Crawler-type robot car with anti-collision function

Abstract

The invention belongs to the technical field of robot equipment, and particularly relates to a crawler-type robot car with an anti-collision function, the crawler-type robot car comprises a car body, crawler bodies are arranged on the two sides of the car body, and three driving wheels and a bearing wheel are arranged on the inner wall of each crawler body; the driving wheels and the bearing wheels are rotationally connected to the vehicle body through rotating rods, a storage groove is formed in the top of the vehicle body, and a lifting mechanism is arranged in the storage groove; a lifting mechanism is arranged, a driving mechanism drives a two-way ball screw to rotate, the two-way ball screw drives a moving plate to move in the opposite direction, the moving plate drives one end of a connecting rod to move, the two ends of the connecting rod are connected through a pin shaft, and therefore the bottom end of the connecting rod rotates while moving; the height of the lifting plate is adjusted; when the monitoring probe moves in the storage groove, the cover plate can be closed for storage, so that the monitoring probe can be protected.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment, in particular to a crawler-type robot vehicle with an anti-collision function. Background Art

[0002] Robots are autonomous machines that can accept human commands, run pre-programmed tasks, or act according to principles developed by artificial intelligence. Their mission is to assist or replace human work in industries such as manufacturing, construction, and dangerous tasks. Tracked robots, among them, use crawler chassis for mobility. They offer advantages such as high traction, resistance to slippage, and excellent off-road performance. They are typically protected by anti-collision mechanisms.

[0003] A Chinese patent with publication number CN112849284A discloses an injection mold and a tracked inspection robot, including a body, a drive unit installed inside the body, a monitoring module installed on the top of the body, and a motion suspension system installed on both sides of the body; the monitoring module includes: an electric pan-tilt head; a laser sensor; a pan-tilt head mounting plate; a laser sensor mounting seat; and at least one camera installed on the electric pan-tilt head; wherein the laser sensor is installed in the center of the laser sensor mounting seat, the top of the laser sensor is sealed and fixedly connected to the pan-tilt head mounting plate, the electric pan-tilt head is installed on the pan-tilt head mounting plate, the electric pan-tilt head, the laser sensor and the camera are all communicatively connected to the control module, and are electrically connected to the battery module through the control module; the monitoring module, edge sensor, ultrasonic radar sensor, alarm light and antenna realize monitoring, navigation, collision avoidance, sound and light alarm and remote communication functions.

[0004] In the current existing technology, the monitoring module is installed above the vehicle body for monitoring, and there is no storage mechanism on the outside of the monitoring module. As a result, the vehicle body not only occupies a large space during storage and transportation, but also is easily damaged by external force collision, and cannot monitor obstacles in front of the vehicle body, which may cause a collision of the vehicle body.

[0005] To this end, the present invention provides a tracked robot vehicle with an anti-collision function. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the crawler-type robot vehicle with anti-collision function described in the present invention includes a vehicle body, crawler bodies are provided on both sides of the vehicle body, and three driving wheels and one load-bearing wheel are provided on the inner wall of each crawler body; the driving wheels and the load-bearing wheels are rotatably connected to the vehicle body through rotating rods, and a storage groove is provided on the top of the vehicle body, and a lifting mechanism is provided in the storage groove; The lifting mechanism includes a bidirectional ball screw rotatably connected to the inner wall of the storage groove through a bearing, and two movable plates are symmetrically threaded on the bidirectional ball screw, and the top of the movable plate is rotatably connected to a connecting rod through a pin shaft; a lifting plate is also provided inside the storage groove, and the bottom of the lifting plate is symmetrically fixed with two connecting blocks, and the top of the connecting rod is rotatably connected to the connecting block through a pin shaft, and a monitoring probe is installed on the top of the lifting plate through a rotating mechanism, and two guide rods are fixed to the inner wall of the storage groove, and the movable plates are slidably connected on the two guide rods; one end of the bidirectional ball screw is provided with a driving mechanism; the top of the car body is slidably connected to a cover plate through a slide rail, and the area of the cover plate is larger than the area of the storage groove.

