A security patrol robot capable of adapting to multiple terrains

Abstract

The present invention discloses a multi-terrain adaptive security patrol robot, which relates to the technical field of patrol robots. Due to the complex road conditions of the inspection route, when encountering obstacles, the robot cannot climb over the obstacles due to the limited driving force, which affects the patrol. The multi-terrain adaptive security patrol robot is adapted to the inclined sliding of the inclined surface block and the inclined pad. When encountering obstacles, the inclined pad compression spring is used to reduce the bumps to ensure the stability of the inspection screen. At the same time, when sliding, the driven wheel moves obliquely upward to assist the rotation of the driving wheel, so that the robot can better climb over obstacles, avoiding the robot's movement being affected by obstacles when inspecting routes with many obstacles.

Description

Technical Field

[0001] The invention relates to the technical field of patrol robots, in particular to a security patrol robot capable of adapting to multiple terrains. Background Art

[0002] At present, security patrol robots are intelligent robots that can assist humans in completing security patrol tasks. They can follow preset routes or autonomously plan patrol routes according to the environment to achieve 24-hour uninterrupted patrols. For example, in large parks, they can automatically shuttle between various areas without real-time manual control. During the patrol process, the camera records video and transmits images and data to the control center or mobile terminal in real time, which is convenient for security personnel to check the on-site situation at any time and realize remote monitoring and command. They can patrol for a long time and uninterruptedly without being affected by factors such as fatigue and emotions, which greatly improves the frequency and coverage of patrols and effectively makes up for the shortcomings of manual patrols.

[0003] During the robot patrol process, due to the complex road conditions of the inspection route, when encountering obstacles, the robot is unable to climb over the obstacles due to limited driving force, affecting the patrol. Summary of the invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-terrain adaptive security patrol robot, comprising:

[0005] A frame, a driving mechanism is installed at the bottom of the frame, and a camera is installed at the top of the frame;

[0006] A shock absorbing mechanism, which is used to assist the driving mechanism in moving the robot, and the shock absorbing mechanism is installed at the bottom of the driving mechanism;

[0007] An anti-collision mechanism, which is used to buffer pressure during collision, and is installed on the outside of the frame;

[0008] The shock absorbing mechanism comprises an inclined plane block, the top of the inclined plane block is fixedly connected to the bottom of the driving mechanism, and the bottom of the inclined plane block is an inclined plane inclined from top to bottom toward one side of the anti-collision mechanism, a rod groove is provided on the outer side of the inclined plane block, and a sliding rod is slidably installed at the rod groove of the inclined plane block, and a rotating slot block is rotatably installed at both ends of the sliding rod through a bearing, and an inclined pad is fixedly installed between the rotating slot blocks, and the top of the inclined pad is an inclined plane and is adapted to the inclined plane of the inclined plane block, and the inclined plane of the inclined pad is slidably adapted to the inclined plane of the inclined plane block, and when encountering an obstacle, the inclined pad is compressed The spring is used to reduce the shock of the bumps to ensure the stability of the inspection screen. At the same time, when sliding, the driven wheel moves obliquely upward to assist the rotation of the driving wheel, so that the robot can better climb over obstacles and avoid being blocked by obstacles when inspecting routes with many obstacles. A hole plate is fixedly installed on the bottom of the inclined block away from the anti-collision mechanism, and the side of the inclined pad close to the hole plate is slidably connected to the inner wall of the hole plate through a rod, and a spring is installed between the inclined pad and the hole plate, and a shaft sleeve frame is fixedly installed on the bottom of the rotating groove block, and a connecting shaft is rotatably installed on the inner wall of the shaft sleeve frame, and both ends of the connecting shaft are flange-connected with driven wheels, and the driven wheels are located on both sides of the shaft sleeve frame.

[0009] Preferably, the frame includes a fuselage, a raised frame is fixedly installed on the top of the fuselage, the camera is installed on the inner wall of the raised frame, and a waterproof cover is fixedly installed on the outer side of the raised frame close to the anti-collision mechanism, connecting blocks are fixedly installed on both sides of the fuselage, and side baffles are fixedly connected on both sides of the fuselage through connecting blocks, both ends of the side baffles are inclined inwardly, and inclined panels are fixedly installed on the bottom of the outer sides of the side baffles, and the bottom ends of the inclined panels are inclined inwardly, so that when patrolling on rainy days, when encountering passing vehicles and splashing rainwater, the rainwater is blocked to prevent a large amount of rainwater from splashing on the inner side of the robot from the oblique downward direction, causing internal electronic components to be damaged by contact with rainwater, causing a short circuit in the robot, and the bottom end of the inclined panel is inclined inwardly from top to bottom.

