CN113682096A

CN113682096A - Crawler-type robot for biochemical environment

Info

Publication number: CN113682096A
Application number: CN202110936838.1A
Authority: CN
Inventors: 海鸥
Original assignee: Zhongguancun Military Civilian Science And Technology Collaborative Innovation Incubation Center Beijing Co ltd
Current assignee: Zhongguancun Military Civilian Science And Technology Collaborative Innovation Incubation Center Beijing Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-11-23
Anticipated expiration: 2041-08-16
Also published as: CN113682096B

Abstract

The invention relates to the technical field of crawler robots, in particular to a crawler robot for biochemical environments, which comprises a vehicle body, a rolling shaft and crawlers, wherein the rolling shaft is rotatably connected with the inner wall of the vehicle body, the surface of the rolling shaft is rotatably connected with the crawlers, the two crawlers are arranged in a mirror image manner, the lower surface of the vehicle body is fixedly connected with a power turbine, a power motor and turbine blades are arranged inside the power turbine, the power motor drives the turbine blades to rotate when rotating, a steering block is arranged below the vehicle body and is rotatably connected with the inner wall of the vehicle body, the inner wall of the vehicle body is fixedly connected with a fixed block, and the lower surface of the fixed block is fixedly connected with a hollow block. The invention is convenient for the crawler-type robot to enter proper amount of water through the opening of the air bag package and the vehicle body, so that the vehicle body can float on the water surface stably, and can provide waterproof heating for the wounded and the sick in time and keep the body surface temperature.

Description

Crawler-type robot for biochemical environment

Technical Field

The invention relates to the technical field of tracked robots, in particular to a tracked robot for biochemical environments.

Background

A crawler-type robot mainly comprises a robot carrying a crawler chassis mechanism, has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like, can replace human beings to carry out dangerous work (such as explosion elimination, chemical detection, water rescue and the like), and reduces unnecessary casualties.

Now the accident happens occasionally on water, for saving sick and wounded's life safety, need the rescue personnel in time to move many times, the rescue is suffered a disaster and is suffered the sick and wounded of being difficult, but at the rescue in-process, the life safety of rescue personnel can not obtain the guarantee often, the cost that leads to rescue on water is overweight, sick and wounded probably do not arrive by rescue, rescue personnel have lost the life earlier, and utilize crawler-type robot to rescue, when can maneuver to different positions fast, also great reduction the life threat of rescue personnel, but crawler-type robot is when rescue on water, because self overweight, after diving, easily sink in the water, or can not be very stable float on the surface of water, the effect of bearing is played to the line that can not be fine, consequently, need to design the crawler-type robot that is used for biochemical environment to solve above-mentioned problem urgently.

Disclosure of Invention

The invention aims to provide a crawler-type robot for biochemical environment, which solves the problems that the crawler-type robot proposed in the background technology is easy to sink into water and cannot stably float on the water surface when rescuing on the water.

In order to achieve the purpose, the invention provides the following technical scheme: a tracked robot for biochemical environment, including automobile body, roller bearing and the track of traveling, the roller bearing is connected in the inner wall rotation of automobile body, the surface rotation of roller bearing is connected with the track of traveling, the quantity of the track of traveling is two and is the mirror image setting, the lower fixed surface of automobile body is connected with power turbine, power turbine's inside is provided with motor power and turbine leaf, and drives the turbine leaf when motor power rotates and rotate, the below of automobile body is provided with the turning block, the turning block is connected with the inner wall rotation of automobile body, the inner wall fixedly connected with fixed block of automobile body, the lower fixed surface of fixed block is connected with hollow block, the inside of hollow block is the vacuum structure, the inner wall rotation of automobile body is connected with the plectane that opens and shuts, the plectane that opens and shuts is two sets of linear array setting, the fixed surface of automobile body is connected with drainage motor, the inner wall of drainage motor rotates and is connected with the rotor, the surface of rotor rotates and is connected with the drive belt, the inner wall of drive belt rotates and is connected with the dwang, the fixed surface of dwang is connected with the drainage turbine, one side fixedly connected with box that the automobile body is close to drainage motor, the inner wall of box rotates and is connected with the long slab that opens and shuts, the quantity of the long slab that opens and shuts is ten and is the linear array setting, one side that drainage motor was kept away from to the automobile body is provided with supplementary rescue subassembly, supplementary rescue subassembly includes supplementary swash plate.

