A tracked rescue robot

Abstract

The present application relates to the field of robot technology, especially to a caterpillar type rescue robot, comprising a vehicle body, a plurality of caterpillar modules are arranged on the vehicle body, a support arm is rotatably arranged between each caterpillar module and the vehicle body, the support arm is connected with the vehicle body through a rotating shaft, a main push rod is obliquely rotatably arranged on the support arm along the length direction of the support arm, the end of the main push rod is rotatably connected with the vehicle body, a limiting rod is parallelly arranged on the support arm along the length direction of the support arm, the end of the limiting rod is telescopically abutted with the caterpillar module, a reference rod is parallelly arranged on the support arm along the rotating shaft, the end of the reference rod is telescopically abutted with the vehicle body, a sensing system for acquiring environmental image information is arranged on the vehicle body, and a control system is arranged in the vehicle body and is in control connection with the main push rod, the limiting rod, the reference rod and the sensing system. The present application realizes high adaptive adjustment and can satisfy the passability of complex terrain and the reliability of robot operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a tracked rescue robot. Background Technology

[0002] In unstructured disaster scenarios such as earthquake rubble, mine collapses, and building collapses, the ground is typically characterized by irregular accumulation, significant slope variations, and confined spaces. Traditional manual rescue often faces the threat of secondary disasters, and traditional mobile robots struggle to operate stably in such environments. Therefore, tracked rescue robots with strong terrain adaptability have become a primary technological means for entering dangerous areas to conduct exploration and operations.

[0003] In existing technologies, tracked rescue robots typically employ fixed tracked chassis or structures with swing arms. These swing arms rotate around an axis to enhance obstacle-crossing capabilities, while visual or distance sensors provide basic environmental perception and obstacle avoidance, improving traversal performance in complex terrain to some extent. However, the technology still has significant shortcomings: First, the tracked structure has a fixed topology or only a single degree of freedom for adjustment, making it difficult to reconfigure the overall structure according to complex terrain; second, the center of gravity is not adjustable, making it prone to tipping over on slopes or under unstable support conditions; third, sensory information is not effectively integrated into structural adjustments, resulting in a largely passive response and difficulty adapting to complex and changing environments.

[0004] The invention disclosed in CN119239456A is a power obstacle-crossing inspection robot, including a triangular track obstacle-crossing leveling motion platform and a dual-arm collaborative visual servo maintenance system. The dual-arm collaborative visual servo maintenance system is mounted on the triangular track obstacle-crossing leveling motion platform. Using tilt signals from the vehicle's attitude sensors, the controller controls electric leveling push rods to adjust the upper leveling platform, ensuring the stability of the triangular track obstacle-crossing leveling motion platform and keeping the dual-arm collaborative visual servo maintenance system in a horizontal position. While the combined use of the motor reduction drive module and the triangular track motion module improves the robot's passability, its adaptive adjustment capability for complex terrain is insufficient, making it difficult to guarantee passability on complex terrain and the reliability of robot operation. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a tracked rescue robot that achieves high adaptive adjustment and can meet the requirements of traversing complex terrain and ensuring reliable robot operation.

[0006] To achieve the above objectives, the present invention provides a tracked rescue robot, comprising a vehicle body, on which multiple track modules are arrayed. Each track module is rotatably connected to the vehicle body via a support arm, which is connected to the vehicle body via a pivot. A main push rod is rotatably mounted on the support arm along its length, with its end rotatably connected to the vehicle body. A limiting rod is parallel to the support arm along its length, with its end extending and retracting into contact with the track module. A reference rod is parallel to the pivot on the support arm, with its end extending and retracting into contact with the vehicle body. The vehicle body is equipped with a sensing system for acquiring environmental image information, and the vehicle body is equipped with a control system that is controlled and connected to the main push rod, the limiting rod, the reference rod, and the sensing system.

[0007] Optionally, the tracked rescue robot also includes two working arm modules, which are symmetrically arranged on both sides of the vehicle body and are telescopically and rotatably connected to the vehicle body.

[0008] Optionally, the working arm module includes a base, a working arm assembly, a first drive rod, and an actuator. The base is mounted on the vehicle body, and the working arm assembly is rotatably mounted on the base. The two ends of the first drive rod are respectively hinged to the base and the working arm assembly to drive the working arm assembly to swing. The actuator is rotatably mounted on the end of the working arm assembly away from the base, and a second drive rod is hinged between the actuator and the working arm assembly.

