Narrow environment detection robot

Abstract

The invention discloses a narrow environment detection robot, and relates to the technical field of robots, the narrow environment detection robot comprises a detection machine body, the detection machine body comprises a machine shell, the top opening of the machine shell is provided with a shell cover, the narrow environment detection robot further comprises a robot power mechanism, a multifunctional advancing wheel mechanism and a retractable machine body stabilizing mechanism, the left side and the right side of the machine shell are rotationally connected with two transverse rotating sleeves through two power bearings correspondingly, a power long shaft is arranged in each rotating sleeve in a penetrating and inserting mode, a transverse groove is formed in the side face of each power long shaft, and protruding strips in sliding connection with the transverse grooves are arranged on the inner sides of the rotating sleeves. The ends, located in the machine shell, of the two rotating sleeves are connected with two power assemblies correspondingly, and the ends, located in the machine shell, of the two power long shafts are both connected with a wheel track control mechanism. According to the narrow environment detection robot, the width of the robot can be adjusted, the robot can easily enter the narrow environment, and the robot can stably advance in the narrow environment by means of the multifunctional advancing wheel mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a narrow environment detection robot. Background Art

[0002] At present, detection tasks in the fields of disaster prevention and relief, environmental investigation, production safety, etc. are often heavily dependent on manpower. Now, due to the advancement of technologies such as robots and machine vision, more and more robots are beginning to replace humans to complete detection tasks. However, existing legged robots or wheeled robots are generally only suitable for spacious environments. For some relatively narrow caves and crevices, existing detection robots are not easy to enter and have difficulty moving inside, and cannot meet the detection tasks. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a narrow environment detection robot that can adjust its own width, can form a capsule-shaped or spherical structure, can easily enter a narrow environment, and can move stably in a narrow environment with the help of a multifunctional traveling wheel mechanism, can avoid slipping, and if it falls, it can stand up again on its own, can meet the detection tasks in a narrow environment, and can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a narrow environment detection robot, comprising a detection body, the detection body comprising a shell and a shell cover, the top opening of the shell being equipped with the shell cover, and further comprising:

[0005] The robot power mechanism comprises a power bearing, a rotating sleeve, a convex strip, a power long shaft, a transverse groove and a power assembly. The left and right sides of the housing are rotatably connected to two transverse rotating sleeves through two power bearings respectively. A power long shaft is inserted in each rotating sleeve. A transverse groove is provided on the side of the power long shaft. A convex strip slidably connected to the transverse groove is provided on the inner side of the rotating sleeve. One end of the two rotating sleeves located in the housing is respectively connected to two power assemblies, and one end of the two power long shafts located in the housing is connected to the wheelbase control mechanism.

[0006] A multifunctional traveling wheel mechanism is installed at one end of the two power long shafts outside the casing;

[0007] The retractable body stabilizing mechanism is installed at the rear bottom center of the casing.

[0008] Furthermore, the wheelbase control mechanism includes an arched inner bracket and a synchronous push-pull control component. The arched inner bracket is installed at the rear side of the housing. Two control boards are connected to the arched inner bracket through the synchronous push-pull control component. One end of the two power long shafts located in the housing is respectively connected to the two control boards through two control bearings. The arched inner bracket is used to install the synchronous push-pull control component. The synchronous push-pull control component is used to drive the two control boards to move closer to or farther from each other synchronously. The two control boards drive the two power long shafts to move closer to or farther from each other through the control bearings. The setting of the control bearings ensures that the rotation of the power long shaft is not interfered by the control board.

[0009] Furthermore, the multifunctional traveling wheel mechanism includes a rolling disc, and each power long axis is fixedly sleeved at one end outside the casing, and each end sleeve is fixedly connected to the middle part of the rolling disc, and each rolling disc is fixedly connected to a rolling ring on one edge close to the casing, and each rolling ring is provided with a plurality of movable anti-skid components in a circular array on one side close to the casing, and each rolling disc is provided with an anti-skid control component on one side close to the casing, and the anti-skid control component is connected to the corresponding movable anti-skid component, and each rolling disc is provided with a tilting, propping up and getting out of trouble component on one side away from the casing. The end sleeve is used to connect the power long shaft and the rolling disc, and the rolling disc and the rolling ring constitute the traveling wheel. The anti-skid control component is used to control the movement of the movable anti-skid component relative to the rolling ring, and can control the contact between the movable anti-skid component and the ground. When the rolling ring is idling and loses grip, the anti-skid control component can make the movable anti-skid component contact the ground, so as to realize the anti-skid effect of the rolling ring. When the two multifunctional traveling wheel mechanisms are close to each other so that the main body of the robot forms a spherical shape, the robot is easy to tip over because the two rolling rings are close to each other and its own volume is small, but the wheelbase of the left and right traveling wheels is also smaller. At this time, with the help of the tipping propping up and getting out of trouble component, the robot can prop itself up and stand up again, which is conducive to getting out of trouble.

[0010] Furthermore, the movable anti-slip assembly includes a support, a support shaft, a push-pull rod, a rod shaft, an arc rod, a movable seat, a movable seat shaft and an anti-slip rod. A plurality of movable seats are installed in a circular array on the side of each rolling ring close to the casing, each movable seat is movably connected to the anti-slip rod through a movable seat shaft, each anti-slip rod is provided with an arc surface on the side away from the center of the rolling ring, and each anti-slip rod is fixedly connected to one end of the arc rod on the side close to the center of the rolling ring, the other end of each arc rod is movably connected to one end of the push-pull rod through the rod shaft, and the other end of each push-pull rod is movably connected to the support through the support shaft. The push-pull rod can be pushed and pulled through the support and the support shaft. The push-pull rod can push and pull the arc rod through the rod shaft. The anti-slip rod can be moved relative to the movable seat with the help of the movable seat shaft by means of the arc rod, and the angle of the anti-slip rod relative to the center of the rolling circle can be changed. In order to make the contact area between the rolling circle and the ground larger and make the robot more stable when moving, the anti-slip rod can be kept in a horizontal state, that is, all the anti-slip rods are parallel to the power long axis. At this time, as the rolling circle rotates, the anti-slip rod at the bottom of the rolling circle can contact the ground, and the arc surface on the anti-slip rod can make the anti-slip rod contact the ground more stably as the rolling circle rotates. Multiple anti-skid bars rolling on the ground can also prevent skidding. If not needed, the anti-skid bars can be retracted and moved closer to each other so that the anti-skid bars cannot contact the ground. At this time, the contact area between the rolling circle and the ground is reduced, and there is less interference when moving, which is suitable for flat roads. If sand is encountered, the rolling circle is prone to idling and moving is difficult. At this time, multiple anti-skid bars can be opened until the anti-skid bars are distributed radially along the power axis. At this time, when the rolling circle rotates, the anti-skid bars at the bottom of the rolling circle are inserted into the sand, so that the rolling circle can roll forward stably in the sand, which is suitable for stable movement in the sand.

