An all-terrain exploration robot

Abstract

The application relates to the technical field of robots, and discloses a full-terrain exploration robot, which comprises a caterpillar-type traveling chassis, the top of the caterpillar-type traveling chassis is provided with a ring-shaped machine box and a main machine box, the main machine box is sleeved on the inner side of the ring-shaped machine box, and the front end and the rear end of the caterpillar-type traveling chassis are both provided with a protective deck. The full-terrain exploration robot is provided with a first electric push rod, an engagement output assembly, a long slot and a power output assembly to form an auxiliary top pressing structure. After the full-terrain exploration robot main body combined with the caterpillar-type traveling chassis, the ring-shaped machine box, the main machine box, the protective deck, the battery module, the monitoring assembly and the composite processing assembly is used, the four auxiliary top pressing structures can meet the full-terrain moving demand, can adjust the output top pressing of the first electric push rod in the four auxiliary top pressing structures, can reduce the pressure of the victims pressed by heavy objects in the earthquake disaster site, and can improve the survival probability of the victims.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a full-terrain exploration robot. BACKGROUND

[0002] At present, when facing natural disasters such as earthquakes and fires, human rescue is affected by actual environment and self-installation conditions, which will appear various limitations, and further lead to slow rescue. In recent years, with the rapid development of robot technology and the research of researchers in related fields after special modification, some full-terrain exploration robots have been used in disaster rescue, for example, the patent file with application number 202410673921.8 discloses a full-terrain assault carrying tracked tank robot for fire fighting. After use, "the two traveling tracks arranged can enable the device to normally explore in a complex terrain environment, the high-definition camera arranged can timely transmit the conditions inside the accident scene to the control end, so as to facilitate the fire personnel to customize the best rescue plan according to the internal conditions, when rescuing personnel at night, the infrared camera arranged can effectively rescue the trapped personnel, so as to facilitate the control end to timely provide the specific position of the trapped personnel to the fire personnel, thereby improving the practicality of the device".

[0003] However, in the actual rescue process, there may be a situation of being pressed by heavy objects, and this situation has the highest probability in earthquake disasters in addition to fires. From the above prior art disclosed technical solution, there is no corresponding solution, so it can be seen that the above prior art still has great limitations in practice. SUMMARY

[0004] (I) Technical problems solved

[0005] In view of the deficiencies of the prior art, the present application provides a full-terrain exploration robot, which solves the problems raised in the above background technology.

[0006] (II) Technical solutions

[0007] To achieve the above purpose, the present application provides the following technical solutions: a full-terrain exploration robot, comprising a tracked traveling chassis, a ring-shaped machine case and a main machine case are installed on the top of the tracked traveling chassis, the main machine case is sleeved on the inner side of the ring-shaped machine case, a protective deck is installed at the front and rear ends of the tracked traveling chassis, a first electric push rod is arranged outside the two sides of the two protective decks;

[0008] The long slot is arranged in the front and rear ends of the two sides of the annular machine box, and the meshing output assembly and the power output assembly are sleeved in the front and rear ends of the two sides of the annular machine box, the output structure inside the meshing output assembly penetrates through the long slot and can be in transmission connection with the corresponding first electric push rod, the output structure inside the power output assembly is in transmission connection with the input structure inside the meshing output assembly, the long slot is aligned with the first electric push rod, and the first electric push rod can be rotated and adjusted outside the bottom of the annular machine box under the transmission of the meshing output assembly and the power output assembly.

[0009] The composite processing assembly, the monitoring assembly and the battery module are sleeved in the inside of the main machine box, the protective cover plate is sleeved on the top inside of the annular machine box and the top inside of the main machine box, and the accommodation slot is arranged on the two sides of the front and rear ends of the protective cover plate on the top of the annular machine box.

[0010] Preferably, the four meshing output assemblies are composed of first gears and first straight toothed plates, the first gears are output structures of the meshing output assemblies, the first straight toothed plates are input structures of the meshing output assemblies, the first straight toothed plates are clamped in the inside of the long slot and can be in meshing connection with the first gears, the front and rear ends of the first gears are arranged as optical shaft structures, the rear end of the first gear is sleeved in the inside of the corresponding protective deck through a bearing, and the front end of the first gear is fixedly connected with the top of the shell of the corresponding first electric push rod.