[0009] In this invention, the first drive rod is used to drive the working arm assembly to rotate relative to the base, and the second drive rod is used to drive the actuator to rotate relative to the working arm assembly, thereby controlling the extension position of the actuator more flexibly.

[0010] Optionally, the working arm assembly includes a telescopic arm, a segmented arm, and a third drive rod. The fixed end of the telescopic arm is rotatably connected to the base via the first drive rod. The segmented arm is rotatably disposed at the telescopic end of the telescopic arm. The two ends of the third drive rod are rotatably connected to the telescopic arm and the segmented arm, respectively. The swing plane of the telescopic arm is a horizontal plane, and the swing plane of the segmented arm is a vertical plane. A counterweight is fixedly disposed inside the segmented arm.

[0011] In this invention, the swinging motion of the telescopic arm and the segmented arm in space, as well as the telescopic arm's telescopic movement, enable the counterweight block set in the segmented arm to flexibly adjust the center of gravity of the working arm module, thereby achieving the adjustment of the robot's overall center of gravity. When the robot tilts or its support state changes, the overall mass distribution is adjusted in real time to ensure that the center of gravity is always within the stable support area, thereby improving the robot's stability and reducing the risk of tipping over.

[0012] Optionally, the sensing system includes a gimbal bracket, a visual sensing unit, a distance sensing unit, and an attitude detection unit. The gimbal bracket is disposed on the top front side of the vehicle body. The visual sensing unit is disposed on the gimbal bracket. The gimbal bracket includes four parallel and spaced support rods and a fourth drive rod. The four support rods form a three-dimensional parallelogram structure. The two ends of the four support rods are respectively hinged to the vehicle body and the visual sensing unit. The two ends of the fourth drive rod are hinged to the vehicle body and the visual sensing unit, and are used to drive the visual sensing unit to translate. The distance sensing unit and the attitude detection unit are disposed on the vehicle body.

[0013] In this invention, the fourth drive rod is used to drive the visual sensing unit to swing. Since the visual sensing unit is connected to the vehicle body through four support rods, and the four support rods form a spatial parallelogram structure, when the ends of the four support rods connected to the vehicle body swing under the action of the fourth drive rod, the visual sensing unit connected to the other end of the four support rods will only produce component motions in the horizontal and vertical directions along the swing direction, so as to ensure that the visual sensing unit can acquire environmental image information at different angles. The distance sensing unit is used to acquire distance information of obstacles in front of the robot, so that the control system can generate control strategies for the main push rod, limit rod, and reference rod after data analysis, to ensure the robot's passability. The attitude detection unit is used to acquire the robot's pitch angle and roll angle attitude parameters in real time, so that the control system can generate control strategies for the working arm module after data analysis, to ensure the robot's stability.

[0014] Optionally, the control system includes a data processing unit and a control algorithm module, and is configured to perform the following control steps:

[0015] S1: Receive environmental and attitude data from the visual sensing unit, the distance sensing unit, and the attitude detection unit;

[0016] S2: Perform fusion analysis on the environmental and attitude data to determine the current terrain status and the attitude of the tracked rescue robot;

[0017] S3: When an obstacle or terrain change is detected ahead, the main push rod, the limiting rod and the reference rod are driven in advance to adjust the attitude of the track module;

[0018] S4: When the tilt angle of the tracked rescue robot exceeds the set threshold, drive the main push rod, the limit rod and the reference rod to adjust the support posture of the track module and expand the support area; and drive the two working arm modules to rotate in the opposite direction of tilt to change the center of mass position of the tracked rescue robot.

[0019] Optionally, the track module includes a track support, on which a drive wheel and a driven wheel are rotatably mounted. The drive wheel is driven to rotate by a motor. A track body is wound around the drive wheel and the driven wheel. The support arm is rotatably connected to the outer side of the track support through a hinge seat. The control system is connected to the motor control system.