[0010] Preferably, the anti-collision mechanism includes a slide plate, both ends of the slide plate close to one side of the fuselage are fixedly installed with fixed blocks, the slide plate is fixedly connected to the fuselage through the fixed blocks, a slide groove is provided at the center position of the outer side of the slide plate, and the two ends of the slide plate are inclined toward one side of the fuselage, a slide plate is slidably installed at the slide groove of the slide plate, a cover plate is fixedly installed at the center position of the slide plate close to one side of the fuselage, an elastic pad is fixedly installed between the cover plate and the slide plate, and the elastic pad cooperates with the arc panel, so that when hit by an obstacle, the arc panel contacts the obstacle and the slide plate is used. The pressure is transferred to the elastic pad, so that the elastic pad deforms and buffers under pressure, thereby reducing the vibration of the robot during patrol shooting and improving the stability of the patrol picture. The side of the skateboard away from the cover plate is fixedly installed with an arc panel, and both ends of the arc panel are rotatably installed with wheels through an axle rod. The wheels cooperate with the elastic pad, and in the event of an oblique lateral impact, the impact direction is changed and the impact pressure is reduced through the rotation after the wheels contact the obstacle. The bottom of the slide plate is fixedly installed with an axis plate, and side wheels are rotatably installed on both sides of the axis plate through a rotating shaft, and the position of the side wheels is higher than the driven wheel.

[0011] Preferably, the driving mechanism includes a top plate, the top of the top plate is fixedly connected to the bottom of the fuselage, and a bottom plate is fixedly installed on the bottom of the top plate, and through the cooperation of the bottom plate and the top plate, a barrier space is formed between the ground and the internal electronic components of the fuselage to avoid short-circuiting and damage of the internal electronic components due to splashing rain during patrolling in rainy days. The bottom plate is a tortuous plate, and there is an installation space between the bottom plate and the top plate. A driving motor is fixedly installed on the top of the bottom plate, and the driving motor is symmetrically installed along the center position of the axis of the bottom plate. A connecting plate is fixedly installed on the side of the bottom of the bottom plate away from the anti-collision mechanism, and an axle frame is fixedly installed on the bottom of the connecting plate. A driving shaft is rotatably installed on both sides of the inner wall of the axle frame, and the driving shaft is connected to the driving motor through a belt, and the end of the driving shaft away from the axle frame is flange-connected with a driving wheel.

[0012] The present invention provides a multi-terrain adaptive security patrol robot, which has the following beneficial effects:

[0013] 1. The multi-terrain adaptable security patrol robot is adapted to the inclined sliding of the inclined surface block and the inclined pad. When encountering obstacles, the compression spring of the inclined pad is used to reduce the bumps to ensure the stability of the inspection screen. At the same time, when sliding, the driven wheel moves obliquely upward to assist the rotation of the driving wheel, so that the robot can better climb over obstacles and avoid being blocked by obstacles when inspecting routes with many obstacles.

[0014] Second, the multi-terrain adaptable security patrol robot is tilted inward at the bottom of the inclined panel. When patrolling on rainy days, it can block the rain water splashed by passing vehicles, thereby preventing a large amount of rain water from splashing from the downward direction to the inside of the robot, causing the internal electronic components to come into contact with the rain water and be damaged, thus causing a short circuit in the robot.

[0015] 3. The multi-terrain adaptable security patrol robot cooperates with the arc panel through the elastic pad. When hit by an obstacle, it contacts the obstacle through the arc panel and transfers the pressure to the elastic pad through the skateboard, so that the elastic pad deforms and buffers under pressure, reducing the vibration of the robot during patrol shooting and improving the stability of the patrol picture.

[0016] Fourth, the multi-terrain adaptable security patrol robot, through the cooperation of the rotating wheel and the elastic pad, can change the collision direction and reduce the collision pressure through the rotation after the rotating wheel contacts the obstacle when it hits the side obliquely.