[0011] Preferably, the four power output assemblies each include a second electric push rod and a transition linkage plate, the transition linkage plate is in transmission connection with the output end of the second electric push rod and serves as an output structure of the power output assembly, and the bottom of the transition linkage plate is in transmission connection with one end of the top of the corresponding first straight toothed plate.

[0012] Preferably, a U-shaped rod is clamped in the inside of the transition linkage plate, the U-shaped rod is used to ensure the stability of the reciprocating movement of the transition linkage plate, the end heads at the two ends of the U-shaped rod are fixedly connected to the inner wall of the bottom of the annular machine box, and a supporting seat is arranged between the surface of the shell of the second electric push rod and the inner wall of the bottom of the annular machine box.

[0013] Preferably, the composite processing assembly includes a first protective shell and a processor module, a wireless transmission module, a remote control module and a voice playing module sleeved in the inside of the first protective shell, the bottom of the first protective shell is fixedly installed to the inner wall of the bottom of the main machine box, the monitoring assembly includes a second protective shell and an illuminating module and an infrared camera sleeved in the inside of the second protective shell, and the side structure of one side of the main machine box is provided with a first auxiliary hole aligned with the infrared camera, a second auxiliary hole aligned with the illuminating module and a third auxiliary hole aligned with the voice playing module.

[0014] Preferably, the side edge structure of the ring-shaped machine case is provided with a receiving groove, an extension movable pipe is sleeved in the receiving groove, a rotary adjusting assembly capable of driving the extension movable pipe is sleeved in the front end of the ring-shaped machine case, and the extension movable pipe can be received or expanded in the receiving groove under the driving adjustment of the rotary adjusting assembly.

[0015] Preferably, a combination hole is formed in the inside of the protective cover plate arranged on the top of the ring-shaped machine case, a T-shaped hole communicating with the space of the special liquid tank is arranged on the top of the special liquid tank, a sealing cover is threadedly connected in the T-shaped hole, and the top of the sealing cover is movably sleeved in the inside of the combination hole, so as to maintain the sustainable use effect of the special liquid tank.

[0016] Preferably, the rotary adjusting assembly comprises a transition meshing adjusting part and a transition ring plate, the transition meshing adjusting part is composed of a second gear and a second straight toothed plate meshingly connected outside the second gear, one end of the second straight toothed plate is fixedly connected with the middle part of the corresponding transition linkage plate, the inside of the middle part of the second gear is sleeved with a supporting shaft through a bearing, the bottom of the supporting shaft is fixedly connected with the inner wall of the bottom of the ring-shaped machine case, the bottom of the transition ring plate is installed on the top of the second gear, the front end and the rear end of the transition ring plate are fixedly sleeved with one end of the transition folding elastic pipe and one end of the extension movable pipe respectively, and the transition meshing adjusting part utilizes the kinetic energy of the corresponding power output assembly to meet the automatic overturning use requirement of the extension movable pipe under specific conditions.

[0017] Preferably, the bottom of each of the four first electric push rods is provided with a pressure inspection assembly, the pressure inspection assembly comprises a protective sleeve plate and a pressure sensor, the pressure sensor is sleeved in the inside of the protective sleeve plate, the top of the protective sleeve plate is fixedly installed on the bottom surface of the corresponding first electric push rod, a T-shaped detection rod is clamped on the inside of the bottom of the protective sleeve plate, a hemispherical protective shell movably sleeved with the protective sleeve plate is fixedly connected to one end of the bottom of the T-shaped detection rod, and a second buffer spring is installed between the bottom inner wall of the hemispherical protective shell and the bottom surface of the protective sleeve plate. The pressure inspection assembly is used as the linkage structure of the first electric push rod, the pressure contacted by the bottom of the first electric push rod is detected synchronously in the synchronous rotation process of the first electric push rod, and the position state of the first electric push rod is expressed indirectly.

