Crawler-type investigation robot capable of swinging arms
By introducing a tracked structure with a swing arm into the reconnaissance robot, the problem of insufficient mobility of existing reconnaissance robots has been solved, achieving high mobility and stability in complex terrain, and improving mobility and safety.
Patent Information
- Application Number
- CN202520158208.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-23
- Publication Date
- 2026-01-06
- Estimated Expiration
- 2035-01-23
AI Technical Summary
Existing reconnaissance robots mainly use wheeled or fixed tracked chassis with fixed ground clearance, which limits their mobility and makes it difficult for them to move in complex terrain.
The design employs a swing-arm structure, including a power unit, a superstructure unit, and a swing-arm unit. The independent swing arm of the tracked chassis is achieved through a swing-arm motor and a swing-arm reducer, enhancing passability and stability.
It achieves high mobility and stability in complex terrain, enabling it to flexibly pass through obstacles and improving the reconnaissance robot's mobility and safety.
Smart Images
Figure CN223764577U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of reconnaissance robot technology, and in particular to a tracked reconnaissance robot with a swing arm. Background Technology
[0002] Reconnaissance robots are playing an increasingly important role in various fields, including military, security, environmental protection, firefighting, and factories. They are capable of performing high-risk missions, providing real-time intelligence, improving security levels, monitoring environmental conditions, and conducting routine inspections.
[0003] Although reconnaissance robots have wide applications in many fields, existing reconnaissance robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited mobility. When encountering high obstacles, these robots often cannot pass through, limiting their ability to move in complex terrain.
[0004] With the rapid development of technology, the performance requirements for reconnaissance robots are constantly increasing. Especially in high-risk fields such as military and firefighting, higher demands are placed on the robot's mobility and stability. Therefore, developing a reconnaissance robot capable of adapting to complex terrain and possessing high mobility and stability has become an important direction for technological development. Utility Model Content
[0005] The purpose of this invention is to provide a tracked reconnaissance robot with a swing arm, which solves the problem that existing reconnaissance robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited mobility.
[0006] To achieve the above objectives, this utility model provides a tracked reconnaissance robot with a swing arm, including a chassis, a power assembly, an upper assembly, and a swing arm assembly.
[0007] The power unit is located inside the chassis, and the superstructure is mounted on the chassis. The swing arm assembly includes a drive wheel, a swing arm shaft, a support plate, a track, and a track roller. There are four drive wheels, which are arranged in pairs on both sides of the chassis and connected to the power unit. The center of each drive wheel passes through the swing arm shaft. One end of each swing arm shaft is connected to the power unit, and the other end is connected to the support plate. The support plate is connected to the track roller at the end away from the swing arm shaft. The track is fitted on the outside of the track roller and the drive wheel.
[0008] The swing arm assembly further includes a limiting plate, which is connected to the support plate and located between the driving wheel and the support wheel.
[0009] The power assembly includes a swing arm motor and a swing arm reducer. Each swing arm shaft is connected to the swing arm motor through the swing arm reducer. The swing arm motor and the swing arm reducer are located inside the chassis.
[0010] The power assembly also includes two travel motors and two travel reducers. The travel motors and travel reducers are respectively installed on both sides of the chassis. The travel motors are connected to the travel reducers, and the travel reducers on the same side are connected to the travel drive wheels through chains and sprockets.
[0011] The upper assembly includes a housing cover, a camera, a switch, a microphone, a speaker, and a lidar. The housing cover is detachably connected to the chassis and is located on top of the chassis. The camera, the switch, the microphone, the speaker, and the lidar are respectively installed on the outer wall of the housing cover.
[0012] The upper assembly also includes a battery, an industrial computer, a walking driver, a controller, a video converter, and a power module. The battery, the industrial computer, the walking driver, the controller, the video converter, and the power module are respectively disposed inside the outer casing.
[0013] The upper assembly also includes a five-axis robotic arm, which includes a first rotating axis, a second rotating axis, a third rotating axis and a fourth rotating axis. The first rotating axis is located on the top of the outer shell cover plate, the second rotating axis is connected to the first rotating axis, the third rotating axis is connected to the second rotating axis, and the fourth rotating axis is connected to the third rotating axis.
[0014] The five-axis robotic arm also includes a gripping finger and a detection camera. The gripping finger is connected to the fourth rotation axis, and the detection camera is located on top of the gripping finger.