[0011] Furthermore, the anti-skid control component includes a retractable electric telescopic rod, and each rolling disc is fixedly connected to two guide pillars on one side close to the casing, and each rolling disc is fixedly connected to one end of the retractable electric telescopic rod through a rod sleeve on one side. The power long axis, the retractable electric telescopic rod and the two guide pillars are arranged parallel to each other. A synchronous ring is provided on the inner side of each rolling ring, and the inner side of each synchronous ring is connected to two slip rings through two connecting rods. The two slip rings are slidably connected to the corresponding two guide pillars, and the end of each retractable electric telescopic rod away from the rod sleeve is connected to the corresponding synchronous ring through a support rod, and the synchronous ring is fixedly connected to the corresponding support. The cooperation of the guide column and the slip ring can allow the synchronizer ring to move axially along the power major axis. The electric telescopic rod can be extended by pushing the synchronizer ring closer to the casing through the support rod, and the synchronizer ring pushes each push-pull rod through the support to open multiple anti-slip rods. The electric telescopic rod can be shortened by pulling the synchronizer ring away from the casing through the support rod, and the synchronizer ring pulls each push-pull rod through the support to bring multiple anti-slip rods closer, thereby controlling the movement of each anti-slip rod relative to the rolling ring.

[0012] Furthermore, the tilting and propping up and getting out of trouble assembly includes a propping up electric telescopic rod, and the edge of one side of each rolling disc away from the housing is respectively connected to one side of the arc support cover through a hinge, and the inner side of the arc support cover is movably connected to one end of the propping up electric telescopic rod, and the side of the rolling disc away from the housing is movably connected to the other end of the propping up electric telescopic rod, and the rolling disc and the corresponding rolling ring form a hemispherical shell structure. When the robot tilts, the propping up electric telescopic rod close to the ground is extended, and the arc support cover close to the ground is movable relative to the rolling disc through the hinge, so that the robot can be propped up, which is conducive to relying on itself to stand up again. At the same time, when in trouble, the robot can also try to get out of trouble by extending the propping up electric telescopic rod.

[0013] Furthermore, the multifunctional traveling wheel mechanism further includes an arc rubber pad, an arc rubber pad is pasted on the arc surface of the anti-slip rod, a rolling ring rubber sleeve is sleeved on the outer side of the rolling ring, and a support cover rubber pad is pasted on the outer side of the arc support cover. The arc rubber pad and the rolling ring rubber sleeve have a buffering effect. The arrangement of the arc rubber pad and the rolling ring rubber sleeve can reduce the vibration when the rolling ring and the anti-slip rod contact the ground, and the rolling ring rubber sleeve can protect the arc support cover to prevent the side from being bumped during travel.

[0014] Furthermore, the retractable body stabilization mechanism includes a stabilizing wheel, a retractable seat is fixedly installed at the rear bottom center of the casing, a transverse rotating shaft 1 is rotatably connected in the retractable seat, the left end of the rotating shaft 1 is fixedly connected to the output shaft of the retractable motor, the middle part of the rotating shaft 1 is fixedly connected to one end of the retractable rod 1, the other end of the retractable rod 1 is movably connected to one end of the retractable rod 2 through a movable shaft 2, the other end of the retractable rod 2 is fixedly connected to a wheel frame, and a stabilizing wheel is rotatably installed in the wheel frame, a groove is provided on the lower side of the retractable rod 1, one end of the groove close to the retractable seat is movably connected to one end of the retractable electric telescopic rod through a movable shaft 1, the other end of the retractable electric telescopic rod is movably connected to an articulated seat 3 through a movable shaft 3, the articulated seat 3 is fixed to the side of the retractable rod 2, and the right end of the rotating shaft 1 is connected to a retractable position locking component.

[0015] The operation of the retractable and discharge motor can drive the rotating shaft 1 to rotate relative to the retractable and release seat, thereby driving the retractable and release rod 1 to move. The extension and shortening of the retractable and release electric telescopic rod can drive the retractable and release rod 2 to move relative to the retractable and release rod 1 through the movable shaft 2. The stabilizing wheels installed on the wheel frame are in contact with the ground. When the two multifunctional traveling wheel mechanisms roll on the ground, the stabilizing wheels roll stably on the ground to form a three-point support, allowing the robot to move stably. If a narrow passage is encountered, the retractable and release electric telescopic rod is shortened to allow the retractable and release rod 2 to approach the retractable and release rod 1, and then the operation of the retractable and discharge motor drives the retractable and release rod 1 to approach the casing, so that the entire retractable body stabilizing mechanism can be folded, and the two multifunctional traveling wheel mechanisms can be approached to each other. The entire retractable body stabilizing mechanism is located at two The robot is arranged between two multifunctional traveling wheel mechanisms. At this time, the robot forms a nearly spherical structure, which is easy to be put into a narrow channel through a small hole, and can also roll to the position that needs to be detected through an inclined narrow channel. Then the multifunctional traveling wheel mechanisms move away from each other to a certain extent, and the retractable body stabilizing mechanism extends from between the two multifunctional traveling wheel mechanisms, so that the stabilizing wheels in the retractable body stabilizing mechanism can re-contact the ground, and the robot can move to the detected position to complete the detection task. At this time, the setting of the support cover rubber pad and the rolling ring rubber sleeve can make the robot subject to less vibration and impact when rolling. The retractable position locking component can lock the rotating shaft after the retractable motor stops working, so as to avoid damage to the retractable motor due to excessive force on the retractable rod.

[0016] Furthermore, the retractable position locking assembly includes a locking electric telescopic rod, the right end of the rotating shaft is fixedly connected to a conical block, the rear side of the casing is located on the right side of the retractable seat and is fixedly connected to a seat plate, the seat plate is fixedly connected to the right end of the transverse locking electric telescopic rod, the left end of the locking electric telescopic rod is fixedly connected to a conical friction sleeve, the conical friction sleeve is located on the right side of the conical block, a transverse limit column is fixedly connected between the seat plate and the retractable seat, the side of the conical friction sleeve is fixedly connected to a limit sleeve, and the limit sleeve is slidably connected to the limit column.