[0017] 5. The multi-terrain adaptable security patrol robot forms a barrier space between the ground and the internal electronic components of the fuselage through the cooperation of the bottom plate and the top plate, so as to avoid the internal electronic components being damaged by short circuit due to splashing rainwater when patrolling on rainy days. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The structure of a multi-terrain adaptive security patrol robot of the present invention is shown in FIG. Figure 1 ;

[0019] Figure 2 The structure of a multi-terrain adaptive security patrol robot of the present invention is shown in FIG. Figure 2 ;

[0020] Figure 3 It is a schematic diagram of the frame structure of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the frame part of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the anti-collision mechanism of the present invention;

[0023] Figure 6 It is a partial structural dissection diagram of the anti-collision mechanism of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the driving mechanism of the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the shock absorbing mechanism of the present invention;

[0026] Fig. 9 It is a partial structural schematic diagram of the shock absorbing mechanism of the present invention.

[0027] In the figure: 1, frame; 2, shock absorbing mechanism; 3, driving mechanism; 4, anti-collision mechanism; 5, camera; 11, fuselage; 12, side baffle; 13, inclined panel; 14, waterproof cover; 15, elevated frame; 16, connecting block; 21, connecting shaft; 22, shaft sleeve frame; 23, rotating groove block; 24, inclined surface block; 25, driven wheel; 26, slide bar; 27, inclined pad; 28, spring; 29, orifice plate; 31, top plate; 32, bottom plate; 33, driving motor; 34, connecting plate; 35, driving shaft; 36, driving wheel; 37, shaft frame; 41, fixed block; 42, slide groove plate; 43, slide plate; 44, arc panel; 45, rotating wheel; 46, elastic pad; 47, cover plate; 48, shaft plate; 49, side wheel. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0029] The first embodiment, as Figure 1 to Figure 2 and Figures 8 to 9 As shown, the present invention provides a technical solution: a security patrol robot capable of adapting to multiple terrains, comprising:

[0030] A frame 1, a driving mechanism 3 is installed at the bottom of the frame 1, and a camera 5 is installed at the top of the frame 1;

[0031] A shock absorbing mechanism 2, which is used to assist the driving mechanism 3 in moving the robot, and the shock absorbing mechanism 2 is installed at the bottom of the driving mechanism 3;

[0032] An anti-collision mechanism 4, which is used to buffer the pressure during collision, and the anti-collision mechanism 4 is installed on the outside of the frame 1;

[0033] The damping mechanism 2 comprises an inclined plane block 24, the top of which is fixedly connected to the bottom of the driving mechanism 3, and the bottom of the inclined plane block 24 is an inclined plane inclined from top to bottom toward one side of the anti-collision mechanism 4, a rod groove is provided on the outer side of the inclined plane block 24, and a slide bar 26 is slidably installed at the rod groove of the inclined plane block 24, and a rotation slot block 23 is rotatably installed at both ends of the slide bar 26 through bearings, and the driven wheel 25 cooperates with the driving wheel 36 to provide support for the robot on the ground at the same time, and when the driving wheel 36 rotates, the driven wheel 25 rotates through the friction between the ground to make the robot move, and when the driven wheel 25 encounters an obstacle during the travel process, causing the robot to bump, under the action of the driving force, pressure appears between the driven wheel 25 and the obstacle, and the pressure is transmitted to the rotation slot block 23 and the inclined pad 27 through the connecting shaft 21 and the shaft sleeve frame 22, so that the compression spring 28 of the inclined pad 27 is deformed and compressed, and the rotation slot block 23 is compressed. A bevel strip 27 is fixedly installed, the top of the bevel strip 27 is a bevel and is adapted to the bevel of the bevel block 24, and a hole plate 29 is fixedly installed at the bottom of the bevel block 24 away from the anti-collision mechanism 4. The side of the bevel strip 27 close to the hole plate 29 is slidably connected to the inner wall of the hole plate 29 through a rod. While absorbing shock and buffering, the bevel block 24 and the bevel strip 27 are adapted to the bevel, so that the bevel strip 27 and the bevel block 24 slide relative to each other, and in the process of sliding In the figure, the driven wheel 25 climbs over the obstacle under the action of the driving force, and the driven wheel 25 moves up at the same time. The driving force provided by the auxiliary driving wheel 36 reduces the resistance when climbing over the obstacle, and a spring 28 is installed between the inclined pad 27 and the orifice plate 29. The bottom of the rotating groove block 23 is fixedly installed with a shaft sleeve frame 22, and the inner wall of the shaft sleeve frame 22 is rotatably installed with a connecting shaft 21. Both ends of the connecting shaft 21 are flange-connected with the driven wheels 25, and the driven wheels 25 are located on both sides of the shaft sleeve frame 22.