[0018] Preferably, both sides of the annular machine case are provided with anti-collision assemblies, both of which are composed of an elastic anti-collision plate, a T-shaped restraint rod and a first buffer spring, the inside of the elastic anti-collision plate is provided with a T-shaped hole penetrating through the structure thereof, both ends of the T-shaped restraint rod are respectively clamped in the T-shaped hole and fixedly connected to the corresponding side surface of the annular machine case, and both ends of the first buffer spring are respectively fixedly connected to the surface of one side of the elastic anti-collision plate and the corresponding side surface of the annular machine case, so that the movement of the overall device is provided with multi-directional movement anti-collision protection, and the use effect is further optimized.

[0019] Advantages

[0020] The present application provides a kind of all-terrain exploration robot, with the following advantages:

[0021] 1、The all-terrain exploration robot, by setting the first electric push rod, meshing output assembly, long slot, power output assembly auxiliary top pressure structure, and then with four auxiliary top pressure structure and track type travel chassis, annular machine case, mainframe box, protective deck, battery module, monitoring assembly, composite processing component combination all-terrain exploration robot main combination is used, can meet the demand of all-terrain movement while in the earthquake disaster site of the victim extruded by heavy object, by the first electric push rod in four auxiliary top pressure structure adjustment output top pressure, reduce the pressure of victim, improve the survival probability of victim, and solve the problems existing in the prior art.

[0022] 2、The all-terrain exploration robot, by setting the water pump, special liquid tank, transition folding elastic pipe, transition ring plate, transition meshing adjusting part, extension movable pipe auxiliary rescue structure, with the all-terrain exploration robot main combination described above is used, can provide liquid nutrient supplement for victim in the process of moving rescue, further improve the survival probability of victim.

[0023] 3、The all-terrain exploration robot, the auxiliary top pressure structure and the auxiliary rescue structure arranged inside can be in storage state in non-use state, so that the overall device has the structure characteristics of low and small, and is more suitable for movement. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a partial sectional view of the structure of the present application;

[0025] Figure 2 It is a top view of the structure of the present application;

[0026] Figure 3 It is a front view of the structure of the present application;

[0027] Figure 4 It is a sectional view of the pressure actual inspection assembly of the structure of the present application;

[0028] Figure 5 For the structure of the present application Figure 1 Enlarged schematic view at A in the structure of the present application;

[0029] Figure 6 For the structure of the present application Figure 1 Enlarged schematic view at B in the structure of the present application.

[0030] In the figure: 1, tracked chassis; 2, annular machine box; 3, main machine box; 4, protective deck; 5, first electric push rod; 6, mesh output assembly; 61, first gear; 62, first straight toothed plate; 7, long slot; 8, power output assembly; 81, second electric push rod; 82, transition linkage plate; 83, U-shaped rod; 9, composite processing assembly; 10, monitoring assembly; 11, battery module; 12, special liquid tank; 13, water pump; 14, transition folding elastic pipe; 15, transition ring plate; 16, transition mesh adjustment component; 161, second gear; 162, second straight toothed plate; 17, extended movable pipe; 18, anti-collision assembly; 181, elastic anti-collision plate; 182, T-shaped restraint rod; 183, first buffer spring; 19, pressure actual inspection assembly; 191, protective sleeve plate; 192, pressure sensor; 193, hemispherical protective shell; 194, T-shaped detection rod; 195, second buffer spring. DETAILED DESCRIPTION

[0031] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0032] Please refer to Figures 1-6 , an all-terrain exploration robot, comprising a tracked chassis 1, an annular machine box 2 and a main machine box 3 are installed on the top of the tracked chassis 1, the main machine box 3 is sleeved on the inner side of the annular machine box 2, protective decks 4 are installed on the front and rear ends of the tracked chassis 1, and first electric push rods 5 are arranged on the outer sides of the two protective decks 4;

[0033] Long slots 7 are formed in the front and rear ends of the two sides of the annular machine box 2, and mesh output assemblies 6 and power output assemblies 8 are sleeved in the front and rear ends of the two sides of the annular machine box 2, the output structure inside the mesh output assembly 6 can be in transmission connection with the corresponding first electric push rod 5 through the long slot 7, the output structure inside the power output assembly 8 is in transmission connection with the input structure inside the mesh output assembly 6, the long slot 7 is aligned with the first electric push rod 5, and the first electric push rod 5 can be rotationally adjusted outside the bottom of the annular machine box 2 under the transmission of the mesh output assembly 6 and the power output assembly 8;