[0017] The retracting and discharging motor drives the rotating shaft to rotate, so that the retracting and discharging rod is at a required angle. At this time, the retracting and discharging motor needs to be self-locking. When the retracting and discharging rod is subjected to too much force, the retracting and discharging motor is easily damaged. At this time, the locked electric telescopic rod is extended, and the conical friction sleeve can be pushed to be sleeved on the conical block. The friction force between the conical block and the conical friction sleeve prevents the rotating shaft from rotating, thereby completing the locking of the retracting and discharging rod at an angle. The setting of the limit column and the limit sliding sleeve limits the movable direction of the conical friction sleeve.

[0018] Furthermore, it also includes a detection mechanism, the detection mechanism includes a mounting box, the middle front side of the shell cover is connected to one end of the detection cantilever through a rotating component, the other end of the detection cantilever is installed with a mounting box, a detection camera and a three-dimensional scanner are respectively installed in the mounting box, and a lighting lamp is installed at the bottom of the mounting box. The rotating component is used to drive the detection cantilever to rotate, and can change the direction of the lighting lamp, the detection camera, and the three-dimensional scanner. The detection cantilever can change the position of the lighting lamp, the detection camera, and the three-dimensional scanner. The lighting lamp can illuminate the detected environment, which is beneficial to the work of the detection camera and the three-dimensional scanner. With the help of the detection camera and the three-dimensional scanner, the detection task can be completed, and the image and terrain information of the detection environment can be obtained. When it is necessary to turn into a spherical structure to roll into a narrow environment, the mounting box can be retracted between the two multifunctional traveling wheel mechanisms with the help of the detection cantilever.

[0019] Compared with the prior art, the beneficial effects of this narrow environment detection robot are:

[0020] 1. The power assembly can drive the power long shaft and the rotating sleeve to rotate, thereby driving the multifunctional traveling wheel mechanism to rotate. The friction between the multifunctional traveling wheel mechanism and the ground can drive the robot to move. The retractable body stabilizing mechanism is in contact with the ground, and forms a three-point support effect with the two multifunctional traveling wheel mechanisms, so that the housing can maintain a stable horizontal state when moving;

[0021] 2. The wheelbase control mechanism is used to drive the two power long shafts to move closer to or away from each other, thereby driving the two multifunctional traveling wheel mechanisms to move closer to or away from each other. When the two multifunctional traveling wheel mechanisms move away from each other, the main body of the robot forms a capsule-like shape, which is more stable when traveling and suitable for stable travel in wide places. When the two multifunctional traveling wheel mechanisms move closer to each other, the main body of the robot forms a spherical shape, with a smaller volume, which is suitable for detection in narrow environments;

[0022] 3. When the robot falls over, the electric telescopic rod near the ground is extended, and the arc support cover near the ground moves relative to the rolling disc through the hinge, so that the robot can be propped up and stand up again by itself. At the same time, when in trouble, the electric telescopic rod can be extended to try to escape;

[0023] 4. It can adjust its own width and form a capsule-like or spherical structure, which makes it easy to enter narrow environments. With the help of the multifunctional traveling wheel mechanism, it can move stably in narrow environments and avoid slipping. If it falls, it can stand up again on its own, which can meet the detection tasks in narrow environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the narrow environment detection robot of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the narrow environment detection robot of the present invention after removing the cover rubber pad and the rolling ring rubber sleeve;

[0026] Figure 3 This is a schematic diagram of the rear structure of the narrow environment detection robot of the present invention;

[0027] Figure 4 The local structure of the narrow environment detection robot of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 5 The narrow environment detection robot of the present invention Figure 4 A schematic diagram of the partially enlarged structure at center A;

[0029] Figure 6 The local structure of the narrow environment detection robot of the present invention is shown in FIG. Figure 2 ;

[0030] Figure 7 The narrow environment detection robot of the present invention Figure 6 A schematic diagram of the partially enlarged structure at B in the middle;

[0031] Figure 8 The local structure of the narrow environment detection robot of the present invention is shown in FIG. Figure 3 ;

[0032] Fig. 9 The narrow environment detection robot of the present invention Figure 8 A schematic diagram of the partially enlarged structure at C in the middle;

[0033] Fig.10 It is a schematic diagram of the partial cross-section structure of the narrow environment detection robot of the present invention;

[0034] Fig.11 It is a bottom-up structural schematic diagram of the retractable body stabilizing mechanism of the narrow environment detection robot of the present invention;

[0035] Fig.12 It is a structural schematic diagram of the detection mechanism of the narrow environment detection robot of the present invention;

[0036] In the figure: 1 detection body, 11 housing, 12 housing cover, 13 forward camera, 14 battery, 15 controller, 2 robot power mechanism, 21 power bearing, 22 rotating sleeve, 23 convex strip, 24 power long shaft, 25 transverse groove, 26 motor seat, 27 power motor, 28 power gear, 29 shaft gear, 210 conductive slip ring, 211 slip ring bracket, 3 wheel spacing control mechanism, 31 arch inner bracket, 32 control motor, 33 bidirectional screw, 34 control board, 35 Screw nut, 36 control bearing, 4 multifunctional travel wheel mechanism, 41 rolling disc, 42 rolling ring, 43 guide column, 44 slip ring, 45 connecting rod, 46 synchronous ring, 47 rod sleeve, 48 retractable electric telescopic rod, 49 support rod, 410 support, 411 support shaft, 412 push-pull rod, 413 rod shaft, 414 arc rod, 415 movable seat, 416 movable seat shaft, 417 anti-slip rod, 418 arc rubber pad, 419 hinge, 420 arc support cover, 421 hinge Seat 1, 422 supporting electric telescopic rod, 423 hinged seat 2, 424 supporting cover rubber pad, 425 rolling ring rubber sleeve, 426 end sleeve, 5 retractable body stabilizing mechanism, 51 retractable seat, 52 rotating shaft 1, 53 retractable motor, 54 retractable rod 1, 55 conical block, 56 seat plate, 57 locking electric telescopic rod, 58 conical friction sleeve, 59 limiting column, 510 limiting sliding sleeve, 511 movable shaft 1, 512 groove, 513 retractable electric telescopic rod, 514 movable Axis 2, 515 retractable rod 2, 516 articulated seat 3, 517 movable axis 3, 518 wheel frame, 519 stabilizing wheel, 6 detection mechanism, 61 bracket, 62 rotating motor, 63 rotating bearing, 64 rotating column, 65 fixed seat, 66 rotating axis 2, 67 swing motor 1, 68 rocker arm 1, 69 round seat, 610 rotating axis 3, 611 swing motor 2, 612 rocker arm 2, 613 installation box, 614 lighting lamp, 615 detection camera, 616 three-dimensional scanner. DETAILED DESCRIPTION

[0037] 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 described embodiments 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.