[0034] The second embodiment is based on the first embodiment. Figure 3 to Figure 4 As shown, the frame 1 includes a fuselage 11, a raised frame 15 is fixedly installed on the top of the fuselage 11, a camera 5 is installed on the inner wall of the raised frame 15, and a waterproof cover 14 is fixedly installed on the outer side of the raised frame 15 near the anti-collision mechanism 4, connecting blocks 16 are fixedly installed on both sides of the fuselage 11, and side baffles 12 are fixedly connected to both sides of the fuselage 11 through the connecting blocks 16, both ends of the side baffles 12 are inclined inwardly, and the bottom of the outer side of the side baffles 12 is fixedly installed with inclined panels 13, and the bottom end of the inclined panel 13 is inclined inwardly from top to bottom.

[0035] The third embodiment is based on the first and second embodiments. Figures 5 to 7As shown, the anti-collision mechanism 4 includes a slide plate 42, and both ends of the slide plate 42 close to the fuselage 11 are fixedly installed with fixed blocks 41, the slide plate 42 is fixedly connected to the fuselage 11 through the fixed blocks 41, a slide groove is opened at the center position of the outer side of the slide plate 42, and the two ends of the slide plate 42 are inclined to the fuselage 11 side, and a slide plate 43 is slidably installed at the slide groove of the slide plate 42, and a cover plate 47 is fixedly installed at the center position of the slide plate 42 close to the fuselage 11 side. When encountering a collision during travel, the slide plate 44 contacts the obstacle, and during the collision, the impact pressure is transmitted to the elastic pad 46 through the slide plate 43, so that the elastic pad 46 is deformed under the impact pressure, the impact pressure is buffered, and the camera 5 is reduced while protecting the robot. Vibration, to ensure the stability of the patrol screen, an elastic pad 46 is fixedly installed between the cover plate 47 and the skateboard 43, and an arc panel 44 is fixedly installed on the side of the skateboard 43 away from the cover plate 47. Both ends of the arc panel 44 are rotatably installed with a rotating wheel 45 through an axle rod, and the bottom of the slide plate 42 is fixedly installed with an axis plate 48. When subjected to a lateral impact, the rotating wheel 45 cooperates with the elastic pad 46, and the rotation of the rotating wheel 45 changes the direction of the robot during the impact, so that the force direction in the impact direction is changed, the impact pressure is reduced, and the robot is protected from moving. At the same time, when encountering a bumpy road surface, the side wheels 49 provide support in front of the robot to prevent it from tipping over. Side wheels 49 are rotatably installed on both sides of the axis plate 48 through a rotating shaft, and the position of the side wheels 49 is higher than the driven wheel 25.

[0036] The driving mechanism 3 includes a top plate 31, the top of the top plate 31 is fixedly connected to the bottom of the fuselage 11, and a bottom plate 32 is fixedly installed on the bottom of the top plate 31, the bottom plate 32 is a zigzag plate, and there is an installation space between the bottom plate 32 and the top plate 31, and a driving motor 33 is fixedly installed on the top of the bottom plate 32. The driving motor 33 is symmetrically installed along the center position of the axis of the bottom plate 32. When the driving mechanism 3 cooperates with the shock absorbing mechanism 2 to make the robot move, the driving motor 33 drives the driving shaft 35 on the same side to rotate through the belt, so that the driving shaft 35 rotates and drives the driving wheel 36 to rotate, so that the driving wheel 36 cooperates with the shock absorbing mechanism 2 to realize the machine When people patrol and move, a connecting plate 34 is fixedly installed on one side of the bottom of the bottom plate 32 away from the anti-collision mechanism 4, and an axle frame 37 is fixedly installed on the bottom of the connecting plate 34. Drive shafts 35 are rotatably installed on both sides of the inner wall of the axle frame 37. The drive shaft 35 is connected to the drive motor 33 through a belt. When turning is required, the speed of the drive motors 33 on both sides is controlled to make the drive wheels 36 on both sides have a speed difference to achieve the turning operation. At the same time, the bottom plate 32 and the top plate 31 are used to separate the double-layer space between the ground and the frame 1, so as to increase the distance between the fuselage 11 and the ground, and the end of the drive shaft 35 away from the axle frame 37 is flange-connected with the drive wheel 36.

