Movable partition wall reconnaissance robot device

Abstract

The invention discloses a mobile partition wall reconnaissance robot device, which relates to the technical field of reconnaissance robots, and comprises a chassis, the whole chassis is hollow; round holes are formed in the two ends of the two sides of the base plate, and a hollow cylinder is rotationally installed in each round hole. Four rotating assemblies enabling the hollow cylinder to rotate are arranged in the base plate. A bracket is fixed at one end of the hollow cylinder; a main driving wheel and an auxiliary driving wheel are arranged in the support, and the main driving wheel and the auxiliary driving wheel are crawler wheels with shafts. When the stair climbing robot climbs stairs, the three rolling wheels distributed in a regular triangle shape on the main driving wheel stretch out through the hollow multi-section telescopic rod, so that the main driving wheel forms a triangular wheel, the triangular wheel and the main driving wheel can synchronously and axially rotate, the triangular wheel can be better engaged with stairs, and stair climbing is conducted by means of pushing force; the stair climbing speed is in direct proportion to the speed of the main driving wheel, and therefore fast stair climbing can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of reconnaissance robots, and in particular to a mobile partition wall reconnaissance robot device. Background Technique

[0002] Due to the dense urban buildings, there are a large number of indoor spaces that are convenient for lawbreakers to hide, which brings great difficulties to combatants when conducting personnel searches. The through-wall radar based on microwave technology has the ability to perform partition wall perspective detection on hidden targets in complex enclosed building environments, and can well obtain the personnel biological information and position distribution inside the wall, and has important application value in military and public safety fields such as military urban warfare and disaster search and rescue.

[0003] After retrieval, the Chinese patent document with the publication number CN113715032B discloses a mobile partition wall reconnaissance robot device, including: a reconnaissance robot housing; a fire strike module is movably installed on the front side of the upper part of the reconnaissance robot housing; a detection mechanism is arranged at the middle position of the upper part of the reconnaissance robot housing; a radar antenna erection mechanism and an operation handle. This patent consists of three subsystems (a tracked reconnaissance robot platform subsystem, a reconnaissance detection and strike subsystem, and a remote control subsystem), combines the technically mature tracked reconnaissance robot system with the through-wall radar reconnaissance technology, can be remotely controlled in complex urban terrain environments, and can reach the outside of the room wall through complex sections with the help of the mobile auxiliary module on the robot, and obtain the personnel information inside the wall by adjusting the through-wall radar antenna to be close to the wall to emit radar beams, greatly improving the personal safety and search efficiency of combatants.

[0004] Based on the retrieval and the existing technology, the following deficiencies are found: In order to better walk on complex terrains and realize the function of climbing stairs, general reconnaissance robots will use a walking mechanism mainly based on mechanical tracks (such as the above-mentioned retrieved patent). When climbing stairs with a track-based walking mechanism, the speed is relatively slow, mainly because it moves forward by rolling friction. If the track speed is too fast, the friction force is smaller, and there will be a slipping phenomenon. Summary of the Invention

[0005] The purpose of the present invention is to provide a mobile partition wall reconnaissance robot device to solve the problems raised in the above background technique.

[0006] The technical solution of the present invention is: a mobile partition wall reconnaissance robot device, including a chassis, and the whole of the chassis is hollow;

[0007] Round holes are opened at both ends of both sides of the chassis, and hollow cylinders are rotatably installed inside each of the round holes;

[0008] Four rotation components for rotating the hollow cylinders are arranged inside the chassis;

[0009] One end of the hollow cylinder is fixed with a bracket;

[0010] The interior of the bracket is provided with a main drive wheel and a secondary drive wheel, and both the main drive wheel and the secondary drive wheel are belted wheels with shafts. The axles of the main drive wheel and the secondary drive wheel are rotatably installed within the bracket, and the axle of the main drive wheel is coaxially arranged with the hollow cylinder;

[0011] A crawler is commonly sleeved on the tread surfaces of the two main drive wheels and the tread surfaces of the secondary drive wheels;