[0008] Preferably, the driving mechanism includes a first rotating wheel fixedly connected to one end of a bidirectional ball screw, a first motor is fixedly connected to the inner wall of the storage groove through an L-shaped plate, the output shaft of the first motor is fixedly connected to a second rotating wheel, and a belt is provided between the first rotating wheel and the second rotating wheel.

[0009] Preferably, the rotating mechanism includes a second motor fixed to the bottom of the lifting plate, the output shaft of the second motor is rotatably connected to the lifting plate through a bearing, and is extended upward and fixed to a first gear, the top of the lifting plate is rotatably connected to a fixed column through a bearing, the outer side of the fixed column is fixed with a second gear, and the second gear is engaged with the first gear; the monitoring probe is fixed to the top of the fixed column.

[0010] Preferably, a cavity is provided inside the vehicle body; two fixed plates are fixed in the cavity, a worm is rotatably connected between the two fixed plates, and three spiral teeth are provided on the outer side of the worm; three cleaning brushes are rotatably connected to the inner wall of the cavity through a rotating shaft, and worm wheels are fixed on the outer wall of the rotating shaft, and the worm wheels are respectively engaged with the spiral teeth; the cleaning brushes are respectively in contact with the lenses of the monitoring probe; a third motor is provided at one end of the worm.

[0011] Preferably, an ultrasonic radar sensor, a distance sensor, an alarm and a warning light are installed on the front side wall of the vehicle body; the vehicle body is equipped with a control system, and the ultrasonic radar sensor, distance sensor, alarm and warning light are respectively connected to the control system signal; the monitoring probe is connected to the control system signal.

[0012] Preferably, two fixing sleeves are fixedly connected to the front side wall of the vehicle body, and springs and damping blocks are provided inside the fixing sleeves, and the spring sleeves are arranged on the outside of the damping block; a crossbeam is slidably connected inside the two fixing sleeves; one end of the crossbeam is installed on the damping block.

[0013] Preferably, connecting seats are fixedly connected on both sides of the vehicle body, and protective plates are fixedly connected to the outer side walls of the connecting seats; movable grooves are opened in the connecting seats; electric push rods are fixedly connected in the movable grooves, and the output ends of the electric push rods are fixedly connected to connecting plates, and the tops of the connecting plates are fixedly connected to racks; rotating rods are fixed on the load-bearing wheels, and the ends of the rotating rods away from the load-bearing wheels are rotatably connected in the movable grooves and fixed with half gears; the half gears are respectively engaged with the racks on the same sides.

[0014] Preferably, the racks are each provided with a limiting opening; the movable grooves are each fixedly connected with two limiting rods, and the limiting rods are slidably connected in the limiting openings.

[0015] The beneficial effects of the present invention are as follows: 1. The crawler robot vehicle with anti-collision function described in the present invention is equipped with a lifting mechanism, and a bidirectional ball screw is used to drive the movable plate to move in opposite directions, and the movable plate drives one end of the connecting rod to move. The two ends of the connecting rod are respectively connected by a pin shaft. Therefore, when the bottom end of the connecting rod moves, it rotates at the same time, thereby adjusting the height of the lifting plate; when the monitoring probe moves in the storage slot, the cover plate can be closed to store and preserve it, thereby realizing the protection function of the monitoring probe.

[0016] 2. The crawler-type robot vehicle with anti-collision function described in the present invention is provided with a cleaning brush. When stored, the worm is driven to rotate, and the worm drives the respective meshing worm wheels to rotate through the spiral teeth. The worm wheels drive the rotating shaft and the cleaning brush to rotate, and the cleaning brush is used to clean the dust on the surface of the lens to facilitate direct use next time.