[0034] The four meshing output assemblies 6 are each composed of a first gear 61 and a first straight toothed plate 62, the first gear 61 serving as the output structure of the meshing output assembly 6, and the first straight toothed plate 62 serving as the input structure of the meshing output assembly 6, the first straight toothed plate 62 being clamped inside the long slot 7 and being capable of being meshingly connected with the first gear 61, the front and rear ends of the first gear 61 being provided as optical shaft structures, the rear end of the first gear 61 being sleeved inside the corresponding protective deck 4 through a bearing, and the front end of the first gear 61 being fixedly connected with the top of the shell of the corresponding first electric push rod 5, the four power output assemblies 8 each including a second electric push rod 81 and a transition linkage plate 82, the transition linkage plate 82 serving as the output structure of the power output assembly 8 and being transmissionally connected with the output end of the second electric push rod 81, the bottom of the transition linkage plate 82 being transmissionally connected with one end of the top of the corresponding first straight toothed plate 62, and a U-shaped rod 83 being clamped inside the transition linkage plate 82, the U-shaped rod 83 being used to ensure the stability of the reciprocating movement of the transition linkage plate 82, the ends of the U-shaped rod 83 being fixedly connected with the inner wall of the bottom of the annular machine box 2, and a support seat being mounted between the surface of the shell of the second electric push rod 81 and the inner wall of the bottom of the annular machine box 2.

[0035] The inside of the main machine box 3 is sleeved with a composite processing assembly 9, a monitoring assembly 10 and a battery module 11, the composite processing assembly 9 including a first protective shell and a processor module, a wireless transmission module, a remote control module and a voice playing module sleeved inside the first protective shell, the bottom of the first protective shell being fixedly mounted with the inner wall of the bottom of the main machine box 3, the monitoring assembly 10 including a second protective shell and an illumination module and an infrared camera sleeved inside the second protective shell, the side structure of one side of the main machine box 3 being provided with a first auxiliary hole aligned with the infrared camera, a second auxiliary hole aligned with the illumination module and a third auxiliary hole aligned with the voice playing module, and the top inner side of the annular machine box 2 and the top inner side of the main machine box 3 each being sleeved with a protective cover plate, the two sides of the front and rear ends of the protective cover plate provided on the top of the annular machine box 2 being provided with a recessed slot;

[0036] The side structure of one side of the annular machine box 2 is provided with a receiving groove, and the receiving groove is sleeved with an extension movable pipe 17. The inner sleeve of one side of the front end of the annular machine box 2 is provided with a rotary adjusting assembly capable of driving the extension movable pipe 17. The extension movable pipe 17 can be stored or expanded in the receiving groove under the driving adjustment of the rotary adjusting assembly. The inside of the main machine box 3 is sleeved with a special liquid tank 12 and a water pump 13. The output end of the water pump 13 penetrates through the side structure of the main machine box 3 and is connected with one end of the extension movable pipe 17 through a transition folding elastic pipe 14. The input end of the water pump 13 is sleeved in the inside of the special liquid tank 12. After the combination of the special liquid tank 12, the water pump 13, the transition folding elastic pipe 14 and the extension movable pipe 17, the infusion demand under special circumstances can be met. The inside of the protective cover plate arranged on the top of the annular machine box 2 is provided with a combination hole. The top of the special liquid tank 12 is provided with a T-shaped hole communicating with the space of the special liquid tank 12. A sealing cover is threadedly connected in the T-shaped hole. The top of the sealing cover is movably sleeved in the inside of the combination hole, thereby maintaining the sustainable use effect of the special liquid tank 12.