[0038] For example, see Figures 1 to 12 , this embodiment provides a technical solution: a narrow environment detection robot, including a detection body 1, the detection body 1 includes a shell 11 and a shell cover 12, the top opening of the shell 11 is installed with the shell cover 12 through four shell cover screws;

[0039] The detection body 1 also includes a forward camera 13, a battery 14, and a controller 15. The forward camera 13 is installed in the middle of the front side of the housing 11. When the housing 11 moves forward, the forward camera 13 provides a field of view in the direction of travel. The battery 14 and the controller 15 are installed in the housing 11 respectively.

[0040] It also includes a robot power mechanism 2, a multifunctional traveling wheel mechanism 4 and a retractable body stabilizing mechanism 5;

[0041] The robot power mechanism 2 includes a power bearing 21, a rotating sleeve 22, a convex strip 23, a power long shaft 24, a transverse groove 25 and a power assembly. The left and right sides of the housing 11 are rotatably connected to two transverse rotating sleeves 22 through two power bearings 21, respectively. A power long shaft 24 is inserted in each rotating sleeve 22, and a transverse groove 25 is provided on the side of the power long shaft 24. A convex strip 23 slidably connected to the transverse groove 25 is provided on the inner side of the rotating sleeve 22. One end of the two rotating sleeves 22 located in the housing 11 is connected to two power assemblies respectively, and one end of the two power long shafts 24 located in the housing 11 is connected to the wheelbase control mechanism 3;

[0042] The power assembly includes a motor seat 26, a power motor 27, a power gear 28, and a shaft gear 29. One end of each rotating sleeve 22 located in the casing 11 is fixedly connected to the shaft gear 29. Two power motors 27 are installed on the left and right sides of the casing 11 through two motor seats 26. The output shaft of each power motor 27 is fixedly connected to the power gear 28. The power gear 28 is meshed with the corresponding shaft gear 29. When the power motor 27 works, the rotating sleeve 22 and the power long shaft 24 are driven to rotate through the transmission of the power gear 28 and the shaft gear 29. The turning of the robot can be achieved by controlling the differential speed of the two power motors 27.

[0043] The wheelbase control mechanism 3 includes an arched inner bracket 31, a control board 34, a control bearing 36 and a synchronous push-pull control component. The arched inner bracket 31 is installed on the rear side of the casing 11. Two control boards 34 are connected to the arched inner bracket 31 through a synchronous push-pull control component. One end of the two power long shafts 24 located in the casing 11 is rotatably connected to the two control boards 34 through two control bearings 36.

[0044] The synchronous push-pull control component includes a control motor 32, a bidirectional lead screw 33, and a lead screw nut 35. A horizontal bidirectional lead screw 33 is rotatably connected in the arch inner bracket 31. The thread directions at both ends of the bidirectional lead screw 33 are opposite, and two control boards 34 are respectively fixedly connected with two lead screw nuts 35. The two lead screw nuts 35 are respectively connected to the two ends of the bidirectional lead screw 33. One end of the bidirectional lead screw 33 is fixedly connected to the output shaft of the control motor 32. The control motor 32 is installed at the end of the arch inner bracket 31. The control motor 32 drives the bidirectional lead screw 33 to rotate clockwise when it works. Since the two ends of the bidirectional lead screw 33 are in opposite directions, the thread action of the two ends of the bidirectional lead screw 33 and the two lead screw nuts 35 can drive the two control boards 34 to approach each other. The control motor 32 drives the bidirectional lead screw 33 to rotate counterclockwise when it works, and the thread action of the two ends of the bidirectional lead screw 33 and the two lead screw nuts 35 can drive the two control boards 34 to move away from each other.

[0045] The arched inner bracket 31 is used to install a synchronous push-pull control component, which is used to drive the two control plates 34 to move closer to or away from each other synchronously. The two control plates 34 drive the two power shafts 24 to move closer to or away from each other through the control bearings 36 respectively. The setting of the control bearings 36 ensures that the rotation of the power shaft 24 is not interfered with by the control plates 34.

[0046] The multifunctional traveling wheel mechanism 4 is installed at one end of the two power long shafts 24 outside the casing 11;

[0047] The multifunctional traveling wheel mechanism 4 includes a rolling disc 41, a rolling ring 42, an end sleeve 426, a movable anti-skid component, an anti-skid control component and a tipping, propping and getting out of trouble component. The end of each power long shaft 24 located outside the casing 11 is fixedly sleeved with an end sleeve 426, and each end sleeve 426 is fixedly connected to the middle part of the rolling disc 41. The edge of one side of each rolling disc 41 close to the casing 11 is fixedly connected with a rolling ring 42. A plurality of movable anti-skid components are installed in a circular array on the side of each rolling ring 42 close to the casing 11. An anti-skid control component is installed on the side of each rolling disc 41 close to the casing 11. The anti-skid control component is connected to the corresponding movable anti-skid component, and a tipping, propping and getting out of trouble component is installed on the side of each rolling disc 41 away from the casing 11. The end sleeve 426 is used to connect the power long shaft 24 and the rolling disc 41. The rolling disc 41 and the rolling ring 42 constitute the traveling wheel. The anti-skid control component is used to control the movement of the movable anti-skid component relative to the rolling ring 42, and can control the contact between the movable anti-skid component and the ground. When the rolling ring 42 is idling and loses its grip, the anti-skid control component can make the movable anti-skid component contact with the ground, and the anti-skid effect of the rolling ring 42 can be achieved. When the two multifunctional traveling wheel mechanisms 4 are close to each other so that the main body of the robot forms a spherical shape, the robot is easy to tip over because the two rolling rings 42 are close to each other and the robot itself is small, but the wheelbase of the left and right traveling wheels is also reduced. At this time, with the help of the tipping propping up and getting out of trouble component, the robot can prop itself up and stand up again, which is conducive to getting out of trouble.

