Crawler-type investigation robot capable of swinging arms

Abstract

The invention relates to the technical field of reconnaissance robots, in particular to an arm-swinging crawler-type reconnaissance robot which comprises a chassis, a power assembly, a loading assembly and a swinging arm assembly, the power assembly is located in the chassis, the loading assembly is assembled on the chassis, and the swinging arm assembly comprises walking driving wheels, a swinging arm shaft, a supporting plate, a crawler belt and thrust wheels. The four walking driving wheels are arranged on the two sides of the chassis in a pairwise opposite mode, the swing arm shaft penetrates through the center of each walking driving wheel, one end of each swing arm shaft is connected with the power assembly, the other end of each swing arm shaft is connected with the supporting plate, the end, away from the swing arm shafts, of the supporting plate is connected with the thrust wheel, and the track is arranged on the outer sides of the thrust wheel and the walking driving wheels in a sleeving mode. During arm swinging, the four swing arm motors and the swing arm speed reducer are directly connected with the swing arm shafts, the swing arm shafts rotate to drive the supporting plates to rotate, the thrust wheels move downwards, the robot is erected, arm swinging of the wheel train is achieved, the four wheels can swing arms independently, and trafficability and stability are high.

Description

Technical Field

[0001] The present invention relates to the technical field of reconnaissance robots, and in particular to a crawler-type reconnaissance robot with swingable arms. Background Art

[0002] Reconnaissance robots play an increasingly important role in many fields, including military, security, environmental protection, firefighting, and factories. They can perform high-risk tasks, provide real-time intelligence, improve security levels, monitor environmental conditions, and conduct daily inspections.

[0003] Although reconnaissance robots have been widely used in many fields, existing reconnaissance robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited passability. When encountering higher obstacles, these robots often cannot pass through, limiting their ability to move in complex terrain.

[0004] With the rapid development of science and technology, the performance requirements for reconnaissance robots are also increasing. Especially in high-risk fields such as military and firefighting, higher requirements are placed on the robot's passability and stability. Therefore, developing a reconnaissance robot that can adapt to complex terrain and has high passability and stability has become an important direction of technological development. Summary of the invention

[0005] The purpose of the present invention is to provide a tracked reconnaissance robot with swingable arms, which solves the problem that existing reconnaissance robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited passability.

[0006] To achieve the above-mentioned purpose, the present invention provides a tracked reconnaissance robot with swingable arms, comprising a chassis, a power assembly, an upper assembly and a swing arm assembly;

[0007] The power assembly is located inside the chassis, the upper assembly is assembled on the chassis, the swing arm assembly includes a travel drive wheel, a swing arm shaft, a support plate, a track and a supporting roller, the number of the travel drive wheels is four, the four travel drive wheels are respectively arranged on both sides of the chassis opposite to each other in pairs, and are respectively connected to the power assembly, the center of each travel drive wheel passes through the swing arm shaft, one end of each swing arm shaft is connected to the power assembly, and the other end is connected to the support plate, the end of the support plate away from the swing arm shaft is connected to the supporting roller, and the track is set on the outside of the supporting roller and the travel drive wheel.

[0008] Wherein, the swing arm assembly also includes a limit plate, which is connected to the support plate and is located between the travel drive wheel and the supporting wheel.

[0009] Wherein, the power assembly includes a swing arm motor and a swing arm reducer, each swing arm shaft is connected to the swing arm motor via the swing arm reducer, and the swing arm motor and the swing arm reducer are respectively located inside the chassis.

[0010] Among them, the power assembly also includes two walking motors and two walking reducers. The walking motors and the walking reducers are respectively arranged on both sides of the chassis. The walking motors are connected to the walking reducers, and the walking reducers on the same side are connected to the walking drive wheels through chains and sprockets.

[0011] Among them, the upper assembly includes an outer shell cover plate, a camera, a switch, a microphone, a speaker and a laser radar. The outer shell cover plate is detachably connected to the chassis and is located on the top of the chassis. The outer walls of the outer shell cover plate are respectively provided with the camera, the switch, the microphone, the speaker and the laser radar.

[0012] Among them, the upper assembly also includes a battery, an industrial computer, a travel drive, a controller, a video converter and a power module, and the battery, the industrial computer, the travel drive, the controller, the video converter and the power module are respectively arranged inside the outer shell cover.

[0013] Among them, the upper assembly also includes a five-axis robotic arm, which includes a first rotating axis, a second rotating axis, a third rotating axis and a fourth rotating axis. The first rotating axis is located at the top of the outer shell cover plate, the second rotating axis is connected to the first rotating axis, the third rotating axis is connected to the second rotating axis, and the fourth rotating axis is connected to the third rotating axis.