[0015] This utility model discloses a tracked reconnaissance robot with a swing arm. When walking, two walking motors drive the walking drive wheels to rotate via chain transmission through the walking reducer. The walking drive wheels then drive the track to rotate, enabling forward and backward movement, as well as 360° rotation in place. When swinging the arm, four swing arm motors and swing arm reducers are directly connected to the swing arm shaft. The rotation of the swing arm shaft drives the support plate to rotate, and the support rollers move down, standing the robot upright. This achieves the swing arm movement of the wheel system. The four wheels can swing independently, resulting in high maneuverability and high stability. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0017] Figure 1 This is a schematic diagram of the swing arm assembly according to the first embodiment of the present invention.
[0018] Figure 2 This is a schematic diagram of the power assembly of the first embodiment of the present invention.
[0019] Figure 3 This is a cross-sectional schematic diagram of the swing arm shaft according to the first embodiment of this utility model.
[0020] Figure 4 This is a schematic diagram of the overall structure of the tracked reconnaissance robot with swing arm according to the second embodiment of this utility model.
[0021] Figure 5 This is a schematic diagram of the structure inside the outer shell sealing plate of the second embodiment of this utility model.
[0022] In the diagram: 101-Chassis, 102-Walking drive wheel, 103-Swing arm shaft, 104-Support plate, 105-Track, 106-Support roller, 107-Limit plate, 108-Swing arm motor, 109-Swing arm reducer, 110-Walking motor, 111-Walking reducer, 201-Outer shell cover plate, 202-Camera, 203-Switch, 204-Pickup unit, 205-Speaker, 206-LiDAR, 207-Battery, 208-Industrial computer, 209-Walking driver, 210-Controller, 211-Video converter, 212-Power module, 213-First rotating axis, 214-Second rotating axis, 215-Third rotating axis, 216-Fourth rotating axis, 217-Finger gripper, 218-Reconnaissance camera. Detailed Implementation
[0023] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.
[0024] The first embodiment of this application is as follows:
[0025] Please see Figures 1 to 3 ,in, Figure 1 This is a schematic diagram of the swing arm assembly according to the first embodiment of the present invention. Figure 2 This is a schematic diagram of the power assembly of the first embodiment of the present invention. Figure 3 This is a cross-sectional schematic diagram of the swing arm shaft 103 according to the first embodiment of this utility model.
[0026] This utility model provides a tracked reconnaissance robot with a swing arm: it includes a chassis 101, a power assembly, an upper assembly, and a swing arm assembly. The swing arm assembly includes a walking drive wheel 102, a swing arm shaft 103, a support plate 104, a track 105, a support roller 106, and a limiting plate 107. The power assembly includes a swing arm motor 108, a swing arm reducer 109, a walking motor 110, and a walking reducer 111. The aforementioned solution solves the problem that existing reconnaissance robots mainly use wheeled or fixed tracked chassis 105, which have fixed ground clearance and limited mobility. It is understood that the aforementioned solution can also be used to solve the problem of remote control and command.
[0027] In this specific embodiment, the power assembly is located inside the chassis 101, the superstructure assembly is mounted on the chassis 101, and there are four driving wheels 102. The four driving wheels 102 are arranged in pairs on both sides of the chassis 101 and are connected to the power assembly. The center of each driving wheel 102 passes through the swing arm shaft 103. One end of each swing arm shaft 103 is connected to the power assembly, and the other end is connected to the support plate 104. The support plate 104 is connected to the support roller 106 at the end away from the swing arm shaft 103. The track 105 is sleeved on the outside of the support roller 106 and the driving wheels 102. The walking drive wheel 102 is connected to the power assembly via a walking shaft and is driven to rotate by the power assembly. The swing arm shaft 103 passes through the center of the walking shaft and the walking drive wheel 102, with one end connected to the support plate 104 and the other end connected to the power assembly. It is driven by the walking drive wheel 102. The other end of the support plate 104 is connected to the support roller 106 via a shaft. The track 105 is sleeved between the support roller 106 and the walking drive wheel 102.
[0028] The limiting plate 107 is connected to the support plate 104 and is located between the driving wheel 102 and the support wheel 106. The limiting plate 107 can prevent the track 105 from axially shifting, ensuring the stability and accuracy of the track 105 during movement.
[0029] Secondly, each of the swing arm shafts 103 is connected to the swing arm motor 108 via the swing arm reducer 109, and the swing arm motor 108 and the swing arm reducer 109 are respectively located inside the chassis 101. The four swing arm shafts 103 are respectively connected to the swing arm motor 108 via the swing arm reducer 109 to realize independent swing arm.