[0012] The interior of the chassis is provided with four drive assemblies for respectively rotating the main drive wheels;

[0013] Three fan-shaped grooves distributed in an equilateral triangle are formed on the circular surface of the main drive wheel. A hollow multi-joint telescopic rod is arranged within each of the fan-shaped grooves. A rotating structure for rotating within the fan-shaped groove is arranged on the outer side of the thick end of the hollow multi-joint telescopic rod;

[0014] Elastic structures are arranged between the two sides of the thick end of the hollow multi-joint telescopic rod and the inner walls of the two fan-shaped edges of the two fan-shaped grooves respectively;

[0015] One end of the hollow multi-joint telescopic rod is rotatably installed with a roller;

[0016] The three hollow multi-joint telescopic rods on each main drive wheel share one oil supply assembly. The oil supply assembly elongates the hollow multi-joint telescopic rod by sending hydraulic oil into the hollow multi-joint telescopic rod.

[0017] Preferably, a wireless controller is arranged within the chassis.

[0018] Preferably, a multi-axis manipulator is fixed on the top of the chassis. A wireless camera is fixedly installed at the operating end of the multi-axis manipulator. Both the multi-axis manipulator and the wireless camera are electrically connected to the wireless controller.

[0019] Preferably, a through-wall radar is fixed on the top of the chassis. The through-wall radar is electrically connected to the wireless controller.

[0020] Preferably, the rotating assembly includes a worm, a worm gear, and a first servo motor. The first servo motor is fixed to the chassis. The output shaft of the first servo motor is coaxially fixed with the worm. The worm gear is coaxially fixed with the hollow cylinder. The worm meshes with the worm gear.

[0021] Preferably, the driving assembly includes a second servo motor and a transmission rod. The second servo motor is fixed to the chassis. The output shaft of the second servo motor is coaxially fixed to the transmission rod. The whole transmission rod is rotatably installed in the hollow cylinder and one end thereof is coaxially fixed to the wheel shaft of the main driving wheel.

[0022] Preferably, the rotating structure includes a fixed cylinder and a positioning column. The hollow multi-section telescopic rod is coaxially fixed to the fixed cylinder. One end of the positioning column is fixed to the fixed cylinder, and the other end of the positioning column is rotatably installed in the sector-shaped groove.

[0023] Preferably, the four oil supply assemblies are respectively arranged in one-to-one correspondence with the four transmission rods. The oil supply assembly includes three oil pipes. The three oil pipes are all fixed to the corresponding transmission rod. There are communication pipes for connecting the three oil pipes and the three hollow multi-section telescopic rods to make them communicate with each other. Three grooves are formed on the outer side of the transmission rod, and the three communication pipes are embedded and fixed in the three grooves. A piston plate is slidably arranged inside the oil pipe. A piston rod fixed to the piston plate is slidably inserted into one end of the oil pipe. The piston rods on the three oil pipes are jointly fixed to an inner ring. An outer ring is rotatably installed on the outer side of the inner ring. The oil supply assembly further includes an electric push rod. The electric push rod is fixed to the chassis, and the telescopic end of the electric push rod is fixed to the outer ring.

[0024] Preferably, the elastic structure includes a second double-section telescopic cylinder. Rotating blocks are fixed to the second double-section telescopic cylinders. The two rotating blocks are respectively rotatably installed on the outer side of the thick end of the hollow multi-section telescopic rod and the inner wall of the sector-shaped groove. A return spring is sleeved on the outer side of the second double-section telescopic cylinder, and the two ends of the return spring are respectively fixed to the two rotating blocks.

[0025] Preferably, a plurality of tensioners are arranged inside the bracket. The tensioner includes a first double-section telescopic cylinder. One end of the first double-section telescopic cylinder is fixed inside the bracket, and the other end of the first double-section telescopic cylinder is fixed with a concave block. A contact wheel in contact with the crawler belt is rotatably installed in the concave opening of the concave block. A tension spring is sleeved on the outer side of the first double-section telescopic cylinder.