[0014] Among them, the five-axis robotic arm also includes a clamping finger and a detection camera, the clamping finger is connected to the fourth rotation axis, and the detection camera is located on the top of the clamping finger.

[0015] The crawler-type reconnaissance robot with swingable arms of the present invention, when walking, the two walking motors drive the walking drive wheels to rotate through the walking reducer respectively through chain transmission, and the walking drive wheels then drive the crawler tracks to rotate, so as to realize forward and backward movement, as well as 360° rotation on the spot; when swinging the arms, the four swing arm motors and the swing arm reducers are directly connected to the swing arm shaft, and the rotation of the swing arm shaft drives the support plate to rotate, and the supporting wheels move downward to stand the robot up, so as to realize the swing of the wheel system, and the four wheels can swing independently, with high passability and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0017] Figure 1 It is a schematic structural diagram of a swing arm assembly according to the first embodiment of the present invention.

[0018] Figure 2 It is a schematic structural diagram of a power assembly according to the first embodiment of the present invention.

[0019] Figure 3 It is a schematic cross-sectional view of the swing arm shaft according to the first embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the overall structure of a swingable-arm crawler-type reconnaissance robot according to the second embodiment of the present invention.

[0021] Figure 5 It is a schematic diagram of the structure inside the shell sealing plate of the second embodiment of the present invention.

[0022] In the figure: 101-chassis, 102-travel driving wheel, 103-swing arm shaft, 104-support plate, 105-track, 106-supporting wheel, 107-limiting plate, 108-swing arm motor, 109-swing arm reducer, 110-travel motor, 111-travel reducer, 201-housing cover, 202-camera, 203-switch, 204-pickup, 205-speaker, 206-laser radar, 207-battery, 208-industrial computer, 209-travel drive, 210-controller, 211-video converter, 212-power module, 213-first rotating axis, 214-second rotating axis, 215-third rotating axis, 216-fourth rotating axis, 217-gripping finger, 218-detection camera. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0024] The first embodiment of the present application is:

[0025] See also Figures 1 to 3 ,in, Figure 1 It is a schematic structural diagram of a swing arm assembly according to the first embodiment of the present invention. Figure 2 It is a schematic structural diagram of a power assembly according to the first embodiment of the present invention. Figure 3 1 is a schematic cross-sectional view of the swing arm shaft 103 according to the first embodiment of the present invention.

[0026] The present invention provides a tracked reconnaissance robot with swingable arms: comprising a chassis 101, a power assembly, an upper assembly and a swing arm assembly, wherein the swing arm assembly comprises a walking drive wheel 102, a swing arm shaft 103, a support plate 104, a crawler 105, a supporting wheel 106 and a limit plate 107, and the power assembly comprises a swing arm motor 108, a swing arm reducer 109, a walking motor 110 and a walking reducer 111. The above-mentioned scheme solves the problem that the existing reconnaissance robots mainly adopt wheeled or fixed crawler 105 type chassis 101, and the ground clearance of these chassis 101 is fixed and the passability is limited. It can be understood that the above-mentioned scheme can also be used to solve the problem of remote control command.

[0027] According to this specific embodiment, the power assembly is located inside the chassis 101, the upper assembly is assembled on the chassis 101, the number of the walking drive wheels 102 is four, and the four walking drive wheels 102 are respectively arranged on both sides of the chassis 101 opposite to each other, and are respectively connected to the power assembly, the center of each walking drive wheel 102 passes through the swing arm shaft 103, one end of each swing arm shaft 103 is connected to the power assembly, and the other end is connected to the support plate 104, the end of the support plate 104 away from the swing arm shaft 103 is connected to the supporting wheel 106, and the track 105 is sleeved on the outside of the supporting wheel 106 and the walking drive wheel 102. The travel driving wheel 102 is connected to the power assembly via a travel shaft and is driven to rotate by the power assembly. The swing arm shaft 103 passes through the travel shaft and the center of the travel driving wheel 102, one end of which is connected to the support plate 104, and the other end is connected to the power assembly, and is driven separately from the travel driving wheel 102. The other end of the support plate 104 is connected to the supporting wheel 106 via an axis, and the crawler track 105 is sleeved between the supporting wheel 106 and the travel driving wheel 102.

[0028] The limiting plate 107 is connected to the supporting plate 104 and is located between the travel driving wheel 102 and the supporting roller 106. The limiting plate 107 can prevent the axial movement of the crawler 105 and ensure the stability and accuracy of the crawler 105 during the movement.

[0029] Secondly, each swing arm shaft 103 is connected to the swing arm motor 108 through the swing arm reducer 109, and the swing arm motor 108 and the swing arm reducer 109 are respectively located inside the chassis 101. The four swing arm shafts 103 are respectively connected to the swing arm motor 108 through the swing arm reducer 109 to achieve independent swing arms.