[0020] Optionally, the vehicle body includes an upper shell, a lower support frame, and a protective cover. The bottom of the lower support frame is provided with a reinforcing beam extending along the length of the vehicle body. Multiple mounting seats are arranged in an array on the reinforcing beam. The end of the main push rod is hinged to the corresponding mounting seat. The protective cover is disposed between the upper shell and the lower support frame and encloses a receiving cavity. The receiving cavity is used to lay out the wiring for driving the main push rod, the limiting rod, and the reference rod.

[0021] In this invention, the reinforcing beam is used to provide the mounting base for the main push rod. The protective cover not only protects the internal structure of the vehicle body, but also accommodates the flexible drag chain structure integrated inside the vehicle body through the accommodating chamber formed by the upper shell and the lower load-bearing frame, thus avoiding wiring wear and pulling caused by large angle changes when the main push rod drives the track module.

[0022] Optionally, the reinforcing beam is an I-shaped or honeycomb alloy structure.

[0023] In this invention, the reinforcing beam with an I-shaped or honeycomb alloy structure has high torsional stiffness, which can meet the installation requirements of the main push rod.

[0024] Optionally, the protective cover has a perforated structure for heat dissipation.

[0025] In this invention, the perforated protective cover not only facilitates heat dissipation inside the vehicle body, but also contributes to the lightweight design of the vehicle body.

[0026] Beneficial effects:

[0027] The track module of this invention is rotatably connected to the vehicle body via a support arm. The rotatable connection between the support arm and the vehicle body constitutes the main rotational degree of freedom. The extension and retraction of the main push rod drives the support arm to rotate relative to the vehicle body, thereby changing the angle between the track module and the vehicle body and adjusting the vehicle height, ground clearance, and overall center of gravity. The extension and retraction of the limiting rod changes the distance between its free end and the track module, limiting the swing range of the track module. When the free end of the limiting rod abuts against the track module, it forms a mechanical limit to prevent the track module from continuing to deflect. Since the length of the limiting rod is adjustable, the maximum allowable swing angle of the track module can be changed according to actual needs to adapt to different terrain conditions. The reference rod is used to constrain the lateral movement between the track module and the vehicle body. When the robot travels on slopes, obstacle areas, or complex road surfaces, it limits the lateral deflection range of the track module and avoids interference and collision between the track module and the vehicle body. Through the cooperation of the main push rod, the limiting rod, and the reference rod, the robot's passability in complex terrain and the overall reliability of operation are improved. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of a tracked rescue robot;

[0030] Figure 2 This is a front view structural diagram of a tracked rescue robot;

[0031] Figure 3 This is a schematic diagram of a side cross-sectional view of a tracked rescue robot;

[0032] Figure 4 This is a schematic diagram of the structure of a tracked rescue robot from below.

[0033] Figure 5 This is a structural schematic diagram of the boom module;

[0034] Figure 6 This is a schematic diagram of the installation structure of the outrigger and track module, as well as the main push rod, limit rod, and reference rod.

[0035] Figure label:

[0036] 1. Vehicle body; 11. Upper shell; 12. Lower load-bearing frame; 13. Protective cover; 14. Reinforcing beam; 15. Mounting seat; 2. Track module; 21. Track bracket; 22. Track body; 3. Boom; 4. Main push rod; 5. Limiting rod; 6. Reference rod; 7. Working arm module; 71. Base; 72. Working arm assembly; 721. Telescopic boom; 722. Segmented boom; 723. Third drive rod; 73. First drive rod; 74. Actuator; 75. Second drive rod; 81. Gimbal bracket; 811. Support rod; 812. Fourth drive rod; 82. Vision sensing unit; 83. Distance sensing unit; 84. Attitude detection unit.

[0037] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0040] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] See Figure 1 and Figure 2According to a tracked rescue robot of the present invention, a vehicle body 1 is provided, on which a plurality of track modules 2 are arrayed. Each track module 2 is rotatably connected to the vehicle body 1 with a support arm 3. The support arm 3 is connected to the vehicle body 1 via a pivot. A main push rod 4 is obliquely rotatably mounted on the support arm 3 along its length direction. The end of the main push rod 4 is rotatably connected to the vehicle body 1. A limiting rod 5 is parallel to the support arm 3 along its length direction. The end of the limiting rod 5 is telescopically abutting against the track module 2. A reference rod 6 is parallel to the pivot on the support arm 3. The end of the reference rod 6 is telescopically abutting against the vehicle body 1. The vehicle body 1 is provided with a sensing system for acquiring environmental image information. The vehicle body 1 is provided with a control system that is controlled and connected to the main push rod 4, the limiting rod 5, the reference rod 6 and the sensing system.