[0026] The present invention provides a mobile partition wall reconnaissance robot device through improvement. Compared with the prior art, the following improvements and advantages are achieved:

[0027] First: When the present invention climbs a building, the three rollers distributed in an equilateral triangle on the main driving wheel extend through the hollow multi-section telescopic rod, so that the main driving wheel forms a triangular wheel. The triangular wheel can rotate axially synchronously with the main driving wheel. The triangular wheel can better engage with the steps and climb the building by relying on the driving force. The climbing speed is proportional to the speed of the main driving wheel. Therefore, rapid climbing can be achieved.

[0028] Second: Three sector grooves distributed at positive angles are formed on the circular surface of the main driving wheel of the present invention. A reset spring is arranged between the two sides of the thick end of the hollow multi-section telescopic rod and the inner walls of the two fan edges of the sector groove. When the main driving wheel deforms into a triangular wheel for rapid climbing, the reset spring can buffer, and at the same time, when the reset spring resets, it provides an elastic thrust, enabling the whole device to have a jumping motion, so as to climb the stairs faster;

[0029] Third: The crawler frame of the present invention can rotate. When there are relatively high obstacles on the ground, the crawler frame rotates downward to raise the entire chassis, preventing the chassis from colliding with relatively high obstacles and improving the obstacle-crossing ability of the whole robot. Brief Description of the Drawings

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a schematic three-dimensional structure diagram of the whole of the present invention;

[0032] Figure 2 It is a schematic side view structure diagram of the present invention;

[0033] Figure 3 It is a schematic internal structure diagram of the chassis of the present invention;

[0034] Figure 4 It is a schematic structure diagram of the driving component and the oil delivery component of the present invention;

[0035] Figure 5 It is a schematic three-dimensional structure diagram of the first perspective of the bracket area of the present invention;

[0036] Figure 6 It is a schematic three-dimensional structure diagram of the second perspective of the bracket area of the present invention;

[0037] Figure 7 It is a schematic installation structure diagram of the main driving wheel, the auxiliary driving wheel and the tensioner of the present invention;

[0038] Figure 8 For Figure 7 the enlarged structure diagram at A;

[0039] Figure 9 It is a schematic sectional view structure diagram of the oil pipe of the present invention;

[0040] Figure 10 It is a schematic installation structure diagram of the rotating structure of the present invention.

[0041] Reference numerals:

[0042] 1. Chassis; 2. Multi-axis manipulator; 3. Wireless camera; 4. Through-wall radar; 5. Bracket; 6. Main drive wheel; 7. Auxiliary drive wheel; 8. Roller; 9. Drive assembly; 10. Oil supply assembly; 11. Rotating assembly; 12. Transmission rod; 13. Outer ring; 14. Inner ring; 15. Electric push rod; 16. First servo motor; 17. Worm; 18. Worm gear; 19. Hollow cylinder; 20. Oil pipe; 21. Connecting pipe; 22. Second servo motor; 23. Crawler belt; 24. Hollow multi-joint telescopic rod; 25. Groove; 26. Sector groove; 27. First double-joint telescopic cylinder; 28. Tension spring; 29. Concave block; 30. Contact wheel; 31. Rotating block; 32. Return spring; 33. Second double-joint telescopic cylinder; 34. Fixed cylinder; 35. Piston rod; 36. Piston plate; 37. Positioning column. Detailed implementation manners

[0043] The present invention will be described in detail below. The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] The present invention provides a mobile partition wall reconnaissance robot device through improvement. The technical solution of the present invention is as follows:

[0045] As Figures 1 to 10 shown, the embodiment of the present invention provides a mobile partition wall reconnaissance robot device, including a chassis 1, and the whole of the chassis 1 is hollow;

[0046] Round holes are opened at both ends on both sides of the chassis 1, and hollow cylinders 19 are rotatably installed inside each round hole;

[0047] Four rotating assemblies 11 for rotating the hollow cylinders 19 are arranged inside the chassis 1;

[0048] One end of the hollow cylinder 19 is fixed with a bracket 5;