[0030] Meanwhile, a walking motor 110 and a walking reducer 111 are respectively arranged on both sides of the chassis 101. The walking motor 110 and the walking reducer 111 are connected. The walking reducer 111 on the same side is connected to the walking drive wheel 102 through a chain and a sprocket. The walking drive wheel 102 is connected to a walking shaft, and a sprocket is connected to the walking shaft. The output end of the walking reducer 111 is connected to a sprocket. The sprockets are driven by a chain, which connects to the walking drive wheel 102. The walking drive wheel 102 then drives the walking wheel to move, realizing reconnaissance movement. The walking motor 110 on the left drives the two wheel systems on the left, and the walking motor 110 on the right drives the two wheel systems on the right. The walking motor 110 drives two wheels.
[0031] Using a tracked reconnaissance robot with swing arm in this embodiment, when walking, two walking motors 110 drive the walking drive wheels 102 to rotate via chain transmission through the walking reducer. The walking drive wheels 102 then drive the track 105 to rotate, realizing forward and backward movement, as well as 360° rotation in place. When swinging the arm, four swing arm motors 108 and the swing arm reducer are directly connected to the swing arm shaft 103. The rotation of the swing arm shaft 103 drives the support plate 104 to rotate, and the support rollers 106 move down, standing the robot upright, realizing the swing arm of the wheel system. The four wheels can swing independently, resulting in high passability and high stability.
[0032] The second embodiment of this application is as follows:
[0033] Based on the first embodiment, please refer to Figure 4 and Figure 5 ,in, Figure 4 This is a schematic diagram of the overall structure of the tracked reconnaissance robot with swing arm according to the second embodiment of this utility model. Figure 5 This is a schematic diagram of the structure inside the outer shell sealing plate 201 of the second embodiment of this utility model.
[0034] The upper assembly in this embodiment includes a housing cover plate 201, a camera 202, a switch 203, a microphone 204, a speaker 205, a lidar 206, a battery 207, an industrial computer 208, a walking driver 209, a controller 210, a video converter 211, a power module 212, and a five-axis robotic arm. The five-axis robotic arm includes a first rotating axis 213, a second rotating axis 214, a third rotating axis 215, a fourth rotating axis 216, a gripping finger 217, and a detection camera 218.
[0035] In this specific embodiment, the outer casing 201 is detachably connected to the chassis 101 and is located on top of the chassis 101. The outer wall of the outer casing 201 is respectively equipped with the camera 202, the switch 203, the microphone 204, the speaker 205, and the lidar 206. The outer casing 201 protects the robot's internal electronic components and mechanical structure, preventing damage from dust, moisture, and other external factors. It also helps maintain the overall structural integrity of the robot, ensuring stable operation in various environments. One camera 202 is located at the front, rear, left, and right, enabling 360° video transmission and allowing operators to monitor the robot's surroundings in real time. The switch 203 includes a power switch 203 and an emergency stop switch 203. The power switch 203 controls the robot's power supply, ensuring the robot can be safely turned on or off when needed. The emergency stop switch 203 quickly cuts off the power in emergencies to prevent accidents or damage. The microphone 204 is used to capture audio information around the robot, which is crucial for remote monitoring and communication. In certain applications, such as environmental monitoring, the microphone 204 can help analyze ambient sound, such as noise pollution levels. The speaker 205 allows the robot to communicate remotely with operators or other personnel, for example, issuing commands or warnings in fire rescue operations. When needed, the speaker 205 can also provide audio feedback, such as operation confirmation or alarms. The lidar 206 (LiDAR) is a sensor used for accurately measuring distance and speed, helping the robot perceive its surroundings and avoid obstacles. These components work together to enable the reconnaissance robot to perform tasks in various complex environments, while ensuring that operators can remotely monitor and control the robot, improving mission efficiency and safety.
[0036] The battery 207, industrial control computer 208, walking driver 209, controller 210, video converter 211, and power module 212 are respectively disposed inside the outer casing 201. The battery 207 is the power source for the robot, providing electricity for the entire robot. The industrial control computer 208 is responsible for processing sensor data and issuing action commands. It runs the operating system in real time and controls related equipment, including the robotic arm, track 105, camera 202, laser device, etc. The industrial control computer 208 is also responsible for wireless communication with the industrial control computer 208 of the remote control system to transmit robot commands, status, and video. The walking driver 209 is responsible for controlling the motor of the robot chassis 101 to realize the robot's speed and motion control. It drives the motor to work by receiving commands from the controller 210, enabling the robot to move forward, backward, and turn. The controller 210 processes data from the sensors and issues action commands. It communicates with the industrial computer 208 and other control units through various interfaces, such as CAN bus and RS232 serial port, to achieve precise control of the robot's movement and functions. The video converter 211 converts the video signal captured by the camera 202 into a format suitable for transmission and display, allowing operators to remotely view the video footage captured by the robot in real time. The power module 212 converts the voltage of the battery 207 into a voltage suitable for the robot's internal electronic devices, supplying power to other hardware modules and ensuring a stable power supply for the robot's internal electronic components to maintain normal operation.
