high-performance resin material and has a rubber coating, which has extremely high shock absorption performance and can be dropped from a high altitude at a long distance. The equipment is equipped with a visual monitoring system 8 and a wireless data transmission system, which can shoot high-definition video during operation and transmit it to the control terminal in real time for real-time monitoring. The equipment is equipped with an auxiliary lighting system 10 infrared, which can meet the all-weather working environment. The driving system 4 of the equipment is driven by a DC brushless motor 14. Through gear transmission, the motor is installed on the motor seat 18. The motor has a high-precision encoder, which can detect the output speed in real time and feedback to the control system for precise control of vehicle speed and steering. The equipment can automatically stretch and deform, and can be unfolded by remote control with one key when it needs to be operated, completing the unfolding operation of the driving system 4, the visual monitoring system 8, the auxiliary lighting system 10 and the support mechanism 12. The main drive telescopic mechanism 5 is used to open and retract the drive system 4. It can roll normally after opening, and be locked and fixed after retracting, and stored into a sphere, which is simple and portable. The main drive telescopic mechanism 5 is guided by the spline of the main shaft 20 on the motor seat 18, and is fixed by the limit pin 23 of the locking device 9 after retraction; when it needs to be operated, the locking device 9 controls the limit pin 23 to be pulled out and unlocked, and the main shaft 20 is opened under the action of the main drive spring 22. Two limit screws 21 are installed on the motor seat 18, and there are U-shaped long grooves at the corresponding positions at both ends of the main shaft 20. The top of the limit screw 21 is inserted into the U-shaped long groove, which plays a limiting role and controls the telescopic stroke of the motor seat 18. The locking device 9 is used for telescopic locking and unlocking of the structure on both sides, and is driven by the unlocking motor 32. When the mechanisms on both sides are retracted, the limit pin 23 is retracted under the push back force of the motor seat 18. When the pin hole of the motor seat 18 is pushed back to align with the limit pin 23, the limit pin 23 is naturally extended under the force of the latch spring 26, completing the locking action of the motor seat 18. When the equipment needs to be unlocked and operated, the remote control unlocking motor 32 is rotated to drive the unlocking cam 29 to rotate. The unlocking cam 29 rotates to a high position, drives the pin sleeve 27 to be pulled out upward, and pulls up the limit pin 23 through the limit nut 28. At this time, the motor seat 18 pops out, and the unlocking motor 32 continues to rotate and reset, so that the limit pin 23 returns to the latch position under the force of the latch spring 26, waiting for the passive latch action when the motor seat 18 is retracted next time. The visual monitoring system 8 and the auxiliary lighting system 10 on both sides can be automatically popped out when unlocking, and can be remotely controlled to rotate to increase the field of view.The rotation of the two systems is driven by the side rotation mechanism 6, which is driven by two rotation motors 38 and is monitored and feedback controlled in real time by a high-precision potentiometer 39. The motor rotation angle signal is monitored and fed back in real time to ensure the synchronous rotation of the visual monitoring system 8 and the auxiliary lighting system 10, thereby improving the stability of visual monitoring in a dark environment. When it is necessary to adjust the angle of the visual monitoring system 8 and the auxiliary lighting system 10, the rotation motor 38 drives the rotation shaft 36 to rotate, and drives the rotation sleeve 35 to rotate, which is driven by the rotation seat 34 to drive the camera seat 33 and the lighting seat 41 to rotate. The side end cover 19 is provided with a rotation limit groove, and the corresponding positions of the camera seat 33 and the lighting seat 41 are installed with rotation limit screws 37 for rotation, which can safely limit the rotation angle. The side telescopic system 7 is used for the retraction and ejection of the visual monitoring system 8 and the auxiliary lighting system 10 on both sides. The extension of the side telescopic system 7 is passive, and after the drive system 4 is unlocked, the unlocking operation can be performed directly without power. This design omits the extended unlocking drive mechanism, which saves space, reduces energy consumption, and effectively reduces weight and improves battery life. The key design point of the passive unlocking of the side telescopic system 7 lies in the reasonable design of the floating ball 43. The side end cover 19 is provided with a ball groove, and two floating balls 43 are installed in a floating manner. When in the retracted state, the camera seat 33 and the lighting seat 41 on both sides need to be pressed into the side end cover 19 first. At this time, the floating ball 43 is in a floating state in the ball groove on the main shaft 20. As the camera seat 33 and the lighting seat 41 retract and retract to the position of the floating ball 43, the floating ball 43 will be lifted up and pushed into the ball groove on the main shaft 20. When the camera seat After the camera seat 33 and the lighting seat 41 are fully inserted, the floating ball 43 is aligned with the ball groove on the camera seat 33 and the lighting seat 41. At this time, the side end cover 19 can be further compressed to push the motor seat 18 to retract inward along the main shaft 20. When the side end cover 19 is retracted until the floating ball 43 leaves the ball groove on the main shaft 20, the floating ball 43 shrinks inward and is firmly stuck in the ball groove on the camera seat 33 and the lighting seat 41, so that the mechanisms on both sides cannot escape, completing the retraction and locking action. When it is necessary to extend, the reverse action is performed, first the motor seat 18 is unlocked to drive the side end cover 19 to escape, when the side end cover 19 is detached, the floating ball 43 enters the ball groove on the guide main shaft 20, the camera seat 33 and the lighting seat 41 are ejected outward under the action of the side telescopic spring 44, so that the floating ball 43 is ejected into the ball groove on the main shaft 20, completing the unlocking action, and the camera seat 33 and the lighting seat 41 are ejected, completing the extension action. In order to improve the stability of the robot during operation, a supporting mechanism 12 is designed to be added, and the supporting mechanism 12 is installed on the protective middle shell 3.The support mechanism 12 adopts a non-powered unlocking design. When the robot is closed as a whole, the rolling shell 1 retracts. At this time, the inner side elevation of the rolling shell 1 will shrink inward to contact the outer end faces of the left claw 46 and the right claw 45, and press the outer end faces of the two claws, so that the left claw 46 and the right claw 45 rotate and shrink along the central axis of the claw pressure block 47, and disengage from the slot of the support leg 49. At this time, the support leg 49 naturally opens under the action of the support torsion spring 51. However, since the rolling shell 1 has retracted into place, the shell surface will prevent the support leg 49 from opening. When the equipment needs to run, after unlocking, the rolling shell 1 opens, and the support leg 49 will be naturally released to complete the deployment action of the support mechanism 12. The non-powered unlocking design of the side telescopic system 7 and the support mechanism 12, through the reasonable mechanical structure coordination, eliminates the driving mechanism of the extension unlocking and the support unlocking, which saves space, reduces energy consumption, and can effectively reduce weight and improve endurance.