[0049] The inside of the bracket 5 is provided with a main drive wheel 6 and an auxiliary drive wheel 7, and both the main drive wheel 6 and the auxiliary drive wheel 7 are belt shaft crawler belt 23 wheels. The wheel shafts of the main drive wheel 6 and the auxiliary drive wheel 7 are rotatably installed inside the bracket 5, and the wheel shaft of the main drive wheel 6 is coaxially arranged with the hollow cylinder 19;

[0050] The treads of the two main drive wheels 6 and the treads of the auxiliary drive wheels 7 jointly sleeved with a crawler belt 23;

[0051] Inside the chassis 1, there are four driving components 9 that respectively rotate the main driving wheels 6;

[0052] On the circular surface of the main driving wheel 6, there are three sector grooves 26 distributed in an equilateral triangle. Inside each sector groove 26, there is a hollow multi-joint telescopic rod 24. On the outer side of the thick end of the hollow multi-joint telescopic rod 24, there is a rotating structure that enables it to rotate within the sector groove 26;

[0053] Between the two sides of the thick end of the hollow multi-joint telescopic rod 24 and the inner walls of the two fan-shaped edges of the two sector grooves 26, there is an elastic structure;

[0054] One end of the hollow multi-joint telescopic rod 24 is rotatably installed with a roller 8;

[0055] The three hollow multi-joint telescopic rods 24 on each main driving wheel 6 share a hydraulic oil supply component 10. The hydraulic oil supply component 10 sends hydraulic oil into the hollow multi-joint telescopic rod 24, thereby making the hollow multi-joint telescopic rod 24 extend;

[0056] From the above connection relationship, it can be seen that when climbing stairs, the three rollers 8 distributed in an equilateral triangle on the main driving wheel 6 extend through the hollow multi-joint telescopic rod 24, making the main driving wheel 6 form a triangular wheel. The triangular wheel can rotate axially synchronously with the main driving wheel 6. The triangular wheel can better engage with the steps and climb the stairs relying on the driving force. The climbing speed is proportional to the speed of the main driving wheel 6. Therefore, rapid stair climbing can be achieved.

[0057] Specifically, as shown in the attached Figure 1 and the attached Figure 2 Inside the chassis 1, there is a wireless controller. On the top of the chassis 1, a multi-axis manipulator 2 is fixed. At the operating end of the multi-axis manipulator 2, a wireless camera 3 is fixedly installed. Both the multi-axis manipulator 2 and the wireless camera 3 are electrically connected to the wireless controller. On the top of the chassis 1, a wall-penetrating radar 4 is fixed. The wall-penetrating radar 4 is electrically connected to the wireless controller. The wireless controller, the multi-axis manipulator 2, the wireless camera 3, and the wall-penetrating radar 4 are all prior arts. Here, the specific structures and working principles of these electrical components are elaborated in detail, and the specific models of these electrical components are not limited.

[0058] Specifically, as shown in the attached Figure 3 and the attached Figure 4As shown, the rotating assembly 11 includes a worm 17, a worm gear 18, and a first servo motor 16. The first servo motor 16 is fixed to the chassis 1. The output shaft of the first servo motor 16 is coaxially fixed to the worm 17. The worm gear 18 is coaxially fixed to the hollow cylinder 19. The worm 17 meshes with the worm gear 18. When the first servo motor 16 is started, the first servo motor 16 rotates the worm 17 through its output shaft. The worm 17 drives the hollow cylinder 19 to rotate through the meshing worm gear 18. The hollow cylinder 19 drives the bracket 5 to rotate downward, and the bracket 5 raises the chassis 1.

[0059] Specifically, in combination with the attached Figure 4 As shown, the driving assembly 9 includes a second servo motor 22 and a transmission rod 12. The second servo motor 22 is fixed to the chassis 1. The output shaft of the second servo motor 22 is coaxially fixed to the transmission rod 12. The whole transmission rod 12 is rotatably installed in the hollow cylinder 19 and one end thereof is coaxially fixed to the axle of the main driving wheel 6. The second servo motor 22 rotates the transmission rod 12 through its output shaft. The transmission rod 12 drives the main driving wheel 6 coaxially fixed thereto to rotate. The main driving wheel 6 drives the crawler 23 to rotate. The crawler 23 enables this robot to walk through friction.