[0017] 3. The tracked robotic vehicle with collision avoidance described in the present invention monitors the distance in front of the vehicle in real time through ultrasonic radar sensors and distance sensors, and the monitoring probe collects images or other environmental data. All sensors transmit data to the control system, which combines the sensor data to determine whether there is a collision risk in front of the vehicle and issues warnings and protective measures. Through the collaborative work of multiple sensors and centralized decision-making of the control system, comprehensive perception and rapid response to the environment in front of the vehicle are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] Figure 1 is a first stereogram of the present invention; Figure 2 is a second perspective view of the present invention; Figure 3 It is a cross-sectional view of the present invention; Figure 4 It is a structural schematic diagram of the lifting plate in the present invention; Figure 5 This is a schematic structural diagram of the first gear and the second gear in the present invention; Figure 6 It is a schematic structural diagram of the cleaning brush of the present invention; Figure 7 It is a structural schematic diagram of the rotating rod in the present invention; Figure 8 It is a cross-sectional schematic diagram of the fixing sleeve and the crossbeam in the present invention; In the figure: 1. Vehicle body; 11. Connecting seat; 12. Protective plate; 13. Movable groove; 14. Electric push rod; 15. Connecting plate; 16. Rack; 17. Limit rod; 18. Limit opening; 2. Track body; 21. Driving wheel; 22. Load-bearing wheel; 23. Rotating rod; 24. Half gear; 3. Ultrasonic radar sensor; 31. Distance sensor; 32. Siren; 33. Warning light; 4. Fixing sleeve; 41. Crossbeam; 42. Damping block; 43. Spring; 5. Storage slot; 51. Monitoring probe Head; 52, moving plate; 521, connecting rod; 522, connecting block; 523, lifting plate; 524, bidirectional ball screw; 525, guide rod; 526, first rotating wheel; 527, belt; 528, second rotating wheel; 529, first motor; 53, second motor; 531, first gear; 532, second gear; 533, fixing column; 54, cleaning brush; 541, cavity; 542, worm; 543, worm wheel; 544, fixing plate; 545, third motor; 55, cover plate. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] like Figures 1 to 4As shown, a crawler robot vehicle with an anti-collision function described in an embodiment of the present invention includes a vehicle body 1, a crawler body 2 is provided on both sides of the vehicle body 1, and three driving wheels 21 and a load-bearing wheel 22 are provided on the inner wall of the crawler body 2; the driving wheels 21 and the load-bearing wheels 22 are respectively rotatably connected to the vehicle body 1 through a rotating rod, and a storage groove 5 is provided on the top of the vehicle body 1, and a lifting mechanism is provided in the storage groove 5; the lifting mechanism includes a bidirectional ball screw 524 rotatably connected to the inner wall of the storage groove 5 through a bearing, and two movable plates 52 are symmetrically threaded on the bidirectional ball screw 524, and the tops of the movable plates 52 are both connected by pins. It is rotatably connected with a connecting rod 521; a lifting plate 523 is also provided inside the storage groove 5, and two connecting blocks 522 are symmetrically fixed to the bottom of the lifting plate 523. The top of the connecting rod 521 is rotatably connected to the connecting block 522 through a pin shaft, and a monitoring probe 51 is installed on the top of the lifting plate 523 through a rotating mechanism. Two guide rods 525 are fixed on the inner wall of the storage groove 5, and the movable plate 52 is slidably connected on the two guide rods 525; one end of the bidirectional ball screw 524 is provided with a driving mechanism; the top of the vehicle body 1 is slidably connected with a cover plate 55 through a slide rail, and the area of the cover plate 55 is larger than the area of the storage groove 5.

[0022] In the prior art, the monitoring module is not provided with a storage mechanism, resulting in the vehicle body not only occupying a large space during storage and transportation, but also being easily damaged by external force collisions, making it impossible to monitor obstacles. When the lifting mechanism provided by the present invention is in use, the driving mechanism is turned on to drive the bidirectional ball screw 524 to rotate. A ball seat is provided at the connection between the bidirectional ball screw 524 and the movable plate 52. The ball seat ensures the radial movement of the movable plate 52. Driven by the bidirectional ball screw 524, the movable plate 52 moves in the opposite direction, and the movable plate 52 drives one end of the connecting rod 521 to move. The two ends of the connecting rod 521 are respectively connected by a pin shaft. Therefore, when the bottom end of the connecting rod 521 moves, it rotates at the same time, thereby adjusting the height of the lifting plate 523. During the movement of the movable plate 52, the movable plate 52 slides on the guide rod 525, and the guide rod 525 limits the movable plate 52 to move in the horizontal direction. The lifting plate 523 drives the monitoring probe 51 to move through the rotating mechanism. When the monitoring probe 51 moves above the vehicle body 1, the shooting detection range can be changed by changing the height. When the monitoring probe 51 moves in the storage slot 5, the cover 55 can be closed to store and preserve it, thereby protecting the monitoring probe 51.