[0037] The rotary adjusting assembly comprises a transition meshing adjusting component 16 and a transition ring plate 15. The transition meshing adjusting component 16 is composed of a second gear 161 and a second straight toothed plate 162 connected with the second gear 161. One end of the second straight toothed plate 162 is fixedly connected with the middle part of the corresponding transition linkage plate 82. The inside of the middle part of the second gear 161 is sleeved with a supporting shaft through a bearing. The bottom of the supporting shaft is fixedly connected with the inner wall of the bottom of the annular machine box 2. The bottom of the transition ring plate 15 is arranged on the top of the second gear 161. The front and rear ends of the transition ring plate 15 are fixedly sleeved with one end of the transition folding elastic pipe 14 and one end of the extension movable pipe 17 respectively. The transition meshing adjusting component 16 utilizes the kinetic energy of the corresponding power output assembly 8, thereby meeting the automatic overturning use demand of the extension movable pipe 17 under certain conditions.

[0038] The bottom of each of the four first electric push rods 5 is provided with a pressure real inspection assembly 19. The pressure real inspection assembly 19 comprises a protective sleeve plate 191 and a pressure sensor 192. The pressure sensor 192 is sleeved in the inside of the protective sleeve plate 191. The top of the protective sleeve plate 191 is fixedly arranged on the bottom surface of the corresponding first electric push rod 5. The bottom inside of the protective sleeve plate 191 is clamped with a T-shaped detection rod 194. One end of the bottom of the T-shaped detection rod 194 is fixedly connected with a hemispherical protective shell 193 movably sleeved with the protective sleeve plate 191. A second buffer spring 195 is arranged between the bottom surface of the protective sleeve plate 191 and the bottom inner wall of the hemispherical protective shell 193. The pressure real inspection assembly 19 is used as the linkage structure of the first electric push rod 5. The pressure real inspection assembly 19 detects the pressure contacted by the bottom of the first electric push rod 5 during the synchronous rotation of the first electric push rod 5, thereby indirectly expressing the position state of the first electric push rod 5.

[0039] Two sides of the annular machine case 2 are provided with anti-collision assemblies 18, and the two anti-collision assemblies 18 are composed of elastic anti-collision plates 181, T-shaped constraint rods 182 and first buffer springs 183. The elastic anti-collision plates 181 are internally provided with T-shaped holes penetrating through the structure thereof, the two ends of the T-shaped constraint rods 182 are respectively clamped in the T-shaped holes and fixedly connected to the corresponding side surfaces of the annular machine case 2, and the two ends of the first buffer springs 183 are respectively fixedly connected to the surface of one side of the elastic anti-collision plate 181 and the corresponding side surface of the annular machine case 2. The two anti-collision assemblies 18 provide multi-directional movement anti-collision protection for the movement of the overall device, and further optimize the use effect.

[0040] Working principle:

[0041] Embodiment one

[0042] For the victims who are squeezed and cannot move or are difficult to maintain in the earthquake disaster site, the tracked chassis 1 moves the overall device to enter the narrow passage cleaned in advance to the appropriate position near the victims. The water pump 13 provides lighting and vision. Then, the second electric push rod 81 in the power output assembly 8 is started, and the output end of the second electric push rod 81 pushes the corresponding first straight toothed plate 62 through the transition linkage plate 82 to move, and then the first straight toothed plate 62 engages and drives the first gear 61 to rotate and move synchronously. After the second electric push rod 81 operates to the maximum stroke, the corresponding first electric push rod 5 will also change from the horizontal state with the annular machine case 2 to the vertical state with the annular machine case 2, and the first electric push rod 5 is aligned with the corresponding long slot 7. Similarly, the remaining three first electric push rods 5 are adjusted according to the above steps until the four first electric push rods 5 are in the vertical state. After that, the four first electric push rods 5 are started synchronously, so that the output ends of the four first electric push rods 5 are output through the corresponding long slots 7 and assist in pressing the heavy objects on the victims, thereby reducing the compression force of the victims and improving the survival probability of the victims, so as to wait for subsequent rescue.