Preferably, the surperficial rotation of dwang is connected with the holding ring, the fixed surface of holding ring is connected with the spliced pole, the quantity of spliced pole is two and is "L" font setting, the spliced pole is kept away from the one end of holding ring and is connected with the fixed surface of automobile body.

Preferably, the surface of rotor rotates and is connected with the stopper, the stopper rotates with the surface of drive belt to be connected, the fixed surface of stopper is connected with the connecting rod, the one end that the stopper was kept away from to the connecting rod is connected with the fixed surface of automobile body.

Preferably, the inside of supplementary swash plate is provided with the bearing post, the surface of bearing post is provided with the gasbag subassembly, the gasbag subassembly includes the gasbag shell, the inner wall fixedly connected with gasbag package of gasbag shell, the surface of gasbag shell is provided with pops out the subassembly, it includes the action wheel to pop out the subassembly, the surface meshing of action wheel is connected with from the driving wheel, the below of supplementary swash plate is provided with reverse hour wheel, the quantity of reverse hour wheel is two, the outside of reverse hour wheel is provided with in the same direction as hour wheel, the surface meshing of in the same direction as hour wheel is connected with the in the same direction as hour chain, the in the same direction as hour chain is connected with the surface meshing of action wheel, the surface meshing of from the driving wheel is connected with reverse hour chain, reverse hour chain is connected with the surface meshing of reverse hour wheel, the surface meshing of supplementary swash plate is connected with the drive wheel, the surface fixedly connected with locating lever of drive wheel, the inner wall of locating lever rotates and is connected with the bull stick, and the fixed surface of bull stick is connected with the connecting block, the connecting block is located the inside of automobile body, the inner wall fixedly connected with auxiliary motor of automobile body, auxiliary motor's inner wall rotates and is connected with the commentaries on classics band, and changes the surface rotation of band and be connected with the transmission track, the driving wheel rotates with the inner wall of transmission track to be connected.

Preferably, the inside of automobile body is provided with connects the trachea, connect tracheal top to be provided with the air pump, the lower fixed surface of air pump is connected with the inflation pipe, and inflates tracheal inner wall and connect tracheal surface to offset, the inner wall fixedly connected with gas cylinder of supplementary swash plate, the fixed surface of gas cylinder is connected with the intake pipe, the both sides fixedly connected with breather pipe of gas cylinder, the breather pipe runs through the bearing post and is "L" font setting, connect tracheal fixed surface to be connected with the straight board in location, the surface of the straight board in location and the inner wall sliding connection of automobile body.

Preferably, the fixed surface of automobile body is connected with the base, the inside of base is provided with the heated board, the upper surface of base rotates and is connected with the intensification lid, the intensification lid is circular arc hollow structure, the inside fixedly connected with heating coil of intensification lid, the fixed surface of intensification lid is connected with the wire pole, the one end fixedly connected with circular telegram piece that the lid was kept away from to the wire pole, the one end and the automobile body fixed connection of wire pole are kept away from to circular telegram piece.

Preferably, a vent hole is formed in one side, close to the wire guide rod, of the warming cover, and the vent hole is located above the base.

Preferably, the upper surface of the vehicle body is fixedly connected with anti-skid blocks, and the anti-skid blocks are arranged in a linear array.

Compared with the prior art, the invention has the beneficial effects that: this a crawler-type robot for biochemical environment is convenient for crawler-type robot through the expansion of gasbag package with get into suitable water yield in the automobile body, make the very stable floating of automobile body on the surface of water, and can in time provide waterproof heating to the sick and wounded personnel, keep body surface temperature.

(1) Through setting up hollow block, switching plectane and supplementary swash plate, when rescuing sick and wounded personnel, introduce automobile body inside with water through opening the plectane that opens and shuts, the start-up of rethread drainage motor, it is outside to drive the inside water of drainage turbine discharge, carry out appropriate adjustment, because the vacuum structure of hollow block, with the physics law "the size that acts on the buoyancy on aquatic object equals the gravity that the object discharged the water, make in crawler-type robot can not sink into water, make the automobile body can not rock, and supplementary swash plate can be because the gasbag package of inside setting, the gasbag package is opened slowly, utilize the buoyancy of gasbag, can be fine haul the sick and wounded personnel to the automobile body top.