[0023] like Figure 4As shown, the driving mechanism includes a first rotating wheel 526 fixedly connected to one end of a bidirectional ball screw 524, a first motor 529 fixedly connected to the inner wall of the storage groove 5 through an L-shaped plate, the output shaft of the first motor 529 fixedly connected to a second rotating wheel 528, and a belt 527 is provided between the first rotating wheel 526 and the second rotating wheel 528.

[0024] The driving mechanism provided by the present invention is used to drive the bidirectional ball screw 524 to rotate when in use. By turning on the first motor 529, the second rotating wheel 528 is driven to rotate by the output shaft of the first motor 529, the belt 527 is driven to rotate by the second rotating wheel 528, the first rotating wheel 526 is driven to rotate by the belt 527, and the bidirectional ball screw 524 is driven to rotate by the first rotating wheel 526, thereby realizing the function of driving the bidirectional ball screw 524 to rotate.

[0025] like Figure 5 As shown, the rotating mechanism includes a second motor 53 fixedly connected to the bottom of the lifting plate 523, the output shaft of the second motor 53 is rotatably connected to the lifting plate 523 through a bearing, and is extended upward and fixedly connected to a first gear 531, the top of the lifting plate 523 is rotatably connected to a fixed column 533 through a bearing, the outer side of the fixed column 533 is fixedly connected to a second gear 532, and the second gear 532 is engaged with the first gear 531; the monitoring probe 51 is fixed to the top of the fixed column 533.

[0026] The rotating mechanism provided by the present invention is used to adjust the monitoring range when in use. By turning on the second motor 53, the output shaft of the first motor 529 drives the first gear 531 to rotate, which in turn drives the second gear 532 to rotate, which in turn drives the fixed column 533 to rotate, and which in turn drives the monitoring probe 51 to rotate, thereby changing the monitoring range and monitoring the surrounding environment in real time. This enables the robot to perceive the position, distance and motion state of obstacles in advance, adjust the driving direction or speed in time, avoid collisions, and ensure the safety of itself and surrounding people and objects; monitoring the surrounding environment helps the robot determine its own position and posture, and achieve more accurate navigation in combination with map information or positioning systems; different task scenarios have different requirements for the robot's driving, and monitoring the surrounding environment can enable the robot to flexibly adjust the driving mode and operation according to specific tasks and environmental conditions to better complete the task.

[0027] like Figure 3 and Figure 6As shown, a cavity 541 is provided inside the vehicle body 1; two fixed plates 544 are fixedly connected in the cavity 541, a worm 542 is rotatably connected between the two fixed plates 544, and three helical teeth are provided on the outer side of the worm 542; three cleaning brushes 54 are rotatably connected to the inner wall of the cavity 541 via a rotating shaft, and worm wheels 543 are fixedly connected to the outer wall of the rotating shaft, and the worm wheels 543 are respectively engaged with the helical teeth; the cleaning brushes 54 are respectively in contact with the lenses of the monitoring probe 51; a third motor 545 is provided at one end of the worm 542.

[0028] The cleaning brush 54 provided by the present invention is used to clean the lens of the monitoring probe 51 when in use. When stored, the third motor 545 is turned on, and the output shaft of the third motor 545 drives the worm 542 to rotate. The worm 542 drives the respective meshing worm wheels 543 to rotate through the spiral teeth, and the worm wheel 543 drives the rotating shaft and the cleaning brush 54 to rotate. The cleaning brush 54 cleans the dust on the surface of the lens to facilitate direct use next time.

[0029] like Figures 1 to 2 As shown, an ultrasonic radar sensor 3, a distance sensor 31, an alarm 32 and a warning light 33 are installed on the front side wall of the vehicle body 1; the vehicle body 1 is equipped with a control system, and the ultrasonic radar sensor 3, the distance sensor 31, the alarm 32 and the warning light 33 are respectively connected to the control system signal; the monitoring probe 51 is connected to the control system signal.