[0060] Specifically, in combination with the attached Figure 10 As shown, the rotating structure includes a fixed cylinder 34 and a positioning column 37. The hollow multi-joint expansion rod 24 is coaxially fixed to the fixed cylinder 34. One end of the positioning column 37 is fixed to the fixed cylinder 34, and the other end of the positioning column 37 is rotatably installed in the sector-shaped groove 26. The rotating structure is provided to enable the hollow multi-joint expansion rod 24 to rotate in the sector-shaped groove 26.

[0061] Specifically, in combination with the attached Figure 4 and the attached Figure 9As shown, four oil supply components 10 are respectively arranged in one-to-one correspondence with four transmission rods 12. The oil supply component 10 includes three oil pipes 20. The three oil pipes 20 are all fixed on the corresponding transmission rod 12. There are communication pipes 21 for connecting the three oil pipes 20 and three hollow multi-section telescopic rods 24 to make them communicate with each other. Three grooves 25 are formed on the outer side of the transmission rod 12, and the three communication pipes 21 are embedded and fixed in the three grooves 25. A piston plate 36 is slidably arranged inside the oil pipe 20. One end of the oil pipe 20 is slidably inserted with a piston rod 35 fixed to the piston plate 36. The piston rods 35 on the three oil pipes 20 are commonly fixed with an inner ring 14. An outer ring 13 is rotatably installed on the outer side of the inner ring 14. The outer ring 13 and the inner ring 14 can rotate relative to each other. When the outer ring 13 drives the inner ring 14 to move together, it will not affect the rotation of the transmission rod 12. The oil supply component 10 further includes an electric push rod 15. The electric push rod 15 is fixed to the chassis 1, and the telescopic end of the electric push rod 15 is fixed to the outer ring 13. Supplementary description of the oil pipe 20: The inside of the oil pipe 20 is filled with hydraulic oil. When the electric push rod 15 shortens, the outer ring 13 is pulled. The outer ring 13 drives the inner ring 14 to move together. The inner ring 14 pushes each piston rod 35 into the oil pipe 20. The piston plate 36 on the piston rod 35 pushes the hydraulic oil in the oil pipe 20 into the hollow multi-section telescopic rod 24, so that the hollow multi-section telescopic rod 24 extends.

[0062] Specifically, in combination with the attached Figure 7 and the attached Figure 8 As shown, the elastic structure includes a second double-section telescopic cylinder 33. The second double-section telescopic cylinder 33 is fixed with a rotating block 31. The two rotating blocks 31 are respectively rotatably installed on the outer side of the thick end of the hollow multi-section telescopic rod 24 and the inner wall of the fan-shaped groove 26. A return spring 32 is sleeved on the outer side of the second double-section telescopic cylinder 33. The two ends of the return spring 32 are respectively fixed to the two rotating blocks 31. When the main driving wheel 6 is deformed into a triangular wheel for rapid climbing of stairs, the hollow multi-section telescopic rod 24 and the stairs rotate, so that the return spring 32 on one side of the hollow multi-section telescopic rod 24 is compressed and the return spring 32 on the other side is stretched. At the same time, the return spring 32 can buffer. At the same time, when the return spring 32 returns, it provides an elastic thrust, enabling the whole device to have a jumping movement, so as to be able to climb stairs faster.

[0063] Specifically, in combination with the attached Figure 7, there are multiple tensioners inside the bracket 5. The tensioner includes a first double-jointed telescopic cylinder 27. One end of the first double-jointed telescopic cylinder 27 is fixed inside the bracket 5, and a concave block 29 is fixed at the other end of the first double-jointed telescopic cylinder 27. A contact wheel 30 in contact with the crawler 23 is rotatably installed in the notch of the concave block 29. A tension spring 28 is sleeved outside the first double-jointed telescopic cylinder 27. Supplementary description of the tension spring 28: The tension spring 28 is kept in a compressed state. It can be seen from this that the tension spring 28 exerts a thrust on the concave block 29, so that the contact wheel 30 is always in contact with the crawler 23, thus ensuring that the crawler 23 remains taut.