[0037] When in use, the driving mechanism 3 cooperates with the shock absorbing mechanism 2 to travel along a predetermined route, patrol the environment within the route, and transmit the patrol image back to the security center through the camera 5 installed in the frame 1. At the same time, during the patrol process, the anti-collision mechanism 4 cooperates with the frame 1 and the shock absorbing mechanism 2 to protect the equipment when encountering obstacles or collisions during the movement.

[0038] In the process of the driving mechanism 3 and the shock absorbing mechanism 2 cooperating to make the robot move, the driving motor 33 drives the driving shaft 35 on the same side to rotate through the belt, so that the driving shaft 35 rotates and drives the driving wheel 36 to rotate, so that the driving wheel 36 cooperates with the shock absorbing mechanism 2 to realize the patrol movement of the robot. When turning is required, the rotation speed of the driving motors 33 on both sides is controlled to make the rotation speed difference of the driving wheels 36 on both sides to realize the turning operation. At the same time, the bottom plate 32 and the top plate 31 are used to form a double-layer partition space between the ground and the frame 1, thereby increasing the distance between the fuselage 11 and the ground.

[0039] In the shock absorbing mechanism 2, the driven wheel 25 cooperates with the driving wheel 36 to provide support for the robot on the ground. When the driving wheel 36 rotates, the driven wheel 25 rotates through the friction with the ground, so that the robot moves. When the driven wheel 25 encounters an obstacle during the movement, the robot is bumped. Under the action of the driving force, pressure appears between the driven wheel 25 and the obstacle, and the pressure is transmitted to the trough block 23 and the inclined pad 27 through the connecting shaft 21 and the shaft sleeve frame 22, so that the compression spring 28 of the inclined pad 27 is deformed and compressed. While shock absorbing and buffering, the inclined surface between the inclined surface block 24 and the inclined pad 27 is adapted to make the inclined pad 27 and the inclined surface block 24 slide relative to each other. In the sliding process, the driven wheel 25 climbs over the obstacle under the action of the driving force, and the driven wheel 25 moves up at the same time, assisting the driving force provided by the driving wheel 36 to reduce the resistance when climbing over the obstacle.

[0040] When encountering a collision while moving, the arc panel 44 contacts the obstacle, and during the collision, the impact pressure is transmitted to the elastic pad 46 through the slide plate 43, so that the elastic pad 46 is deformed under the impact pressure, and the impact pressure is buffered. While protecting the robot, the vibration of the camera 5 is reduced to ensure the stability of the patrol picture. When it is hit from the side, the rotating wheel 45 cooperates with the elastic pad 46, and the rotation of the rotating wheel 45 changes the direction of the robot at the time of the collision, so that the force direction in the impact direction is changed, the impact pressure is reduced, and the movement of the robot is protected. At the same time, when encountering a bumpy road surface, the side wheels 49 provide support in front of the robot to prevent it from tipping over.

[0041] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A multi-terrain adaptive security patrol robot, characterized in that: include: A frame (1), wherein a driving mechanism (3) is installed at the bottom of the frame (1), and a camera (5) is installed at the top of the frame (1); A shock absorbing mechanism (2), the shock absorbing mechanism (2) being used to assist the driving mechanism (3) in moving the robot, the shock absorbing mechanism (2) being mounted at the bottom of the driving mechanism (3); An anti-collision mechanism (4), the anti-collision mechanism (4) being used to buffer pressure during collision, the anti-collision mechanism (4) being mounted on the outside of the frame (1); The damping mechanism (2) comprises an inclined surface block (24), the top of the inclined surface block (24) is fixedly connected to the bottom of the driving mechanism (3), and the bottom of the inclined surface block (24) is an inclined surface inclined from top to bottom toward one side of the anti-collision mechanism (4), a rod groove is provided on the outer side of the inclined surface block (24), and a slide bar (26) is slidably mounted at the rod groove of the inclined surface block (24), and both ends of the slide bar (26) are rotatably mounted with a rotating groove block (23) via a bearing, An inclined pad (27) is fixedly installed between the swivel blocks (23); the top of the inclined pad (27) is an inclined surface and matches the inclined surface of the inclined surface block (24); a hole plate (29) is fixedly installed on the bottom of the inclined surface block (24) away from the anti-collision mechanism (4); the side of the inclined pad (27) close to the hole plate (29) is slidably connected to the inner wall of the hole plate (29) through a rod; and a spring (28) is installed between the inclined pad (27) and the hole plate (29).