[0030] The control system provided by the present invention is used to receive and generate instructions when in use, monitor the distance in front of the vehicle body 1 in real time through the ultrasonic radar sensor 3 and the distance sensor 31, and the monitoring probe 51 collects images or other environmental data; all sensors transmit data to the control system; the control system combines the sensor data to determine whether there is an obstacle in front of the vehicle body 1, whether the distance is less than the safety threshold, or whether the environment is abnormal, if there is a risk of collision; trigger the alarm 32 and the warning light 33 to remind people around to avoid it; send instructions to the drive system of the vehicle body 1, such as emergency braking, adjusting the driving direction or reducing the speed; through the collaborative work of multiple sensors and centralized decision-making of the control system, comprehensive perception and rapid response of the environment in front of the vehicle body 1 are achieved.

[0031] like Figure 1 and Figure 8 As shown, two fixing sleeves 4 are fixedly connected to the front side wall of the vehicle body 1, and springs 43 and damping blocks 42 are provided inside the fixing sleeves 4, and the springs 43 are sleeved on the outside of the damping blocks 42; a crossbeam 41 is slidably connected inside the two fixing sleeves 4; one end of the crossbeam 41 is mounted on the damping block 42.

[0032] The crossbeam 41 provided by the present invention is used to protect the vehicle body 1 when in use. When an emergency danger occurs and the control system fails to issue instructions in time, causing the vehicle body 1 to collide, the buffer mechanism composed of the crossbeam 41, the damping block 42 and the spring 43 provides buffering to prevent damage to the vehicle body 1 caused by direct collision with the vehicle body 1.

[0033] like Figure 2 and Figure 7 As shown, connecting seats 11 are fixed on both sides of the vehicle body 1, and protective plates 12 are fixed to the outer walls of the connecting seats 11; movable grooves 13 are opened in the connecting seats 11; electric push rods 14 are fixed in the movable grooves 13, and the output ends of the electric push rods 14 are fixed to connecting plates 15, and the tops of the connecting plates 15 are fixed to racks 16; rotating rods 23 are fixed on the load-bearing wheels 22, and the ends of the rotating rods 23 away from the load-bearing wheels 22 are rotatably connected in the movable grooves 13 and are fixed with half gears 24; the half gears 24 are respectively engaged with the racks 16 on the same side.

[0034] When in use, the half gear 24 and the rack 16 provided by the present invention can adjust the tightness of the crawler body 2 according to different road requirements. By turning on the electric push rod 14, the connecting plate 15 is driven to move by the output end of the electric push rod 14, and the rack 16 is driven to move by the connecting plate 15. During the movement, the rack 16 drives the plate gear to rotate, and the rotating rod 23 is driven to rotate by the half gear 24, and the bearing wheel 22 is driven to rotate by the rotating rod 23. By adjusting the height of the bearing wheel 22, the tightness between the bearing wheel 22 and the crawler body 2 can be easily adjusted, thereby improving the stability of the vehicle body 1 movement.

[0035] like Figure 7 As shown, the racks 16 are each provided with a limiting opening 18 ; the movable slots 13 are each fixedly connected with two limiting rods 17 , and the limiting rods 17 are each slidably connected in the limiting opening 18 .

[0036] When the limiting rod 17 provided by the present invention is in use, the limiting opening 18 of the rack 16 slides outside the limiting rod 17 during the movement of the rack 16 , and the limiting rod 17 limits the rack 16 from moving in the horizontal direction.