[0048] The movable anti-slip assembly includes a support 410, a support shaft 411, a push-pull rod 412, a rod shaft 413, an arc rod 414, a movable seat 415, a movable seat shaft 416 and an anti-slip rod 417. A plurality of movable seats 415 are installed in a circular array on the side of each rolling ring 42 close to the casing 11. Each movable seat 415 is movably connected to the anti-slip rod 417 through a movable seat shaft 416. An arc surface is provided on the side of each anti-slip rod 417 away from the center of the rolling ring 42, and one end of the arc rod 414 is fixedly connected to the side of each anti-slip rod 417 close to the center of the rolling ring 42. The other end of each arc rod 414 is movably connected to one end of the push-pull rod 412 through the rod shaft 413, and the other end of each push-pull rod 412 is movably connected to the support 410 through the support shaft 411. The push-pull rod 412 can be pushed and pulled through the support 410 and the support shaft 411, and the push-pull rod 412 can push and pull the arc rod 414 through the rod shaft 413. With the help of the arc rod 414, the anti-slip rod 417 can be moved relative to the movable seat 415 with the help of the movable seat shaft 416, and the angle of the anti-slip rod 417 relative to the center of the rolling ring 42 can be changed. In order to make the contact area between the rolling ring 42 and the ground larger and make the robot more stable when moving, the anti-slip rod 417 can be kept in a horizontal state, that is, all the anti-slip rods 417 are parallel to the power long axis 24. At this time, as the rolling ring 42 rotates, the anti-slip rod 417 located at the bottom of the rolling ring 42 can contact the ground, and the arc surface on the anti-slip rod 417 can make the anti-slip The rod 417 contacts the ground more stably, and the rolling of multiple anti-skid rods 417 on the ground can also prevent skidding. If not needed, the anti-skid rod 417 can be retracted, and multiple anti-skid rods 417 are close to each other so that the anti-skid rod 417 cannot contact the ground. At this time, the contact area between the rolling circle 42 and the ground is reduced, and there is less interference during movement, which is suitable for flat roads. If sand is encountered, the rolling circle 42 is prone to idling and movement is difficult. At this time, multiple anti-skid rods 417 can be opened until the anti-skid rods 417 are distributed radially along the power major axis 24. At this time, when the rolling circle 42 rotates, the anti-skid rod 417 at the bottom of the rolling circle 42 is inserted into the sand, so that the rolling circle 42 can roll forward stably in the sand, which is suitable for stable movement in the sand.

[0049] There are at least 20 movable seats 415 on each rolling ring 42 , and the specific number can be changed and adjusted according to actual conditions.

[0050] The anti-skid control assembly includes guide columns 43, slip rings 44, connecting rods 45, synchronizer rings 46, rod sleeves 47, retractable electric telescopic rods 48 and support rods 49. The side of each rolling disc 41 close to the housing 11 is fixedly connected to two guide columns 43, and the side of each rolling disc 41 close to the housing 11 is fixedly connected to one end of the retractable electric telescopic rod 48 through the rod sleeves 47. The power shaft 24, the retractable electric telescopic rod 48 and the two guide columns 43 are arranged parallel to each other. A synchronizer ring 46 is provided on the inner side of each rolling ring 42. The inner side of each synchronizer ring 46 is connected to two slip rings 44 through two connecting rods 45. The two slip rings 44 are slidably connected to the corresponding two guide columns 43 respectively. The end of each retractable electric telescopic rod 48 away from the rod sleeve 47 is connected to the corresponding synchronizer ring 46 through the support rod 49. The synchronizer ring 46 is fixedly connected to the corresponding support 410. The cooperation between the guide column 43 and the slip ring 44 can allow the synchronizer ring 46 to move along the axial direction of the power major axis 24. The electric telescopic rod 48 can be extended by pushing the synchronizer ring 46 close to the housing 11 through the support rod 49. The synchronizer ring 46 pushes each push-pull rod 412 through the support 410 to open the multiple anti-slip rods 417. The electric telescopic rod 48 can be shortened by pulling the synchronizer ring 46 away from the housing 11 through the support rod 49. The synchronizer ring 46 pulls each push-pull rod 412 through the support 410 to bring the multiple anti-slip rods 417 closer together, thereby controlling the movement of each anti-slip rod 417 relative to the rolling ring 42.

[0051] The tilting and propping up escape assembly includes a hinge 419, an arc support cover 420 and a propping up electric telescopic rod 422. The edge of each rolling disc 41 away from the housing 11 is movably connected to one side of the arc support cover 420 through the hinge 419. The inner side of the arc support cover 420 is movably connected to one end of the propping up electric telescopic rod 422. The side of the rolling disc 41 away from the housing 11 is movably connected to the other end of the propping up electric telescopic rod 422. The propping up electric telescopic rod 422 is shortened, and the edge of the arc support cover 420 is close to the edge of the rolling disc 41. At this time, the rolling disc 41 and the corresponding rolling ring 42 form a hemispherical shell structure. When the robot tilts, the propping up electric telescopic rod 422 close to the ground is extended, and the arc support cover 420 close to the ground is movable relative to the rolling disc 41 through the hinge 419, so that the robot can be propped up, which is conducive to relying on itself to stand up again. At the same time, when in trouble, the extension of the propping up electric telescopic rod 422 can be used to try to escape.

[0052] Specifically, the tilting and propping up escape assembly also includes an articulated seat 421 and an articulated seat 423. The inner side of the arc support cover 420 is fixedly connected with the articulated seat 423. The articulated seat 423 is movably connected to support one end of the electric telescopic rod 422 through a pin shaft. The side of the rolling disc 41 away from the casing 11 is fixedly connected with the articulated seat 421. The articulated seat 421 is movably connected to support the other end of the electric telescopic rod 422 through a pin shaft.

[0053] The multifunctional traveling wheel mechanism 4 further includes an arc rubber pad 418, a support cover rubber pad 424 and a rolling ring rubber sleeve 425. The arc rubber pad 418 is pasted on the arc surface of the anti-slip rod 417, the outer side of the rolling ring 42 is sleeved with a rolling ring rubber sleeve 425, and the outer side of the arc support cover 420 is pasted with a support cover rubber pad 424. The arc rubber pad 418 and the rolling ring rubber sleeve 425 have a buffering effect. The arrangement of the arc rubber pad 418 and the rolling ring rubber sleeve 425 can reduce the vibration of the rolling ring 42 and the anti-slip rod 417 when they contact the ground. The rolling ring rubber sleeve 425 can protect the arc support cover 420 to prevent the side from being bumped during travel.