[0037] Secondly, the first rotating shaft 213 is located on top of the outer casing 201, the second rotating shaft 214 is connected to the first rotating shaft 213, the third rotating shaft 215 is connected to the second rotating shaft 214, and the fourth rotating shaft 216 is connected to the third rotating shaft 215. The gripping finger 217 is connected to the fourth rotating shaft 216, and the detection camera 218 is located on top of the gripping finger 217. The five-axis robotic arm can perform arbitrary grasping actions, such as grabbing obstacles when passing through them or performing other actions. Through motors, the first rotating shaft 213 can achieve 360° rotation, the second rotating shaft 214 can achieve 270°, the third rotating shaft 215 can achieve 270°, the fourth rotating shaft 216 can achieve 180° rotation, and the gripping finger 217 can open and close at an angle of 0-90°. The detection camera 218 is also attached to the front end.
[0038] The tracked reconnaissance robot with swing arm in this embodiment is remotely controlled. It is equipped with a camera 202 and a light in front. The camera 202 can transmit the captured video images to the remote controller. Personnel can remotely control and command the robot, and view the scene in real time to conduct dialogue, ensuring their own safety. It has high safety and high functionality.
[0039] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1. An arm-swingable tracked investigation robot, comprising a chassis, characterized in that, further comprising a power assembly, an upper assembly and an arm-swinging assembly; the power assembly is located inside the chassis, the upper assembly is assembled on the chassis, and the arm-swinging assembly comprises walking drive wheels, arm-swinging shafts, support plates, tracks and supporting wheels, the number of the walking drive wheels is four, two of the walking drive wheels are arranged on each side of the chassis respectively, and are connected with the power assembly respectively, the center of each walking drive wheel penetrates through the arm-swinging shaft, one end of each arm-swinging shaft is connected with the power assembly, and the other end is connected with the support plate, the end of the support plate away from the arm-swinging shaft is connected with the supporting wheel, and the track is sleeved outside the supporting wheel and the walking drive wheel.
2. The arm-swingable tracked investigation robot according to claim 1, characterized in that, the arm-swinging assembly further comprises a limiting plate, the limiting plate is connected with the support plate and located between the walking drive wheel and the supporting wheel.
3. The arm-swingable tracked investigation robot according to claim 2, characterized in that, the power assembly comprises arm-swinging motors and arm-swinging reducers, each arm-swinging shaft is connected with the arm-swinging motor through the arm-swinging reducer, and the arm-swinging motor and the arm-swinging reducer are located inside the chassis respectively.
4. The arm-swingable tracked investigation robot according to claim 3, characterized in that, the power assembly further comprises two walking motors and two walking reducers, the walking motor and the walking reducer are arranged on each side of the chassis respectively, the walking motor is connected with the walking reducer, and the walking reducers on the same side are connected with the walking drive wheels through chains and sprockets.
5. The arm-swingable tracked investigation robot according to claim 1, characterized in that, the upper assembly comprises a shell cover plate, a camera, a switch, a sound pickup, a loudspeaker and a laser radar, the shell cover plate is detachably connected with the chassis and located on the top of the chassis, and the outer wall of the shell cover plate is respectively provided with the camera, the switch, the sound pickup, the loudspeaker and the laser radar.
6. The arm-swingable tracked investigation robot according to claim 5, characterized in that, the upper assembly further comprises a battery, an industrial computer, a walking driver, a controller, a video converter and a power module, and the battery, the industrial computer, the walking driver, the controller, the video converter and the power module are arranged inside the shell cover plate respectively.
7. The arm-swingable tracked investigation robot according to claim 5, characterized in that, the upper assembly further comprises a five-axis mechanical arm, the five-axis mechanical arm comprises a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft, the first rotating shaft is located on the top of the shell cover plate, the second rotating shaft is connected with the first rotating shaft, the third rotating shaft is connected with the second rotating shaft, and the fourth rotating shaft is connected with the third rotating shaft.
8. The arm-swingable tracked investigation robot according to claim 7, characterized in that, The five-axis mechanical arm further comprises a clamping finger and a detective camera, the clamping finger is connected with the fourth rotating shaft, and the detective camera is located at the top of the clamping finger.