[0042] In this invention, the track module 2 is rotatably connected to the vehicle body 1 via the support arm 3. The rotatable connection between the support arm 3 and the vehicle body 1 constitutes the main rotational degree of freedom. The telescopic movement of the main push rod 4 drives the support arm 3 to rotate relative to the vehicle body 1, thereby changing the angle between the track module 2 and the vehicle body 1, and realizing the adjustment of the height of the vehicle body 1, ground clearance, and the position of the overall center of gravity. The telescopic movement of the limiting rod 5 causes the distance between its free end and the track module 2 to change, which can limit the swing range of the track module 2. When the free end of the limiting rod 5 abuts against the track module 2, it can form a mechanical limit to prevent the track module 2 from continuing to deflect. Since the length of the limiting rod 5 is adjustable, the maximum allowable swing angle of the track module 2 can be changed according to actual needs to adapt to different terrain conditions. The reference rod 6 is used to constrain the lateral movement between the track module 2 and the vehicle body 1. When the robot travels on slopes, obstacle areas, or complex road surfaces, it limits the lateral deflection range of the track module 2 and avoids interference and collision between the track module 2 and the vehicle body 1. The cooperation of the main push rod 4, the limit rod 5, and the reference rod 6 improves the robot's passability in complex terrain and the reliability of its overall operation.

[0043] Specifically, when the main push rod 4 extends, it pushes the support arm 3 to unfold outward, causing the track module 2 to swing upward relative to the vehicle body 1. At this time, the overall height of the vehicle body 1 decreases, the ground clearance decreases, the center of gravity of the whole machine drops, and the stability is improved. This state is suitable for flat ground, high-speed driving, or working conditions that require improved anti-overturning ability, and can effectively reduce the risk of side tilting when turning or accelerating and decelerating. When the main push rod 4 shortens, it drives the support arm 3 to retract inward, and the track module 2 swings downward relative to the vehicle body 1. At this time, the overall height of the vehicle body 1 is raised, the ground clearance increases, and the robot can obtain better obstacle crossing ability and terrain adaptability. It can be used to cross complex terrains such as steps, gravel, and ditches, and its passability is improved. Since the two ends of the main push rod 4 are in a hinged constraint state during the operation, the main push rod 4 itself can form a strong axial support. When the main push rod 4 stops moving, it can generate a certain self-locking torque, so that the track module 2 can be stably maintained in the target posture, and will not rebound or sink due to the weight of the vehicle body 1 or external disturbances, thus improving the posture stability of the robot in static and low-speed conditions.

[0044] Specifically, when the limiting rod 5 extends, its contact position with the track module 2 is advanced, and the swing angle of the track module 2 is reduced. At this time, the range of motion of the track module 2 is more strictly limited, the posture of the vehicle body 1 is more stable, and the track sway amplitude is reduced. This is suitable for high-speed driving, flat ground or high stability conditions, and can reduce the risk of side tilt during sharp turns or high-speed driving. When the limiting rod 5 shortens, its contact position with the track module 2 is moved backward, and the track module 2 can obtain a larger swing stroke. At this time, the track module 2 can generate a larger angle of up and down swing, the track's ability to conform to complex terrain is enhanced, the obstacle crossing ability and terrain adaptability are improved, and the ground impact can be better buffered. This is suitable for rough roads, slopes and complex obstacle environments. In this mode, the track module 2's adaptability to terrain can be improved, and the robot can maintain better ground contact and traction on uneven ground.

[0045] Specifically, when the robot travels on slopes, obstacle areas, or complex road surfaces, the track module 2 may experience lateral deviation or tilting due to uneven force. If the deviation is too large, the track module 2 may interfere with or collide with the vehicle body 1, leading to jamming or structural damage. The reference rod 6 defines the lateral limit movement space, thereby limiting the lateral deviation range of the track module 2, blocking abnormal lateral displacement, preventing the track module 2 from colliding and interfering with the vehicle body 1, providing an auxiliary load-bearing fulcrum in the tilting state, and improving the lateral movement stability of the robot. When the robot is subjected to lateral impact, the reference rod 6 can play a certain buffering role, keeping the track module 2 within the safe movement area.