(2) Through setting up the base, intensification lid and heating coil, after with sick and wounded's haulage to automobile body top, through the non slipping spur, can avoid the trick to meet water and easily slide, put sick and wounded's back on the base, open the intensification lid, stoving sick and wounded's health and clothing, waterproof insulation, the ventilation effect inside and outside the ventilation hole carries out, avoid inside overheated or oxygen deficiency, can be in this section distance on the sick and wounded's transportation land, protect sick and wounded's health, avoid secondary damage, reduce the transportation risk.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic rear view of the structure of FIG. 1 according to the present invention;

FIG. 3 is a schematic exploded view of the open-close elongated panel of FIG. 2 according to the present invention;

FIG. 4 is a schematic cross-sectional view of the auxiliary swash plate of FIG. 1 according to the present invention;

FIG. 5 is a schematic view of the structure of FIG. 4 at A according to the present invention;

FIG. 6 is a schematic view of the structure of FIG. 4 at B in accordance with the present invention;

FIG. 7 is a schematic bottom view of the swash plate of FIG. 1 according to the present invention;

FIG. 8 is a cross-sectional structural view of the vehicle body of FIG. 1 in accordance with the present invention;

FIG. 9 is a schematic structural view of the lid of FIG. 1 according to the present invention;

FIG. 10 is a schematic side view of a portion of FIG. 1 according to the present invention.

In the figure: 1. a vehicle body; 2. a roller; 3. a running track; 4. a power turbine; 5. a turning block; 6. a fixed block; 7. a hollow block; 8. opening and closing the circular plate; 9. a water discharge motor; 10. a rotor; 11. a transmission belt; 12. rotating the rod; 13. a water discharge turbine; 14. a box body; 15. a positioning ring; 16. connecting columns; 17. a limiting block; 18. a connecting rod; 19. opening and closing the long plate; 20. an auxiliary rescue assembly; 201. an auxiliary sloping plate; 202. a bearing post; 203. an airbag module; 2031. an air bag housing; 2032. an air bag package; 204. a pop-up assembly; 2041. a driving wheel; 2042. a driven wheel; 2043. a reverse time wheel; 2044. a clockwise wheel; 2045. a clockwise chain; 2046. a reverse-time chain; 205. driving the wheel; 206. positioning a rod; 207. connecting blocks; 208. an auxiliary motor; 209. a gas receiving pipe; 210. an air pump; 211. a gas collecting cylinder; 212. an air inlet pipe; 213. a breather pipe; 21. positioning the straight plate; 22. a base; 23. a heating cover; 24. a heating coil; 25. a wire guide rod; 26. a power-on block; 27. a vent hole; 28. and (4) anti-skid blocks.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-10, an embodiment of the present invention is shown: a tracked robot for biochemical environment, including automobile body 1, roller bearing 2 and the track 3 of traveling, roller bearing 2 rotates in the inner wall of automobile body 1 and connects, and the surface of roller bearing 2 rotates and is connected with the track 3 of traveling, and the quantity of the track 3 of traveling is two and be the mirror image setting, and tracked robot passes through the rotation of inside power motor, drives roller bearing 2 and rotates to the track 3 of traveling lands, promotes self and traveles forward, and the aforesaid all is prior art, does not do too much here and explains.