[0030] At the same time, the walking motor 110 and the walking reducer 111 are respectively arranged on both sides of the chassis 101. The walking motor 110 is connected to the walking reducer 111, and the walking reducer 111 on the same side is connected to the walking drive wheel 102 through a chain and a sprocket. The walking drive wheel 102 is connected to a walking shaft, and a sprocket is connected to the walking shaft. The output end of the walking reducer 111 is connected to a sprocket, and the sprockets are driven by a chain, and the walking drive wheel 102 is connected by a chain. The walking drive wheel 102 drives the walking to realize the reconnaissance walking. The walking motor 110 on the left drives the walking of the two wheel trains on the left, and the walking motor 110 on the right drives the walking of the two wheel trains on the right. The walking motor 110 is one to two.

[0031] A tracked reconnaissance robot with swingable arms according to the present embodiment is used. When walking, the two walking motors 110 drive the walking drive wheels 102 to rotate through the walking reducers respectively through chain transmission, and the walking drive wheels 102 then drive the tracks 105 to rotate, so as to realize forward and backward movement and 360° rotation on the spot; when swinging the arms, the four swing arm motors 108 and the swing arm reducers are directly connected to the swing arm shaft 103, and the rotation of the swing arm shaft 103 drives the support plate 104 to rotate, and the supporting wheels 106 move downward to stand the robot up, so as to realize the swing of the wheel system. The four wheels can swing independently, and the passability and stability are high.

[0032] The second embodiment of the present application is:

[0033] Based on the first embodiment, please refer to Figure 4 and Figure 5 ,in, Figure 4 It is a schematic diagram of the overall structure of a swingable-arm crawler-type reconnaissance robot according to the second embodiment of the present invention. Figure 5 It is a schematic diagram of the structure inside the housing sealing plate 201 of the second embodiment of the present invention.

[0034] The upper assembly of this embodiment includes a shell cover 201, a camera 202, a switch 203, a microphone 204, a speaker 205, a laser radar 206, a battery 207, an industrial computer 208, a travel driver 209, a controller 210, a video converter 211, a power module 212 and a five-axis robotic arm, and the five-axis robotic arm includes a first rotating axis 213, a second rotating axis 214, a third rotating axis 215, a fourth rotating axis 216, a clamping finger 217 and a reconnaissance camera 218.

[0035] For this specific embodiment, the shell cover 201 is detachably connected to the chassis 101 and is located on the top of the chassis 101. The outer wall of the shell cover 201 is respectively provided with the camera 202, the switch 203, the microphone 204, the speaker 205 and the laser radar 206. The shell cover 201 is used to protect the electronic components and mechanical structure inside the robot, prevent dust, moisture and other external factors from damaging the internal components, and also help maintain the overall structural integrity of the robot to ensure stable operation in various environments. There is one camera 202 each in the front, back, left and right to achieve 360° video transmission, so that the operator can monitor the environment around the robot in real time. The switch 203 includes a power switch 203 and an emergency stop switch 203. The power switch 203 is used to control the power supply of the robot to ensure that the robot can be safely turned on or off when needed. The emergency stop switch 203 is used to quickly cut off the power supply in an emergency to prevent accidents or damage. The microphone 204 is used to capture audio information around the robot, which is very important for remote monitoring and communication. In certain application scenarios, such as environmental monitoring, the microphone 204 can help analyze the sound in the environment, such as the level of noise pollution. The speaker 205 allows the robot to communicate remotely with the operator or other personnel, such as issuing instructions or warnings in fire rescue. When necessary, the speaker 205 can also provide sound feedback, such as operation confirmation or alarm. The laser radar 206 (LiDAR) is a sensor for accurately measuring distance and speed, which can help the robot perceive the surrounding environment and avoid obstacles. These components work together to enable the reconnaissance robot to perform tasks in a variety of complex environments, while ensuring that the operator can remotely monitor and control the robot to improve the efficiency and safety of the task.

[0036] The battery 207, the industrial computer 208, the travel driver 209, the controller 210, the video converter 211 and the power module 212 are respectively arranged inside the shell cover 201. The battery 207 is the power source for the robot to work and provides power for the entire robot. The industrial computer 208 is responsible for processing sensor data and issuing action instructions. It runs the operating system in real time and controls related equipment, including the robot arm, crawler 105, camera 202, laser device, etc. The industrial computer 208 is also responsible for wireless communication with the industrial computer 208 of the remote control system to transmit robot instructions, status and video. The travel driver 209 is responsible for controlling the motor of the robot chassis 101 to achieve speed control and motion control of the robot. It drives the motor to work by receiving instructions from the controller 210, so that the robot can move forward, backward, turn, etc. The controller 210 is responsible for processing the data from the sensor and issuing action instructions. It communicates with the industrial computer 208 and other control units through various interfaces, such as CAN bus, RS232 serial port, etc., to achieve precise control of the robot's movement and functions. The video converter 211 is used to convert the video signal captured by the camera 202 into a format suitable for transmission and display, so that the operator can remotely watch the video images captured by the robot in real time. The power module 212 is responsible for converting the voltage of the battery 207 into a voltage suitable for the electronic equipment inside the robot, supplying it to other hardware modules, ensuring that the electronic components inside the robot can obtain a stable power supply and maintain normal operation.