[0046] See Figure 1In some embodiments of the present invention, the tracked rescue robot further includes two working arm modules 7, which are symmetrically arranged on both sides of the vehicle body 1 and are telescopically and rotatably connected to the vehicle body 1.

[0047] See Figure 5 In some embodiments of the present invention, the working arm module 7 includes a base 71, a working arm assembly 72, a first drive rod 73, and an actuator 74. The base 71 is disposed on the vehicle body 1, the working arm assembly 72 is rotatably disposed on the base 71, the two ends of the first drive rod 73 are respectively hinged to the base 71 and the working arm assembly 72, and are used to drive the working arm assembly 72 to swing. The actuator 74 is rotatably disposed at the end of the working arm assembly 72 away from the base 71, and a second drive rod 75 is hinged between the actuator 74 and the working arm assembly 72.

[0048] In this invention, the first drive rod 73 is used to drive the working arm assembly 72 to rotate relative to the base 71, and the second drive rod 75 is used to drive the actuator 74 to rotate relative to the working arm assembly 72, thereby controlling the extension position of the actuator 74 more flexibly.

[0049] See Figure 5 In some embodiments of the present invention, the working arm assembly 72 includes a telescopic arm 721, a segmented arm 722, and a third drive rod 723. The fixed end of the telescopic arm 721 is rotatably connected to the base 71 via the first drive rod 73. The segmented arm 722 is rotatably disposed at the telescopic end of the telescopic arm 721. The two ends of the third drive rod 723 are rotatably connected to the telescopic arm 721 and the segmented arm 722, respectively. The swing plane of the telescopic arm 721 is a horizontal plane, and the swing plane of the segmented arm 722 is a vertical plane. A counterweight is fixedly disposed inside the segmented arm 722.

[0050] In this invention, the swinging motion of the telescopic arm 721 and the segmented arm 722 in space, as well as the telescopic motion of the telescopic arm 721, enable the counterweight block set in the segmented arm 722 to flexibly adjust the center of gravity position of the working arm module 7, thereby realizing the adjustment of the center of gravity position of the robot as a whole. When the robot tilts or the support state changes, the center of gravity is always kept in the stable support area by adjusting the mass distribution of the whole machine in real time, thereby improving the stability of the robot and reducing the risk of tipping over.

[0051] See Figures 1 to 4In some embodiments of the present invention, the sensing system includes a gimbal bracket 81, a visual sensing unit 82, a distance sensing unit 83, and an attitude detection unit 84. The gimbal bracket 81 is disposed on the top front side of the vehicle body 1, and the visual sensing unit 82 is disposed on the gimbal bracket 81. The gimbal bracket 81 includes four parallel and spaced support rods 811 and a fourth drive rod 812. The four support rods 811 form a three-dimensional parallelogram structure. The two ends of the four support rods 811 are respectively hinged to the vehicle body 1 and the visual sensing unit 82. The two ends of the fourth drive rod 812 are hinged to the vehicle body 1 and the visual sensing unit 82, and are used to drive the visual sensing unit 82 to translate. The distance sensing unit 83 and the attitude detection unit 84 are disposed on the vehicle body 1.

[0052] In this invention, the fourth drive rod 812 is used to drive the visual sensing unit 82 to swing. Since the visual sensing unit 82 is connected to the vehicle body 1 through four support rods 811, and the four support rods 811 form a spatial parallelogram structure, when the ends of the four support rods 811 connected to the vehicle body 1 swing under the action of the fourth drive rod 812, the visual sensing unit 82 connected to the other end of the four support rods 811 will only produce component movements in the horizontal and vertical directions along the swing direction, so as to ensure that the visual sensing unit 82 can acquire environmental image information at different angles. The distance sensing unit 83 is used to acquire the distance information of obstacles in front of the robot, so that the control system can generate control strategies for the main push rod 4, the limit rod 5, and the reference rod 6 after data analysis, so as to ensure the robot's passability. The attitude detection unit 84 is used to acquire the attitude parameters of the robot's pitch angle and roll angle in real time, so that the control system can generate control strategies for the working arm module 7 after data analysis, so as to ensure the robot's stability.