The lower surface of the vehicle body 1 is fixedly connected with a power turbine 4, a power motor and turbine blades are arranged inside the power turbine 4, the power motor drives the turbine blades to rotate when rotating, the turbine blades rotate in water, water is drained backwards or forwards, the vehicle body 1 is pushed forwards or backwards by utilizing the principle of physical reaction force, a steering block 5 is arranged below the vehicle body 1, the steering block 5 is rotatably connected with the inner wall of the vehicle body 1, the inner wall of the vehicle body 1 is fixedly connected with a fixed block 6, the lower surface of the fixed block 6 is fixedly connected with a hollow block 7, the inside of the hollow block 7 is of a vacuum structure, a partition plate is fixedly connected to the surface of the hollow block 7, the upper layer of the partition plate is made of a heat-conducting metal material and isolates the upper space and the lower space, the lower layer is lime powder, but the lime powder is held by a nano material and cannot leak downwards, water can pass through the nano material and chemically react with the lime powder, the heat is released and heated, then the heat is conducted to the upper surface of the vehicle body 1 through the upper layer heat-conducting metal material and the fixing block 6 with good heat-conducting property, the buoyancy of the vacuum structure is larger, the vehicle body 1 can better float on the water surface more easily, the inner wall of the vehicle body 1 is rotatably connected with the opening and closing circular plate 8, the opening and closing circular plate 8 is arranged in two groups of linear arrays, the surface of the vehicle body 1 is fixedly connected with the drainage motor 9, the inner wall of the drainage motor 9 is rotatably connected with the rotor 10, the surface of the rotor 10 is rotatably connected with the driving belt 11, the inner wall of the driving belt 11 is rotatably connected with the rotating rod 12, the surface of the rotating rod 12 is fixedly connected with the drainage turbine 13, the buoyancy of the vehicle body 1 is determined by using the drainage amount, the height of the vehicle body 1 on the water surface is determined, one side of the vehicle body 1 close to the drainage motor 9 is fixedly connected with the box body 14, the inner wall of the box body 14 is rotatably connected with the opening and closing long plate 19, and the number of the ten opening and closing long plates 19 is arranged in a linear array, one side of the vehicle body 1 far away from the drainage motor 9 is provided with an auxiliary rescue assembly 20, and the auxiliary rescue assembly 20 comprises an auxiliary inclined plate 201.

Further, as shown in fig. 3, a positioning ring 15 is rotatably connected to the surface of the rotating rod 12, a connecting column 16 is fixedly connected to the surface of the positioning ring 15, two connecting columns 16 are arranged in an L shape, one end of the connecting column 16, which is far away from the positioning ring 15, is fixedly connected to the surface of the vehicle body 1, the positioning ring 15 positions the rotating rod 12, and the connecting column 16 fixes the position of the positioning ring 15.

Further, as shown in fig. 3, the surface of rotor 10 rotates and is connected with stopper 17, stopper 17 rotates with the surface of drive belt 11 and is connected, and stopper 17's fixed surface is connected with connecting rod 18, and the one end that stopper 17 was kept away from to connecting rod 18 is connected with the fixed surface of automobile body 1, and stopper 17 location drive belt 11's position prevents its confusion, avoids increasing frictional force with box 14.

Further, as shown in fig. 5, a bearing column 202 is disposed inside the auxiliary sloping plate 201, an air bag module 203 is disposed on the surface of the bearing column 202, the air bag module 203 includes an air bag housing 2031, an air bag pack 2032 is fixedly connected to the inner wall of the air bag housing 2031, an ejecting module 204 is disposed on the surface of the air bag housing 2031, the ejecting module 204 includes a driving wheel 2041, a driven wheel 2042 is engaged and connected to the surface of the driving wheel 2041, a counter-time wheel 2043 is disposed below the auxiliary sloping plate 201, the number of the counter-time wheels 2043 is two, a clockwise wheel 2044 is disposed outside the counter-time wheel 2043, a clockwise chain 2045 is engaged and connected to the surface of the clockwise wheel 2044, the clockwise chain 2045 is engaged and connected to the surface of the driving wheel 2041, a counter-time chain 2046 is engaged and connected to the surface of the driven wheel 2042, the counter-time chain 2046 is engaged and connected to the surface of the counter-time wheel 2043, a belt wheel 205 is engaged and connected to the surface of the auxiliary sloping plate 201, a positioning rod 206 is fixedly connected to the surface of the belt wheel 205, the inner wall of locating lever 206 rotates and is connected with the bull stick, and the fixed surface of bull stick is connected with connecting block 207, connecting block 207 is located the inside of automobile body 1, the inner wall fixedly connected with auxiliary motor 208 of automobile body 1, the inner wall of auxiliary motor 208 rotates and is connected with the commentaries on classics belt, and the surface of commentaries on classics belt rotates and is connected with the transmission track, driving wheel 205 rotates with the inner wall of transmission track to be connected, the start-up of auxiliary motor 208, can drive four gasbag shells 2031 and open to both sides, and what auxiliary swash plate 201 can be convenient will injure the sick and wounded's person displacement to automobile body 1 top, can receive gasbag shell 2031 inside auxiliary swash plate 201 when going on the land, receive inside automobile body 1 with auxiliary swash plate 201 again.