[0037] Working principle: by turning on the first motor 529, the output shaft of the first motor 529 drives the second rotating wheel 528 to rotate, the second rotating wheel 528 drives the belt 527 to rotate, the belt 527 drives the first rotating wheel 526 to rotate, and the first rotating wheel 526 drives the bidirectional ball screw 524 to rotate, wherein a ball seat is provided at the connection between the bidirectional ball screw 524 and the movable plate 52, and the ball seat ensures the radial movement of the movable plate 52. Under the drive of the bidirectional ball screw 524, the movable plate 52 moves in the opposite direction, and the movable plate 52 drives one end of the connecting rod 521 to move, and the connecting rod 521 is rotated. The two ends are connected by pins, so the bottom end of the connecting rod 521 rotates simultaneously during movement, thereby adjusting the height of the lifting plate 523. During movement, the movable plate 52 slides on the guide rod 525, which limits the movable plate 52 to horizontal movement. The lifting plate 523 drives the monitoring probe 51 through the rotation mechanism. When the monitoring probe 51 moves above the vehicle body 1, the range of imaging detection can be changed by changing the height. When the monitoring probe 51 moves within the storage slot 5, the cover 55 can be closed to store and protect the monitoring probe 51. When storing, the third motor 545 is turned on, and the output shaft of the third motor 545 drives the worm 542 to rotate. The worm 542, through its helical teeth, drives the meshing worm gear 543 to rotate. The worm gear 543 drives the rotating shaft and the cleaning brush 54 to rotate. The cleaning brush 54 cleans dust from the surface of the lens, facilitating direct use next time.

[0038] By turning on the second motor 53, the output shaft of the first motor 529 drives the first gear 531 to rotate, which in turn drives the second gear 532 to rotate, which in turn drives the fixed column 533 to rotate, and which in turn drives the monitoring probe 51 to rotate, thereby changing the monitoring range and monitoring the surrounding environment in real time. This enables the robot to perceive the position, distance and motion state of obstacles in advance, adjust the driving direction or speed in time, avoid collisions, and ensure the safety of itself and surrounding people and objects; monitoring the surrounding environment helps the robot determine its own position and posture, and achieve more accurate navigation in combination with map information or positioning systems; different task scenarios have different requirements for the robot's driving, and monitoring the surrounding environment allows the robot to flexibly adjust the driving mode and operation according to specific tasks and environmental conditions to better complete the task.

[0039] The ultrasonic radar sensor 3 and the distance sensor 31 are used to monitor the distance in front of the vehicle body 1 in real time, and the monitoring probe 51 collects images or other environmental data; all sensors transmit data to the control system; the control system combines the sensor data to determine whether there is an obstacle in front of the vehicle body 1, whether the distance is less than the safety threshold, or whether the environment is abnormal, if there is a risk of collision; trigger the alarm 32 and the warning light 33 to remind people around to avoid it; send instructions to the drive system of the vehicle body 1, such as emergency braking, adjusting the driving direction or reducing the speed; through the collaborative work of multiple sensors and centralized decision-making of the control system, comprehensive perception and rapid response of the environment in front of the vehicle body 1 are achieved.

[0040] The tightness of the track body 2 is adjusted according to different road needs. By turning on the electric push rod 14, the connecting plate 15 is driven to move by the output end of the electric push rod 14, and the rack 16 is driven to move by the connecting plate 15. The rack 16 drives the plate gear to rotate during the movement, and the rotating rod 23 is driven to rotate by the half gear 24, and the bearing wheel 22 is driven to rotate by the rotating rod 23. By adjusting the height of the bearing wheel 22, it is easy to adjust the tightness between the bearing wheel 22 and the track body 2, thereby improving the stability of the vehicle body 1 movement.

[0041] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A crawler-type robot vehicle with an anti-collision function, comprising a vehicle body (1), a crawler body (2) provided on both sides of the vehicle body (1), three driving wheels (21) and a load-bearing wheel (22) provided on the inner wall of the crawler body (2); the driving wheels (21) and the load-bearing wheels (22) are rotatably connected to the vehicle body (1) via rotating rods, a receiving groove (5) is provided on the top of the vehicle body (1), and a lifting mechanism is provided in the receiving groove (5); Its characteristics are: The lifting mechanism comprises a bidirectional ball screw (524) rotatably connected to the inner wall of the storage groove (5) via a bearing, two movable plates (52) are symmetrically threaded on the bidirectional ball screw (524), and the tops of the movable plates (52) are rotatably connected to connecting rods (521) via pins; a lifting plate (523) is further provided inside the storage groove (5), and the bottom of the lifting plate (523) is symmetrically fixed to two connecting blocks (522), and the tops of the connecting rods (521) are rotatably connected via pins. The lifting plate (523) is rotatably connected to the connecting block (522), and a monitoring probe (51) is installed on the top of the lifting plate (523) through a rotating mechanism. Two guide rods (525) are fixed to the inner wall of the storage groove (5), and the movable plate (52) is slidably connected on the two guide rods (525); one end of the bidirectional ball screw (524) is provided with a driving mechanism; the top of the vehicle body (1) is slidably connected to a cover plate (55) through a slide rail, and the area of the cover plate (55) is larger than the area of the storage groove (5).