[0054] Since the operation of supporting the electric telescopic rod 422 and retracting the electric telescopic rod 48 requires electricity, if the two are directly connected with wires, the wires will be entangled and disconnected as the multifunctional traveling wheel mechanism 4 rotates. Therefore, the robot power mechanism 2 also includes a conductive slip ring 210 and a slip ring bracket 211. A conductive slip ring 210 is installed at one end of each power long shaft 24 located in the casing 11, and a slip ring bracket 211 is installed on the conductive slip ring 210. The slip ring bracket 211 is installed on the corresponding control board 34 through a bracket screw. A threading hole is opened in the middle of the power long shaft 24, and a wire is inserted in the threading hole. One end of the wire is connected to the supporting electric telescopic rod 422 and the retracting electric telescopic rod 48, and the other end of the wire is connected to the conductive slip ring 210. The conductive slip ring 210 is also electrically connected to the controller 15 and the battery 14 through a power line. The conductive slip ring 210 is used to prevent the wire from being twisted during rotation. The specific wiring and power supply for supporting the electric telescopic rod 422 and retracting the electric telescopic rod 48 can adopt the existing technology.

[0055] The retractable body stabilizing mechanism 5 is installed at the rear bottom center of the housing 11 .

[0056] When in use, the convex strip 23 and the transverse groove 25 cooperate to allow the power long shaft 24 to move left and right along the rotating sleeve 22. The setting of the power bearing 21 can allow the power long shaft 24 and the rotating sleeve 22 to rotate relative to the casing 11. The power component can drive the power long shaft 24 and the rotating sleeve 22 to rotate, thereby driving the multifunctional traveling wheel mechanism 4 to rotate. The friction between the multifunctional traveling wheel mechanism 4 and the ground can drive the robot to move. The retractable body stabilizing mechanism 5 is in contact with the ground, and forms a three-point support effect with the two multifunctional traveling wheel mechanisms 4, so that the casing 11 maintains a stable horizontal state when moving. The wheelbase control mechanism 3 is used to drive the two power long shafts 24 to move closer to or away from each other, thereby driving the two multifunctional traveling wheel mechanisms 4 to move closer to or away from each other. When the two multifunctional traveling wheel mechanisms 4 move away from each other, the main body of the robot forms a capsule-like shape, which is more stable when moving and is suitable for stable movement in a wide place. When the two multifunctional traveling wheel mechanisms 4 move closer to each other, the main body of the robot forms a spherical shape, and the volume becomes smaller, which is suitable for detection in a narrow environment.

[0057] For example 2, please refer to Figures 1 to 12 ,This embodiment provides a technical solution: a narrow environment detection robot, this embodiment is a further explanation of the structure of embodiment one;

[0058] The retractable body stabilizing mechanism 5 comprises a retractable seat 51, a rotating shaft 1 52, a retractable motor 53, a retractable rod 1 54, a movable shaft 1 511, a groove 512, a retractable electric telescopic rod 513, a movable shaft 2 514, a retractable rod 2 515, a hinge seat 3 516, a movable shaft 3 517, a wheel frame 518, a stabilizing wheel 519 and a retractable position locking component. The retractable seat 51 is fixedly installed at the center of the bottom rear side of the housing 11, and a horizontal rotating shaft 1 52 is rotatably connected in the retractable seat 51. The left end of the rotating shaft 1 52 is fixedly connected to the output shaft of the retractable motor 53. The retractable motor 53 is installed on the side of the retractable seat 51, and the middle part of the rotating shaft 1 52 is fixedly connected to the retractable rod. The retractable rod 511 is provided with a groove 512 at the lower side of the retractable rod 54, and the other end of the retractable rod 54 is movably connected to one end of the retractable rod 2 515 through a movable shaft 2 514. The other end of the retractable rod 2 515 is fixedly connected to a wheel frame 518. A stabilizing wheel 519 is rotatably installed in the wheel frame 518. The retractable rod 54 is provided with a groove 512 at the lower side. The end of the groove 512 close to the retractable seat 51 is movably connected to one end of the retractable electric telescopic rod 513 through a movable shaft 1 511. The other end of the retractable electric telescopic rod 513 is movably connected to an articulated seat 3 516 through a movable shaft 3 517. The articulated seat 3 516 is fixed to the side of the retractable rod 2 515. The right end of the rotating shaft 1 52 is connected to a retractable position locking component. The operation of the retractable and discharge motor 53 can drive the rotating shaft 1 52 to rotate relative to the retractable and release seat 51, thereby driving the retractable and release rod 1 54 to move. The extension and shortening of the retractable and release electric telescopic rod 513 can drive the retractable and release rod 2 515 to move relative to the retractable and release rod 1 54 through the movable shaft 2 514. The stabilizing wheel 519 installed on the wheel frame 518 is in contact with the ground. When the two multifunctional traveling wheel mechanisms 4 roll on the ground, the stabilizing wheel 519 rolls stably on the ground to form a three-point support, allowing the robot to move stably. If a narrow passage is encountered, the retractable and release electric telescopic rod 513 is shortened to allow the retractable and release rod 2 515 to approach the retractable and release rod 1 54. Then the retractable and discharge motor 53 works to drive the retractable and release rod 1 54 to approach the casing 11, so that the entire retractable body stabilizing mechanism 5 can be folded, and the two multifunctional traveling wheel mechanisms 4 can be brought close to each other. The retractable body stabilizing mechanism 5 is located between the two multifunctional traveling wheel mechanisms 4. At this time, the robot forms a nearly spherical structure, which is easy to be placed in a narrow channel through a small hole, and can also be rolled to the position to be detected through an inclined narrow channel. Then the multifunctional traveling wheel mechanisms 4 move away from each other to a certain extent, and the retractable body stabilizing mechanism 5 extends from between the two multifunctional traveling wheel mechanisms 4, so that the stabilizing wheel 519 in the retractable body stabilizing mechanism 5 re-contacts the ground, and can move to the detected position to complete the detection task. At this time, the setting of the support cover rubber pad 424 and the rolling ring rubber sleeve 425 can make the robot subject to less vibration and impact when rolling, and the retractable position locking component can lock the rotating shaft 52 after the retractable motor 53 stops working, so as to avoid the retractable rod 54 from being subjected to excessive force and damaging the retractable motor 53.

[0059] The retractable position locking assembly includes a conical block 55, a seat plate 56, a locking electric telescopic rod 57, a conical friction sleeve 58, a limiting column 59 and a limiting sleeve 510. The right end of the rotating shaft 52 is fixedly connected with the conical block 55. The rear side of the casing 11 is fixedly connected with a seat plate 56 at a position located on the right side of the retractable seat 51. The seat plate 56 is fixedly connected to the right end of the transverse locking electric telescopic rod 57. The left end of the locking electric telescopic rod 57 is fixedly connected with a conical friction sleeve 58. The conical friction sleeve 58 is located on the right side of the conical block 55. A transverse limiting column 59 is fixedly connected between the seat plate 56 and the retractable seat 51. The side of the conical friction sleeve 58 is fixedly connected with a limiting sleeve 510. The limiting sleeve 510 is slidably connected with the limiting column 59. The diameter of the right end of the conical block 55 is smaller than that of the left end. The diameter of the right end of the conical friction sleeve 58 is smaller than that of the left end. Friction patterns are arranged on the outer peripheral side of the conical block 55.