Further, as shown in fig. 4, an air receiving pipe 209 is arranged inside the vehicle body 1, an air pump 210 is arranged above the air receiving pipe 209, an inflation pipe is fixedly connected to the lower surface of the air pump 210, the inner wall of the inflation pipe abuts against the surface of the air receiving pipe 209, a gas collecting cylinder 211 is fixedly connected to the inner wall of the auxiliary inclined plate 201, an air inlet pipe 212 is fixedly connected to the surface of the gas collecting cylinder 211, air pipes 213 are fixedly connected to both sides of the gas collecting cylinder 211, the air pipes 213 penetrate through the bearing column 202 and are arranged in an L shape, a positioning straight plate 21 is fixedly connected to the surface of the air receiving pipe 209, the surface of the positioning straight plate 21 is slidably connected to the inner wall of the vehicle body 1, a positioning straight plate 21 is arranged inside the vehicle body 1, the situation that the auxiliary inclined plate 201 cannot return after sliding out can be avoided, the air pump 210, the air receiving pipe 209, the gas collecting cylinder 211 and the air collecting cylinder 212 jointly form an air inflating device for inflating an air bag, and the air inlet pipe can ingeniously inflate the air bag, the airbag 2032 can assist the vehicle body 1 to suspend on the water surface, and can keep better stability.

Further, as shown in fig. 9, a base 22 is fixedly connected to the surface of the vehicle body 1, an insulation board is arranged inside the base 22, a warming cover 23 is rotatably connected to the upper surface of the base 22, the warming cover 23 is of an arc hollow structure, a heating coil 24 is fixedly connected to the inside of the warming cover 23, a lead rod 25 is fixedly connected to the surface of the warming cover 23, one end of the lead rod 25, which is far away from the warming cover 23, is fixedly connected with an electrifying block 26, one end of the electrifying block 26, which is far away from the lead rod 25, is fixedly connected with the vehicle body 1, the electrifying block 26 is communicated with a power supply inside the vehicle body 1, and the lead rod 25 is communicated into the warming cover 23.

Further, as shown in fig. 9, a vent hole 27 is formed in one side of the warming cover 23 close to the wire rod 25, the vent hole 27 is located above the base 22, and the vent hole 27 prevents overheating or oxygen deficiency inside the warming cover 23.

Further, as shown in fig. 1, the upper surface of the vehicle body 1 is fixedly connected with the anti-slip blocks 28, the anti-slip blocks 28 are arranged in a linear array, and the anti-slip blocks 28 prevent hands and feet from being stained with water and easily slip, so that the secondary damage caused by falling is avoided.

The working principle is as follows: when a user rescues wounded persons, when the crawler-type robot runs to the water surface, due to the vacuum structure of the hollow block 7 and the physical law that the size of buoyancy acting on objects in water is equal to the gravity of the objects to discharge water, the crawler-type robot cannot sink into the water, so that the steering block 5 and the power turbine 4 can descend into the water, the power motor inside the power turbine 4 drives the turbine blades to rotate, the vehicle body 1 can move on the water surface, the steering block 5 rotates leftwards or rightwards to control the running direction on the water surface, then the opening and closing circular plate 8 is slowly opened to allow water to enter the vehicle body 1 to stably stay on the water surface, the water enters the lower-layer space of the vehicle body 1, the vehicle body 1 cannot shake, when the wounded persons are transported, the auxiliary rescue assembly 20 cannot shake, the auxiliary inclined plate 201 can well extend out of the vehicle body 1, the auxiliary motor 208 is used for driving the counter-timing wheel 2043 and the clockwise wheel 2044 to rotate, the air bag shell 2031 is ejected from the two sides, the air pump 210 is used for inflating the air bag 2032, after the air bag is inflated, the auxiliary vehicle body 1 is stably suspended on the water surface, and the wounded and sick can be more stably hauled to the upper part of the vehicle body 1.