[0064] Working principle:

[0065] When the robot is walking normally, the second servo motor 22 is started at this time. The second servo motor 22 drives the transmission rod 12 to rotate through the output shaft. The transmission rod 12 drives the main drive wheel 6 fixed coaxially with it to rotate. The main drive wheel 6 drives the crawler 23 to rotate. The crawler 23 makes this robot walk through friction;

[0066] When a relatively high obstacle is encountered in front of the chassis 1, the first servo motor 16 is started. The first servo motor 16 drives the worm 17 to rotate through the output shaft. The worm 17 drives the hollow cylinder 19 to rotate through the engaged worm gear 18. The hollow cylinder 19 drives the bracket 5 to rotate downward, and the bracket 5 raises the chassis 1, so as to cross the obstacle;

[0067] When the entire robot is climbing stairs, the electric push rod 15 shortens, the outer ring 13 is pulled, the outer ring 13 drives the inner ring 14 to move together, and the inner ring 14 pushes each piston rod 35 into the oil pipe 20. The piston plate 36 on the piston rod 35 pushes the hydraulic oil in the oil pipe 20 into the hollow multi-jointed telescopic rod 24, so that the hollow multi-jointed telescopic rod 24 extends. The three rollers 8 distributed in an equilateral triangle on the main drive wheel 6 extend through the hollow multi-jointed telescopic rod 24, making the main drive wheel 6 form a triangular wheel. The triangular wheel can rotate axially synchronously with the main drive wheel 6. The triangular wheel can better bite the steps and climb the stairs relying on the driving force. The climbing speed is proportional to the speed of the main drive wheel 6. Therefore, rapid stair climbing can be achieved;

[0068] When the main drive wheel 6 is deformed into a triangular wheel for rapid stair climbing, the hollow multi-jointed telescopic rod 24 rotates with the steps, so that the return spring 32 on one side of the hollow multi-jointed telescopic rod 24 is compressed, and the return spring 32 on the other side is stretched. At the same time, the return spring 32 can buffer. At the same time, when the return spring 32 resets, it provides an elastic thrust, so that the whole device has a jumping movement, so as to be able to climb the stairs faster.

[0069] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mobile partition wall reconnaissance robot device, comprising a chassis (1), characterized in that: The overall chassis (1) is hollow; Round holes are provided at both ends of both sides of the chassis (1), and a hollow cylinder (19) is rotatably installed inside each round hole; Four rotating components (11) for rotating the hollow cylinder (19) respectively are arranged inside the chassis (1); A bracket (5) is fixed at one end of the hollow cylinder (19); A main drive wheel (6) and a sub-drive wheel (7) are arranged inside the bracket (5), and both the main drive wheel (6) and the sub-drive wheel (7) are belted crawler (23) wheels. The axle shafts of the main drive wheel (6) and the sub-drive wheel (7) are rotatably installed inside the bracket (5), and the axle shaft of the main drive wheel (6) is coaxially arranged with the hollow cylinder (19); A crawler (23) is sleeved jointly on the wheel surfaces of the two main drive wheels (6) and the wheel surfaces of the sub-drive wheels (7); Four drive components (9) for rotating the main drive wheel (6) respectively are arranged inside the chassis (1); Three fan-shaped grooves (26) distributed in an equilateral triangle are provided on the circular surface of the main drive wheel (6). A hollow multi-joint telescopic rod (24) is arranged inside each fan-shaped groove (26), and a rotating structure for rotating it inside the fan-shaped groove (26) is arranged on the outer side of the thick end of the hollow multi-joint telescopic rod (24); Elastic structures are arranged between the two sides of the thick end of the hollow multi-joint telescopic rod (24) and the inner walls of the two fan edges of the two fan-shaped grooves (26) respectively; A roller (8) is rotatably installed at one end of the hollow multi-joint telescopic rod (24); The three hollow multi-joint telescopic rods (24) on each main drive wheel (6) share an oil supply component (10). The oil supply component (10) elongates the hollow multi-joint telescopic rod (24) by sending hydraulic oil into the hollow multi-joint telescopic rod (24).

2. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: A wireless controller is arranged inside the chassis (1).

3. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: A multi-axis manipulator (2) is fixed on the top of the chassis (1). A wireless camera (3) is fixedly installed at the operating end of the multi-axis manipulator (2). Both the multi-axis manipulator (2) and the wireless camera (3) are electrically connected to the wireless controller.

4. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: A through-wall radar (4) is fixed on the top of the chassis (1). The through-wall radar (4) is electrically connected to the wireless controller.

5. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: The rotating component (11) includes a worm (17), a worm wheel (18) and a first servo motor (16). The first servo motor (16) is fixed to the chassis (1). The output shaft of the first servo motor (16) is coaxially fixed to the worm (17). The worm wheel (18) is coaxially fixed to the hollow cylinder (19). The worm (17) meshes with the worm wheel (18).

6. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: The drive component (9) includes a second servo motor (22) and a transmission rod (12). The second servo motor (22) is fixed to the chassis (1). The output shaft of the second servo motor (22) is coaxially fixed to the transmission rod (12). The whole transmission rod (12) is rotatably installed inside the hollow cylinder (19) and one end is coaxially fixed to the axle shaft of the main drive wheel (6).

7. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: The rotating structure includes a fixed cylinder (34) and a positioning column (37). The hollow multi-section telescopic rod (24) is coaxially fixed to the fixed cylinder (34). One end of the positioning column (37) is fixed to the fixed cylinder (34), and the other end of the positioning column (37) is rotatably installed in the fan-shaped groove (26).

8. The mobile partition wall reconnaissance robot device according to claim 6, characterized in that: The four oil delivery assemblies (10) are respectively arranged in one-to-one correspondence with the four transmission rods (12). The oil delivery assembly (10) includes three oil pipes (20). The three oil pipes (20) are all fixed to the corresponding transmission rod (12). There is a connecting pipe (21) for connecting the three oil pipes (20) and the three hollow multi-section telescopic rods (24) to make them communicate with each other. Three grooves (25) are formed on the outer side of the transmission rod (12). The three connecting pipes (21) are embedded and fixed in the three grooves (25). A piston plate (36) is slidably arranged inside the oil pipe (20). A piston rod (35) fixed to the piston plate (36) is slidably inserted into one end of the oil pipe (20). The piston rods (35) on the three oil pipes (20) are commonly fixed to an inner ring (14). An outer ring (13) is rotatably installed on the outer side of the inner ring (14). The oil delivery assembly (10) further includes an electric push rod (15). The electric push rod (15) is fixed to the chassis (1), and the telescopic end of the electric push rod (15) is fixed to the outer ring (13).

9. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: The elastic structure includes a second double-section telescopic cylinder (33). The second double-section telescopic cylinder (33) is fixed with a rotating block (31). The two rotating blocks (31) are respectively rotatably installed on the outer side of the thick end of the hollow multi-section telescopic rod (24) and the inner wall of the fan-shaped groove (26). A return spring (32) is sleeved on the outer side of the second double-section telescopic cylinder (33). The two ends of the return spring (32) are respectively fixed to the two rotating blocks (31).

10. The mobile partition wall reconnaissance robot device according to claim 1, characterized in that: A plurality of tensioners are arranged inside the bracket (5). The tensioner includes a first double-section telescopic cylinder (27). One end of the first double-section telescopic cylinder (27) is fixed inside the bracket (5), and the other end of the first double-section telescopic cylinder (27) is fixed with a concave block (29). A contact wheel (30) in contact with the crawler belt (23) is rotatably installed in the concave opening of the concave block (29). A tension spring (28) is sleeved on the outer side of the first double-section telescopic cylinder (27).

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