[0060] The retracting and discharging motor 53 drives the rotating shaft 52 to rotate, so that the retracting and discharging rod 54 is at a required angle. At this time, the retracting and discharging motor 53 needs to be self-locked. When the retracting and discharging rod 54 is subjected to too much force, the retracting and discharging motor 53 is easily damaged. At this time, the locking electric telescopic rod 57 is extended, and the conical friction sleeve 58 can be pushed to be sleeved on the conical block 55. The friction force between the conical block 55 and the conical friction sleeve 58 prevents the rotating shaft 52 from rotating, thereby completing the locking of the angle of the retracting and discharging rod 54. The setting of the limit column 59 and the limit sliding sleeve 510 limits the movable direction of the conical friction sleeve 58.

[0061] For example 3, please refer to Figures 1 to 12 This embodiment provides a technical solution: a narrow environment detection robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0062] It also includes a detection mechanism 6, which includes a rotating component, a detection cantilever, a mounting box 613, an illumination lamp 614, a detection camera 615, and a three-dimensional scanner 616. The middle front side of the shell cover 12 is connected to one end of the detection cantilever through the rotating component, and the other end of the detection cantilever is installed with a mounting box 613. The detection camera 615 and the three-dimensional scanner 616 are respectively installed in the mounting box 613, and an illumination lamp 614 is installed at the bottom of the mounting box 613.

[0063] The rotating assembly includes a bracket 61, a rotating motor 62, a rotating bearing 63 and a rotating column 64. A circular hole is opened on the front side of the middle part of the shell cover 12. The rotating column 64 is rotatably connected to the circular hole through the rotating bearing 63. The bottom end of the rotating column 64 is fixedly connected to the output shaft of the rotating motor 62. The rotating motor 62 is installed on the lower side of the shell cover 12 through the bracket 61 and the bracket screws. The rotating motor 62 can drive the rotating column 64 to rotate when it is working, thereby driving the detection cantilever to rotate.

[0064] The detection cantilever comprises a fixed seat 65, a second rotating shaft 66, a swing motor 1 67, a swing rod 1 68, a round seat 69, a third rotating shaft 610, a second swing motor 611 and a second swing rod 612. The top of the rotating column 64 is fixedly connected to the fixed seat 65, the second rotating shaft 66 is rotatably connected in the fixed seat 65, the end of the second rotating shaft 66 is fixedly connected to the output shaft of the swing motor 1 67, the swing motor 1 67 is installed on the side of the fixed seat 65, the middle part of the second rotating shaft 66 is fixedly connected to one end of the swing rod 1 68, the other end of the swing rod 1 68 is fixedly connected to the round seat 69, the third rotating shaft 610 is rotatably connected to the round seat 69, and one end of the third rotating shaft 610 is fixedly connected to the output shaft of the swing motor 1 67. The output shaft of the second swing motor 611 is fixedly connected, and the second swing motor 611 is installed on the side of the round seat 69. The other end of the rotating shaft 3 610 is fixedly connected to one end of the second swing rod 612, and the other end of the second swing rod 612 is fixedly connected to the installation box 613. The swing motor 1 67 drives the rotating shaft 2 66 to rotate relative to the fixed seat 65, thereby driving the swing rod 1 68 to swing relative to the fixed seat 65. The swing motor 2 611 drives the rotating shaft 3 610 to rotate relative to the round seat 69, thereby driving the swing rod 2 612 to swing relative to the round seat 69. The position of the installation box 613 can be changed with the help of the swing motor 1 67 and the swing motor 2 611.

[0065] The rotating component is used to drive the detection cantilever to rotate, which can change the direction of the lighting lamp 614, the detection camera 615, and the three-dimensional scanner 616. The detection cantilever can change the position of the lighting lamp 614, the detection camera 615, and the three-dimensional scanner 616. The lighting lamp 614 can illuminate the detection environment, which is beneficial to the work of the detection camera 615 and the three-dimensional scanner 616. With the help of the detection camera 615 and the three-dimensional scanner 616, the detection task can be completed, and the image and terrain information of the detection environment can be obtained. When it is necessary to turn it into a spherical structure and roll it into a narrow environment, the installation box 613 can be retracted between the two multifunctional traveling wheel mechanisms 4 with the help of the detection cantilever.

[0066] It is worth noting that the forward camera 13, power motor 27, control motor 32, retractable electric telescopic rod 48, propping up electric telescopic rod 422, retractable electric telescopic rod 513, retractable discharge motor 53, locking electric telescopic rod 57, lighting lamp 614, detection camera 615, three-dimensional scanner 616, swing motor 1 67, and swing motor 2 611 disclosed in the above embodiments are all controlled by the controller 15, and the control method thereof adopts the method commonly used in the prior art, wherein the control motor 32, retractable discharge motor 53, swing motor 1 67, and swing motor 2 611 all adopt servo motors with self-locking function, and the controller 15 can be controlled by the prior art of wireless communication equipment or wired connection, so as to control the operation of each electrical component.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. 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 these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A narrow environment detection robot, comprising a detection body (1), wherein the detection body (1) comprises a housing (11) and a housing cover (12), wherein the housing (11) is provided with a housing cover (12) at the top opening, wherein: Also includes: The robot power mechanism (2) comprises a power bearing (21), a rotating sleeve (22), a convex strip (23), a power long shaft (24), a transverse groove (25) and a power assembly. The left and right sides of the housing (11) are rotatably connected to two transverse rotating sleeves (22) through two power bearings (21), and each rotating sleeve (22) is respectively provided with a power long shaft (24). The side of the power long shaft (24) is provided with a transverse groove (25). The inner side of the rotating sleeve (22) is provided with a convex strip (23) slidably connected to the transverse groove (25). One end of the two rotating sleeves (22) located in the housing (11) is respectively connected to two power assemblies, and one end of the two power long shafts (24) located in the housing (11) is connected to the wheelbase control mechanism (3). A multifunctional traveling wheel mechanism (4) is mounted on one end of the two power long shafts (24) located outside the casing (11); The retractable machine body stabilizing mechanism (5) is installed at the center of the rear bottom of the casing (11).