[0053] Specifically, the visual sensing unit 82 uses an OV7725 visual sensor, the distance sensing unit 83 uses a VL53L1X sensor, and the attitude detection unit 84 uses a WitMotion JY901B (serial port version).

[0054] In some embodiments of the present invention, the control system includes a data processing unit and a control algorithm module, and is configured to perform the following control steps:

[0055] S1: Receive environmental and attitude data from the visual sensing unit 82, the distance sensing unit 83, and the attitude detection unit 84;

[0056] S2: Perform fusion analysis on the environmental and attitude data to determine the current terrain status and the attitude of the tracked rescue robot;

[0057] S3: When an obstacle or terrain change is detected ahead, the main push rod 4, the limiting rod 5 and the reference rod 6 are driven in advance to adjust the attitude of the track module 2;

[0058] S4: When the tilt angle of the tracked rescue robot exceeds the set threshold, drive the main push rod 4, the limit rod 5 and the reference rod 6 to adjust the support posture of the track module 2 and expand the support area; and drive the two working arm modules 7 to rotate in the opposite direction of tilt to change the center of gravity position of the tracked rescue robot.

[0059] See Figure 6 In some embodiments of the present invention, the track module 2 includes a track support 21, on which a drive wheel and a driven wheel are rotatably mounted. The drive wheel is driven to rotate by a motor. A track body 22 is wrapped around the drive wheel and the driven wheel. The support arm 3 is rotatably connected to the outer side of the track support 21 through a hinge seat. The control system is connected to the motor control system.

[0060] See Figure 1 In some embodiments of the present invention, the vehicle body 1 includes an upper housing 11, a lower support frame 12, and a protective cover 13. The bottom of the lower support frame 12 is provided with a reinforcing beam 14 extending along the length direction of the vehicle body 1. Multiple mounting seats 15 are arranged in an array on the reinforcing beam 14. The end of the main push rod 4 is hinged to the corresponding mounting seat 15. The protective cover 13 is disposed between the upper housing 11 and the lower support frame 12 and encloses a receiving cavity. The receiving cavity is used to lay out the wiring for driving the main push rod 4, the limiting rod 5, and the reference rod 6.

[0061] In this invention, the reinforcing beam 14 is used to provide the mounting base for the main push rod 4. The protective cover 13 not only protects the internal structure of the vehicle body 1, but also accommodates the flexible drag chain structure integrated inside the vehicle body 1 through the accommodating chamber formed by the upper shell 11 and the lower bearing frame 12, thus avoiding the wiring wear and pulling caused when the main push rod 4 drives the track module 2 to produce large angle changes.

[0062] See Figure 4 In some embodiments of the present invention, the reinforcing beam 14 is an I-shaped or honeycomb alloy structure.

[0063] In this invention, the reinforcing beam 14 with an I-shaped or honeycomb alloy structure has high torsional stiffness, which can meet the installation requirements of the main push rod 4.

[0064] See Figure 1 In some embodiments of the present invention, the protective cover 13 is provided with a hollow structure for heat dissipation.

[0065] In this invention, the hollowed-out protective cover 13 not only facilitates heat dissipation inside the vehicle body 1, but also contributes to the lightweight design of the vehicle body 1.

[0066] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A tracked rescue robot, characterized in that, The vehicle includes a vehicle body (1), on which multiple track modules (2) are arranged in an array. Each track module (2) is rotatably connected to the vehicle body (1) with a support arm (3). The support arm (3) is connected to the vehicle body (1) via a pivot. A main push rod (4) is rotatably arranged on the support arm (3) along its length direction. The end of the main push rod (4) is rotatably connected to the vehicle body (1). A limiting rod (5) is arranged parallel to the support arm (3) along its length direction. The end of the limiting rod (5) is telescopically abutted against the track module (2). A reference rod (6) is arranged parallel to the pivot on the support arm (3). The end of the reference rod (6) is telescopically abutted against the vehicle body (1). The vehicle body (1) is equipped with a sensing system for acquiring environmental image information. The vehicle body (1) is equipped with a control system that is connected to the main push rod (4), the limiting rod (5), the reference rod (6), and the sensing system.

2. The tracked rescue robot according to claim 1, characterized in that, The tracked rescue robot also includes two working arm modules (7), which are symmetrically arranged on both sides of the vehicle body (1) and are telescopically and rotatably connected to the vehicle body (1).