2. The crawler robot vehicle with anti-collision function according to claim 1, characterized in that: The driving mechanism comprises a first rotating wheel (526) fixedly connected to one end of a bidirectional ball screw (524); a first motor (529) is fixedly connected to the inner wall of the receiving groove (5) via an L-shaped plate; an output shaft of the first motor (529) is fixedly connected to a second rotating wheel (528); and a belt (527) is sleeved between the first rotating wheel (526) and the second rotating wheel (528).

3. The crawler robot vehicle with anti-collision function according to claim 2, characterized in that: The rotating mechanism includes a second motor (53) fixedly connected to the bottom of the lifting plate (523); the output shaft of the second motor (53) is rotatably connected to the lifting plate (523) through a bearing, and is extended upwardly and fixedly connected to a first gear (531); the top of the lifting plate (523) is rotatably connected to a fixed column (533) through a bearing, the outer side of the fixed column (533) is fixedly connected to a second gear (532), and the second gear (532) is meshed with the first gear (531); the monitoring probe (51) is fixedly connected to the top of the fixed column (533).

4. The crawler-type robot vehicle with anti-collision function according to claim 3, characterized in that: A cavity (541) is provided inside the vehicle body (1); two fixing plates (544) are fixedly connected in the cavity (541); a worm (542) is rotatably connected between the two fixing plates (544); three helical teeth are provided on the outer side of the worm (542); three cleaning brushes (54) are rotatably connected to the inner wall of the cavity (541) via a rotating shaft; worm wheels (543) are fixedly connected to the outer wall of the rotating shaft; the worm wheels (543) are respectively engaged with the helical teeth; the cleaning brushes (54) are respectively in contact with the lens of the monitoring probe (51); and a third motor (545) is provided at one end of the worm (542).

5. The crawler-type robot vehicle with anti-collision function according to claim 4, characterized in that: An ultrasonic radar sensor (3), a distance sensor (31), an alarm (32) and a warning light (33) are installed on the front side wall of the vehicle body (1); the vehicle body (1) is provided with a control system, and the ultrasonic radar sensor (3), the distance sensor (31), the alarm (32) and the warning light (33) are respectively connected to the control system signal; the monitoring probe (51) is connected to the control system signal.

6. The crawler-type robot vehicle with anti-collision function according to claim 5, characterized in that: Two fixing sleeves (4) are fixedly connected to the front side wall of the vehicle body (1), and a spring (43) and a damping block (42) are provided inside the fixing sleeves (4), and the spring (43) is sleeved on the outside of the damping block (42); a crossbeam (41) is slidably connected inside the two fixing sleeves (4); and one end of the crossbeam (41) is mounted on the damping block (42).

7. The crawler-type robot vehicle with anti-collision function according to claim 6, characterized in that: Both sides of the vehicle body (1) are fixedly connected with a connecting seat (11), and the outer side wall of the connecting seat (11) is fixedly connected with a protective plate (12); a movable groove (13) is opened in the connecting seat (11); an electric push rod (14) is fixedly connected in the movable groove (13), the output end of the electric push rod (14) is fixedly connected with a connecting plate (15), and the top of the connecting plate (15) is fixedly connected with a rack (16); a rotating rod (23) is fixedly connected to the load-bearing wheel (22), and one end of the rotating rod (23) away from the load-bearing wheel (22) is rotatably connected in the movable groove (13) and fixedly connected with a half gear (24); the half gear (24) is respectively engaged with the rack (16) on the same side.

8. The tracked robot vehicle with anti-collision function according to claim 7, characterized in that: The racks (16) are each provided with a limiting opening (18); two limiting rods (17) are fixedly connected in the movable groove (13), and the limiting rods (17) are slidably connected in the limiting opening (18).

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