[0043] Embodiment two

[0044] For the victims of the narrow space of the earthquake disaster site for a long time back surrounded, the use of tracked chassis 1 mobile overall device, from the advance cleaning out of the narrow passage into the victim near the appropriate location, water pump 13 provides lighting and vision, then, start with the transition meshing adjustment component 16 corresponding to the power output assembly 8 inside the second electric push rod 81, by the output end of the second electric push rod 81 through the transition linkage plate 82 drive first straight toothed plate 62, second straight toothed plate 162 movement, after the second straight toothed plate 162 will be synchronous meshing transmission second gear 161, in turn, make the extension of the active pipe 17 from the storage tank turnover shift out, before the storage is to reduce the movement process and the surrounding objects generated interference, and then, the victim can put the open port of the extension of the active pipe 17 into the mouth, then, the rescuer, remote start water pump 13, by water pump 13 will be placed in advance in the special liquid tank 12 inside the nutrient solution through the transition folding elastic pipe 14, extension of the active pipe 17 to the victim mouth, supplement the physical strength, improve the survival rate of the victims, for subsequent rescue.

[0045] Embodiment three

[0046] But need to encourage shouting and looking for the victims of the earthquake disaster site buried and survived, the use of tracked chassis 1 drive overall device in the complex disaster site movement, meet the demand of all terrain movement, at the same time, the voice playback device in the composite processing assembly 9 reciprocating play rescue prompt voice and encourage the voice of the effort to survive, don't give up;

[0047] And in the process of moving the device, in the direction of the travel suffered impact, the elastic bumper plate 181 in the anti collision assembly 18 first contact barrier and in the T type constraint rod 182 of the guide and the first buffer spring 183 buffer, impact buffer protection.

[0048] It should be noted that in this article, such as first and second relationship terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent in such process, method, article or equipment.

[0049] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An all-terrain exploration robot comprising a tracked travelling chassis (1), characterised in that: The top of the tracked chassis (1) is provided with an annular machine box (2) and a main machine box (3), the main machine box (3) is sleeved on the inner side of the annular machine box (2), the front and rear ends of the tracked chassis (1) are provided with protective decks (4), and the outer sides of the two protective decks (4) are provided with first electric push rods (5); The front and rear ends of the two sides of the annular machine box (2) are provided with long grooves (7), and the front and rear ends of the two sides of the annular machine box (2) are sleeved with meshing output assemblies (6) and power output assemblies (8), the output structure inside the meshing output assembly (6) penetrates through the long groove (7) and can be in transmission connection with the corresponding first electric push rod (5), the output structure inside the power output assembly (8) is in transmission connection with the input structure inside the meshing output assembly (6), the long groove (7) is aligned with the first electric push rod (5), and the first electric push rod (5) can be rotated and adjusted at the bottom outside of the annular machine box (2) under the transmission of the meshing output assembly (6) and the power output assembly (8). The inside of the main machine box (3) is sleeved with a composite processing assembly (9), a monitoring assembly (10) and a battery module (11), and the inner top sides of the annular machine box (2) and the main machine box (3) are sleeved with protective cover plates, and the two sides of the front and rear ends of the protective cover plates arranged on the top of the annular machine box (2) are provided with accommodation grooves. The power output assembly (8) drives the meshing output assembly (6), thereby driving the first electric push rod (5), so that the first electric push rod (5) changes from the horizontal state with the annular machine box (2) to the vertical state with the annular machine box (2), four first electric push rods (5) are started synchronously, and the output ends of the four first electric push rods (5) output through the respective long grooves (7) and assist in pressing the heavy object on the victim; The four meshing output assemblies (6) each comprise a first gear (61) and a first straight toothed plate (62), the first gear (61) is used as the output structure of the meshing output assembly (6), the first straight toothed plate (62) is used as the input structure of the meshing output assembly (6), the first straight toothed plate (62) is clamped in the inside of the long groove (7) and can be in meshing connection with the first gear (61), the front and rear ends of the first gear (61) are provided with optical shaft structures, the rear end of the first gear (61) is sleeved in the inside of the corresponding protective deck (4) through a bearing, and the front end of the first gear (61) is fixedly connected with the top of the shell of the corresponding first electric push rod (5).

2. The all-terrain exploration robot of claim 1, wherein: The four power output assemblies (8) each comprise a second electric push rod (81) and a transition linkage plate (82), the transition linkage plate (82) is used as the output structure of the power output assembly (8) and is in transmission connection with the output end of the second electric push rod (81), and the bottom of the transition linkage plate (82) is in transmission connection with one end of the top of the corresponding first straight toothed plate (62).