3. A tracked rescue robot according to claim 2, characterized in that, The working arm module (7) includes a base (71), a working arm assembly (72), a first drive rod (73), and an actuator (74). The base (71) is mounted on the vehicle body (1). The working arm assembly (72) is rotatably mounted on the base (71). The two ends of the first drive rod (73) are respectively hinged to the base (71) and the working arm assembly (72) to drive the working arm assembly (72) to swing. The actuator (74) is rotatably mounted at the end of the working arm assembly (72) away from the base (71). A second drive rod (75) is hinged between the actuator (74) and the working arm assembly (72).

4. A tracked rescue robot according to claim 3, characterized in that, The working arm assembly (72) includes a telescopic arm (721), a segmented arm (722), and a third drive rod (723). The fixed end of the telescopic arm (721) is rotatably connected to the base (71) through the first drive rod (73). The segmented arm (722) is rotatably disposed at the telescopic end of the telescopic arm (721). The two ends of the third drive rod (723) are rotatably connected to the telescopic arm (721) and the segmented arm (722), respectively. The swing plane of the telescopic arm (721) is a horizontal plane, and the swing plane of the segmented arm (722) is a vertical plane. A counterweight is fixedly disposed inside the segmented arm (722).

5. A tracked rescue robot according to claim 2, characterized in that, The sensing system includes a gimbal bracket (81), a visual sensing unit (82), a distance sensing unit (83), and an attitude detection unit (84). The gimbal bracket (81) is located on the top front side of the vehicle body (1). The visual sensing unit (82) is located on the gimbal bracket (81). The gimbal bracket (81) includes four parallel and spaced support rods (811) and a fourth drive rod (812). The four support rods (811) form a three-dimensional parallelogram structure. The two ends of the four support rods (811) are respectively hinged to the vehicle body (1) and the visual sensing unit (82). The two ends of the fourth drive rod (812) are hinged to the vehicle body (1) and the visual sensing unit (82) to drive the visual sensing unit (82) to translate. The distance sensing unit (83) and the attitude detection unit (84) are located on the vehicle body (1).

6. A tracked rescue robot according to claim 5, characterized in that, The control system includes a data processing unit and a control algorithm module, and is configured to execute the following control steps: S1: Receive environmental and attitude data from the visual sensing unit (82), the distance sensing unit (83), and the attitude detection unit (84); S2: Perform fusion analysis on the environmental and attitude data to determine the current terrain status and the attitude of the tracked rescue robot; S3: When an obstacle or terrain change is detected ahead, the main push rod (4), the limiting rod (5) and the reference rod (6) are driven in advance to adjust the attitude of the track module (2); S4: When the tilt angle of the tracked rescue robot exceeds the set threshold, drive the main push rod (4), the limit rod (5) and the reference rod (6) to adjust the support posture of the track module (2) and expand the support area; and drive the two working arm modules (7) to rotate in the opposite direction of tilt to change the center of mass position of the tracked rescue robot.

7. A tracked rescue robot according to claim 1, characterized in that, The track module (2) includes a track support (21), on which a drive wheel and a driven wheel are rotatably mounted. The drive wheel is driven to rotate by a motor. The track body (22) is wrapped around the drive wheel and the driven wheel. The support arm (3) is rotatably connected to the outer side of the track support (21) through a hinge seat. The control system is connected to the motor control.

8. A tracked rescue robot according to claim 1, characterized in that, The vehicle body (1) includes an upper shell (11), a lower support frame (12) and a protective cover (13). The bottom of the lower support frame (12) is provided with a reinforcing beam (14) extending along the length direction of the vehicle body (1). Multiple mounting seats (15) are arranged in an array on the reinforcing beam (14). The end of the main push rod (4) is hinged to the corresponding mounting seat (15). The protective cover (13) is arranged between the upper shell (11) and the lower support frame (12) and encloses to form a receiving cavity. The receiving cavity is used to lay out the wiring for driving the main push rod (4), the limiting rod (5) and the reference rod (6).

9. A tracked rescue robot according to claim 8, characterized in that, The reinforcing beam (14) is an I-shaped or honeycomb alloy structure.

10. A tracked rescue robot according to claim 8, characterized in that, The protective cover (13) has a perforated structure for heat dissipation.

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