2. The multi-terrain adaptive security patrol robot according to claim 1, characterized in that: A shaft sleeve frame (22) is fixedly mounted on the bottom of the swivel block (23), a connecting shaft (21) is rotatably mounted on the inner wall of the shaft sleeve frame (22), both ends of the connecting shaft (21) are flange-connected with driven wheels (25), and the driven wheels (25) are located on both sides of the shaft sleeve frame (22).

3. The multi-terrain adaptive security patrol robot according to claim 1, characterized in that: The frame (1) comprises a fuselage (11), a raised frame (15) is fixedly mounted on the top of the fuselage (11), the camera (5) is mounted on the inner wall of the raised frame (15), and a waterproof cover (14) is fixedly mounted on the outer side of the raised frame (15) near the anti-collision mechanism (4).

4. The multi-terrain adaptive security patrol robot according to claim 3, characterized in that: Connecting blocks (16) are fixedly mounted on both sides of the fuselage (11), and side baffles (12) are fixedly connected to both sides of the fuselage (11) via the connecting blocks (16), both ends of the side baffles (12) are inclined inwardly, and an inclined panel (13) is fixedly mounted on the bottom of the outer side of the side baffles (12), and the bottom end of the inclined panel (13) is inclined inwardly from top to bottom.

5. The multi-terrain adaptive security patrol robot according to claim 1, characterized in that: The anti-collision mechanism (4) comprises a slide groove plate (42), and fixed blocks (41) are fixedly mounted on both ends of the slide groove plate (42) on a side close to the fuselage (11). The slide groove plate (42) is fixedly connected to the fuselage (11) via the fixed blocks (41), and a slide groove is provided at the center position of the outer side of the slide groove plate (42), and both ends of the slide groove plate (42) are inclined toward one side of the fuselage (11).

6. The multi-terrain adaptive security patrol robot according to claim 5, characterized in that: A slide plate (43) is slidably mounted at the slide groove of the slide groove plate (42); a cover plate (47) is fixedly mounted at the center position of the slide groove plate (42) close to the fuselage (11); an elastic pad (46) is fixedly mounted between the cover plate (47) and the slide plate (43); a curved panel (44) is fixedly mounted on the side of the slide plate (43) away from the cover plate (47); and rotating wheels (45) are rotatably mounted on both ends of the curved panel (44) via shafts.

7. The multi-terrain adaptive security patrol robot according to claim 6, characterized in that: An axis plate (48) is fixedly mounted on the bottom of the slide plate (42), and side wheels (49) are rotatably mounted on both sides of the axis plate (48) via a rotating shaft, and the position of the side wheels (49) is higher than that of the driven wheel (25).

8. The multi-terrain adaptive security patrol robot according to claim 1, characterized in that: The driving mechanism (3) comprises a top plate (31), the top of the top plate (31) being fixedly connected to the bottom of the fuselage (11), and the bottom of the top plate (31) being fixedly mounted with a bottom plate (32), the bottom plate (32) being a curved plate, and an installation space being provided between the bottom plate (32) and the top plate (31).

9. The multi-terrain adaptive security patrol robot according to claim 8, characterized in that: A driving motor (33) is fixedly mounted on the top of the bottom plate (32), and the driving motor (33) is symmetrically mounted along the center position of the axis of the bottom plate (32). A connecting plate (34) is fixedly mounted on a side of the bottom of the bottom plate (32) away from the anti-collision mechanism (4).

10. The multi-terrain adaptive security patrol robot according to claim 9, characterized in that: A shaft frame (37) is fixedly mounted on the bottom of the connecting plate (34), and drive shafts (35) are rotatably mounted on both sides of the inner wall of the shaft frame (37). The drive shaft (35) is transmission-connected to a drive motor (33) via a belt, and one end of the drive shaft (35) away from the shaft frame (37) is flange-connected to a drive wheel (36).

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