3. The all-terrain exploration robot of claim 2, wherein: The inside of the transition linkage plate (82) is clamped with a U-shaped rod (83), the end of the two ends of the U-shaped rod (83) is fixedly connected to the inner wall of the bottom of the annular case (2), and the shell surface of the second electric push rod (81) is installed between the inner wall of the bottom of the annular case (2).

4. The all-terrain exploration robot of claim 1, wherein: The composite processing assembly (9) comprises a first protective shell and a processor module, a wireless transmission module, a remote control module and a voice playing module sleeved in the first protective shell, the bottom of the first protective shell is fixedly installed with the inner wall of the bottom of the main case (3), and the monitoring assembly (10) comprises a second protective shell and an illumination module and an infrared camera sleeved in the second protective shell.

5. The all-terrain exploration robot of claim 1, wherein: The side structure of one side of the annular case (2) is provided with a receiving groove, the receiving groove is sleeved with an extension movable pipe (17), the annular case (2) is sleeved with a rotary adjusting assembly capable of driving the extension movable pipe (17) at the front end of one side, and the extension movable pipe (17) can be stored or expanded in the receiving groove under the driving adjustment of the rotary adjusting assembly, the inside of the main case (3) is sleeved with a special liquid tank (12) and a water pump (13), the output end of the water pump (13) penetrates the side structure of the main case (3) and is installed between one end of the extension movable pipe (17) and the transition folding elastic pipe (14), and the input end of the water pump (13) is sleeved in the inside of the special liquid tank (12).

6. The all-terrain exploration robot of claim 5, wherein: The inside of the protective cover plate arranged on the top of the annular case (2) is provided with a combined hole, the top of the special liquid tank (12) is provided with a T-shaped hole communicating with the space thereof, the T-shaped hole is threadedly connected with a sealing cover, and the top of the sealing cover is movably sleeved in the inside of the combined hole.

7. The all-terrain exploration robot of claim 5, wherein: The rotary adjusting assembly comprises a transition engagement adjusting component (16) and a transition ring plate (15), the transition engagement adjusting component (16) is composed of a second gear (161) and a second straight toothed plate (162) which is connected with the second gear (161) in an external engagement manner, one end of the second straight toothed plate (162) is fixedly connected with the middle part of the corresponding transition linkage plate (82), the inside of the middle part of the second gear (161) is sleeved with a support shaft through a bearing, the bottom of the support shaft is fixedly connected to the inner wall of the bottom of the annular case (2), the bottom of the transition ring plate (15) is installed on the top of the second gear (161), and the front end and the rear end of the transition ring plate (15) are fixedly sleeved with one end of the transition folding elastic pipe (14) and one end of the extension movable pipe (17) respectively.

8. The all-terrain exploration robot of claim 1, wherein: The bottom of each of the four first electric push rods (5) is provided with a pressure inspection assembly (19), the pressure inspection assembly (19) comprises a protective sleeve plate (191) and a pressure sensor (192), the pressure sensor (192) is sleeved in the protective sleeve plate (191), the top of the protective sleeve plate (191) is fixedly installed on the bottom surface of the corresponding first electric push rod (5), the bottom inner side of the protective sleeve plate (191) is clamped with a T-shaped detection rod (194), one end of the bottom of the T-shaped detection rod (194) is fixedly connected with a hemispherical protective shell (193) movably sleeved with the protective sleeve plate (191), and the second buffer spring (195) is installed between the bottom surface of the protective sleeve plate (191) and the bottom inner wall of the hemispherical protective shell (193).

9. The all-terrain exploration robot of claim 1, wherein: Both sides of the annular cabinet (2) are provided with anti-collision assemblies (18), and each of the two anti-collision assemblies (18) comprises an elastic anti-collision plate (181), a T-shaped constraint rod (182) and a first buffer spring (183). The elastic anti-collision plate (181) is provided with a T-shaped hole penetrating through the structure thereof, both ends of the T-shaped constraint rod (182) are clamped in the T-shaped hole and fixedly connected with the corresponding side surface of the annular cabinet (2) respectively, and both ends of the first buffer spring (183) are fixedly connected with the surface of one side of the elastic anti-collision plate (181) and the corresponding side surface of the annular cabinet (2) respectively.

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