[0037] Secondly, the first rotating shaft 213 is located at the top of the shell cover 201, the second rotating shaft 214 is connected to the first rotating shaft 213, the third rotating shaft 215 is connected to the second rotating shaft 214, and the fourth rotating shaft 216 is connected to the third rotating shaft 215. The clamping finger 217 is connected to the fourth rotating shaft 216, and the detection camera 218 is located at the top of the clamping finger 217. The five-axis robot arm can perform any grabbing action, and can grab an obstacle when passing through an obstacle, or perform some actions. Through the motor, the first rotating shaft 213 can achieve 360° steering, the second rotating shaft 214 can achieve 270°, the third rotating shaft 215 can achieve 270°, the fourth rotating shaft 216 can achieve 180° steering, the clamping finger 217 can open and close at an angle of 0-90°, and the front end also has the detection camera 218.

[0038] A swingable-arm crawler reconnaissance robot of this embodiment is controlled by remote control, and has a camera 202 and a lighting lamp in the front. The camera 202 can transmit the captured video images to the remote control. Personnel can remotely control and command through the remote control, and watch the on-site situation in real time, realize dialogue, and ensure their own safety. It has high safety and functionality.

[0039] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A tracked reconnaissance robot with swingable arms, comprising a chassis, characterized in that: It also includes a power assembly, a top assembly and a swing arm assembly; The power assembly is located inside the chassis, the upper assembly is assembled on the chassis, the swing arm assembly includes a travel drive wheel, a swing arm shaft, a support plate, a track and a supporting roller, the number of the travel drive wheels is four, the four travel drive wheels are respectively arranged on both sides of the chassis opposite to each other in pairs, and are respectively connected to the power assembly, the center of each travel drive wheel passes through the swing arm shaft, one end of each swing arm shaft is connected to the power assembly, and the other end is connected to the support plate, the end of the support plate away from the swing arm shaft is connected to the supporting roller, and the track is set on the outside of the supporting roller and the travel drive wheel.

2. The swingable crawler reconnaissance robot according to claim 1, characterized in that: The swing arm assembly also includes a limit plate, which is connected to the support plate and is located between the travel drive wheel and the supporting wheel.

3. The swingable crawler reconnaissance robot according to claim 2, characterized in that: The power assembly includes a swing arm motor and a swing arm reducer. Each swing arm shaft is connected to the swing arm motor via the swing arm reducer. The swing arm motor and the swing arm reducer are respectively located inside the chassis.

4. The swingable crawler-type reconnaissance robot according to claim 3, characterized in that: The power assembly also includes two travel motors and two travel reducers. The travel motors and the travel reducers are respectively arranged on both sides of the chassis. The travel motors are connected to the travel reducers, and the travel reducers on the same side are connected to the travel driving wheels through chains and sprockets.

5. The swingable crawler reconnaissance robot according to claim 1, characterized in that: The upper assembly includes an outer shell cover, a camera, a switch, a microphone, a speaker and a laser radar. The outer shell cover is detachably connected to the chassis and is located on the top of the chassis. The outer walls of the outer shell cover are respectively provided with the camera, the switch, the microphone, the speaker and the laser radar.

6. The swingable crawler-type reconnaissance robot according to claim 5, characterized in that: The upper assembly also includes a battery, an industrial computer, a travel drive, a controller, a video converter and a power module. The battery, the industrial computer, the travel drive, the controller, the video converter and the power module are respectively arranged inside the outer shell cover.

7. The swingable crawler-type reconnaissance robot according to claim 5, characterized in that: The upper assembly also includes a five-axis robotic arm, which includes a first rotating axis, a second rotating axis, a third rotating axis and a fourth rotating axis. The first rotating axis is located at the top of the outer shell cover plate, the second rotating axis is connected to the first rotating axis, the third rotating axis is connected to the second rotating axis, and the fourth rotating axis is connected to the third rotating axis.

8. The swingable crawler-type reconnaissance robot according to claim 7, characterized in that: The five-axis robotic arm also includes a clamping finger and a detection camera. The clamping finger is connected to the fourth rotation axis, and the detection camera is located on the top of the clamping finger.

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