2. The narrow environment detection robot according to claim 1, characterized in that: The wheelbase control mechanism (3) comprises an arched inner bracket (31) and a synchronous push-pull control component. The arched inner bracket (31) is installed at the rear side of the housing (11). Two control boards (34) are connected to the arched inner bracket (31) via the synchronous push-pull control component. One end of two power long shafts (24) located in the housing (11) is rotatably connected to the two control boards (34) via two control bearings (36).

3. The narrow environment detection robot according to claim 1, characterized in that: The multifunctional traveling wheel mechanism (4) comprises a rolling disc (41), one end of each power long shaft (24) located outside the casing (11) is respectively fixedly sleeved with an end sleeve (426), each end sleeve (426) is respectively fixedly connected to the middle part of the rolling disc (41), one edge of each rolling disc (41) close to the casing (11) is respectively fixedly connected to a rolling ring (42), a side of each rolling ring (42) close to the casing (11) is respectively provided with a plurality of movable anti-skid components in a circular array, a side of each rolling disc (41) close to the casing (11) is respectively provided with an anti-skid control component, the anti-skid control component is connected to the corresponding movable anti-skid component, and a side of each rolling disc (41) away from the casing (11) is respectively provided with a tilting, propping up and getting out of trouble component.

4. The narrow environment detection robot according to claim 3, characterized in that: The movable anti-skid assembly comprises a support (410), a support shaft (411), a push-pull rod (412), a rod shaft (413), an arc rod (414), a movable seat (415), a movable seat shaft (416) and an anti-skid rod (417). A plurality of movable seats (415) are respectively installed in a circular array on one side of each rolling ring (42) close to the housing (11). Each movable seat (415) is movably connected to the anti-skid rod (417) via the movable seat shaft (416). 7), a side of each anti-slip rod (417) away from the center of the rolling ring (42) is respectively provided with an arc surface, and a side of each anti-slip rod (417) close to the center of the rolling ring (42) is respectively fixedly connected to one end of the arc rod (414), the other end of each arc rod (414) is respectively movably connected to one end of the push-pull rod (412) through a rod shaft (413), and the other end of each push-pull rod (412) is respectively movably connected to a support (410) through a support shaft (411).

5. The narrow environment detection robot according to claim 4, characterized in that: The anti-skid control component comprises a retractable electric telescopic rod (48), one side of each rolling disc (41) close to the housing (11) is fixedly connected to two guide pillars (43), one side of each rolling disc (41) close to the housing (11) is fixedly connected to one end of the retractable electric telescopic rod (48) through a rod sleeve (47), the power long shaft (24), the retractable electric telescopic rod (48) and the two guide pillars (43) are arranged parallel to each other, a synchronous ring (46) is provided on the inner side of each rolling ring (42), the inner side of each synchronous ring (46) is connected to two slip rings (44) through two connecting rods (45), the two slip rings (44) are slidably connected to the corresponding two guide pillars (43), one end of each retractable electric telescopic rod (48) away from the rod sleeve (47) is connected to the corresponding synchronous ring (46) through a support rod (49), and the synchronous ring (46) is fixedly connected to the corresponding support (410).

6. The narrow environment detection robot according to claim 5, characterized in that: The tilting and propping up and getting out of trouble assembly comprises a propping up electric telescopic rod (422), and the edge of one side of each rolling disc (41) away from the housing (11) is movably connected to one side of the arc support cover (420) through a hinge (419), and the inner side of the arc support cover (420) is movably connected to one end of the propping up electric telescopic rod (422), and the side of the rolling disc (41) away from the housing (11) is movably connected to the other end of the propping up electric telescopic rod (422), and the rolling disc (41) and the corresponding rolling ring (42) form a hemispherical shell structure.

7. The narrow environment detection robot according to claim 6, characterized in that: The multifunctional traveling wheel mechanism (4) further comprises an arc rubber pad (418), the arc rubber pad (418) is adhered to the arc surface of the anti-slip rod (417), a rolling ring rubber sleeve (425) is sleeved on the outer side of the rolling ring (42), and a support cover rubber pad (424) is adhered to the outer side of the arc support cover (420).

8. The narrow environment detection robot according to claim 1, characterized in that: The retractable machine body stabilizing mechanism (5) comprises a stabilizing wheel (519), a retractable seat (51) is fixedly installed at the center of the rear bottom of the housing (11), a horizontal rotating shaft (52) is rotatably connected inside the retractable seat (51), the left end of the rotating shaft (52) is fixedly connected to the output shaft of the retractable motor (53), the middle part of the rotating shaft (52) is fixedly connected to one end of a retractable rod (54), the other end of the retractable rod (54) is movably connected to one end of a retractable rod (515) via a movable shaft (514), and the other end of the retractable rod (515) is fixedly connected to the wheel. A frame (518) is provided, a stabilizing wheel (519) is rotatably installed in the wheel frame (518), a groove (512) is provided on the lower side of the retractable rod one (54), one end of the groove (512) close to the retractable seat (51) is movably connected to one end of the retractable electric telescopic rod (513) through a movable shaft one (511), the other end of the retractable electric telescopic rod (513) is movably connected to an articulated seat three (516) through a movable shaft three (517), the articulated seat three (516) is fixed to the side of the retractable rod two (515), and the right end of the rotating shaft one (52) is connected to a retractable position locking component.

9. The narrow environment detection robot according to claim 8, characterized in that: The retractable position locking assembly comprises a locking electric telescopic rod (57), the right end of the rotating shaft (52) is fixedly connected to a conical block (55), the rear side of the housing (11) is fixedly connected to a seat plate (56) at a position located on the right side of the retractable seat (51), the seat plate (56) is fixedly connected to the right end of the transverse locking electric telescopic rod (57), the left end of the locking electric telescopic rod (57) is fixedly connected to a conical friction sleeve (58), the conical friction sleeve (58) is located on the right side of the conical block (55), a transverse limiting column (59) is fixedly connected between the seat plate (56) and the retractable seat (51), the side of the conical friction sleeve (58) is fixedly connected to a limiting sliding sleeve (510), and the limiting sliding sleeve (510) is slidably connected to the limiting column (59).

10. The narrow environment detection robot according to claim 1, characterized in that: The invention also comprises a detection mechanism (6), wherein the detection mechanism (6) comprises a mounting box (613), wherein the front side of the middle part of the shell cover (12) is connected to one end of a detection cantilever through a rotating assembly, and the other end of the detection cantilever is installed with a mounting box (613), wherein a detection camera (615) and a three-dimensional scanner (616) are respectively installed in the mounting box (613), and an illumination lamp (614) is installed at the bottom of the mounting box (613).

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