[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Remote intelligent monitoring rolling robot, characterized by: The invention comprises a rolling shell (1), a wear-resistant belt (2), a protective middle shell (3), a driving system (4), a main drive telescopic mechanism (5), a side slewing mechanism (6), a side telescopic system (7), a visual monitoring system (8), a locking device (9), an auxiliary lighting system (10), a charging device (11), a supporting mechanism (12) and a sound pickup device (13), wherein the wear-resistant belt (2) is arranged at the middle position of the rolling shell (1), the protective middle shell (3) is arranged at the inner side of the middle part of the rolling shell (1), the driving system (4) is arranged at the inner side of the rolling shell (1), and the main drive The telescopic mechanism (5) is arranged on the inner side of the drive system (4), the side slewing mechanism (6) is arranged on the main drive telescopic mechanism (5), the side telescopic system (7) runs through one end of the rolling shell (1), the visual monitoring system (8) is arranged at one end of the side telescopic system (7), the locking device (9) is arranged inside the rolling shell (1), the auxiliary lighting system (10) is arranged at the other end of the side telescopic system (7), the charging device (11) is arranged at the end of the rolling shell (1), and the support mechanism (12) is arranged inside the protective middle shell (3).

2. The remote intelligent monitoring rolling robot according to claim 1, characterized in that: A brushless DC motor (14) is arranged on the inner side of the rolling housing (1), the brushless DC motor (14) is connected to the drive system (4), a motor seat (18) is connected to the side of the brushless DC motor (14), a rolling bearing (17) is arranged on the bottom of the motor seat (18), a driving gear (15) is arranged on one end of the brushless DC motor (14), a driven gear (16) is arranged on the outer side of the driving gear (15), and a main shaft (20) is connected to the outer side of the motor seat (18).

3. The remote intelligent monitoring rolling robot according to claim 2 is characterized in that: A limit pin (23) is connected to the side of the locking device (9), a main drive spring (22) is arranged on the outside of the main shaft (20), and a limit screw (21) is arranged in the middle of the main shaft (20).

4. The remote intelligent monitoring rolling robot according to claim 3 is characterized in that: A motor mounting seat (31) is arranged on the outer side of the main shaft (20), an unlocking motor (32) is arranged on the side of the motor mounting seat (31), a cam seat (30) is arranged on the shaft end of the unlocking motor (32), an unlocking cam (29) is arranged on the side of the cam seat (30), one end of the unlocking cam (29) is connected to a pin pulling sleeve (27), the inner side of the pin pulling sleeve (27) is connected to a pin seat (25), the limit latch (23) is connected to the inner side of the pin seat (25), the inner side of the pin seat (25) is provided with a latch spring (26), the outer side of the limit latch (23) is provided with a limit nut (28), and the outer side of the main shaft (20) is fixedly connected to a locking seat (24).

5. The remote intelligent monitoring rolling robot according to claim 1 is characterized in that: Two rotary motors (38) are arranged on the side of the side rotary mechanism (6), and a high-precision potentiometer (39) is installed on the side of the rotary motor (38). A camera seat (33) is connected to the outside of the visual monitoring system (8), and a lighting seat (41) is arranged on the side of the auxiliary lighting system (10). The charging device (11) is arranged in the middle of the lighting seat (41). Side end covers (19) are arranged on the outside of the camera seat (33) and the lighting seat (41). A rotary seat (34) is arranged at the rear end of the camera seat (33), and a rotary sleeve (35) is connected to the inside of the rotary seat (34). A rotary shaft (36) is arranged at one end of the rotary sleeve (35), and the rotary shaft (36) is connected to the rotary motor (38). Rotary limit screws (37) are installed at positions corresponding to the camera seat (33) and the lighting seat (41).

6. The remote intelligent monitoring rolling robot according to claim 5, characterized in that: A side telescopic limit screw (42) is installed on the rotary shaft (36), and a ball groove is provided at the side end of the side end cover (19), and two floating balls (43) are installed inside the ball groove.

7. The remote intelligent monitoring rolling robot according to claim 1, characterized in that: The side surface of the protective middle shell (3) is fixedly connected to a support leg (49) via a support rotating shaft (50), and a support torsion spring (51) is arranged on the side surface of the support rotating shaft (50). The side surface of the protective middle shell (3) is hingedly fixed with a right clamping claw (45) and a left clamping claw (46) via a spindle, and a clamping claw pressure block (47) is arranged on the outer side of the right clamping claw (45) and the left clamping claw (46), and a clamping claw torsion spring (48) is arranged in the middle of the clamping claw pressure block (47).

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