After the user drags the wounded to the upper part of the vehicle body 1, the hands and feet are prevented from slipping easily when meeting water through the anti-slip blocks 28, the heating cover 23 is opened, the wounded is placed on the base 22, the heating cover 23 is slowly closed downwards, in addition, lime powder on the lower layer of the partition board heats up after meeting water and is conducted to the base 22 on the upper surface of the vehicle body 1, the wounded on the carrying can be immediately heated and kept warm, after the wounded is carried on the base 22, the situation that the heating coil 24 does not reach high temperature to cause the wounded to suffer cold and get ill is avoided, meanwhile, the electrifying block 26 is electrified to transmit electric power to the wire guide rod 25, the alternating current which changes direction continuously is generated through the coil, the eddy current can be generated inside the conductor in the alternating magnetic field, the joule effect of the eddy current can increase the temperature of the conductor, and the heating of the heating coil 24 is realized, the clothes and the body of the wounded are dried, the wounded are prevented from being splashed on the body of the wounded for the second time, and the ventilation holes 27 have the internal and external ventilation effect, so that internal overheating or oxygen deficiency is avoided.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A tracked robot for biochemical environment, including automobile body (1), roller bearing (2) and track (3) of traveling, its characterized in that: the utility model discloses a car body, including automobile body (1), roller bearing (2) are connected in the inner wall rotation of automobile body (1), the surface rotation of roller bearing (2) is connected with track (3) of traveling, the quantity of track (3) of traveling is two and is the mirror image setting, the lower fixed surface of automobile body (1) is connected with power turbine (4), the inside of power turbine (4) is provided with motor power and turbine leaf, and motor power drives the turbine leaf and rotates when rotating, the below of automobile body (1) is provided with turning block (5), turning block (5) are connected with the inner wall rotation of automobile body (1), the inner wall fixedly connected with fixed block (6) of automobile body (1), the lower fixed surface of fixed block (6) is connected with hollow block (7), the inside of hollow block (7) is the vacuum structure, the inner wall rotation of automobile body (1) is connected with the plenary board (8), the opening and closing circular plates (8) are arranged in two groups of linear arrays, the surface of the vehicle body (1) is fixedly connected with a drainage motor (9), the inner wall of the drainage motor (9) is rotationally connected with a rotor (10), the surface of the rotor (10) is rotationally connected with a transmission belt (11), the inner wall of the transmission belt (11) is rotatably connected with a rotating rod (12), the surface of the rotating rod (12) is fixedly connected with a drainage turbine (13), a box body (14) is fixedly connected with one side of the vehicle body (1) close to the drainage motor (9), the inner wall of the box body (14) is rotationally connected with opening and closing long plates (19), the number of the opening and closing long plates (19) is ten and the opening and closing long plates are arranged in a linear array, one side of the vehicle body (1) far away from the drainage motor (9) is provided with an auxiliary rescue assembly (20), and the auxiliary rescue assembly (20) comprises an auxiliary inclined plate (201).

2. A tracked robot for biochemical environments according to claim 1, wherein: the surperficial rotation of dwang (12) is connected with holding ring (15), the fixed surface of holding ring (15) is connected with spliced pole (16), the quantity of spliced pole (16) is two and is "L" font setting, the fixed surface of one end and automobile body (1) of holding ring (15) is kept away from in spliced pole (16) is connected.

3. A tracked robot for biochemical environments according to claim 1, wherein: the surface of rotor (10) rotates and is connected with stopper (17), stopper (17) rotate with the surface of drive belt (11) and are connected, the fixed surface of stopper (17) is connected with connecting rod (18), the fixed surface of one end and automobile body (1) that stopper (17) were kept away from in connecting rod (18) is connected.

4. A tracked robot for biochemical environments according to claim 1, wherein: the utility model discloses a swash plate, including supplementary swash plate (201), the inside of supplementary swash plate (201) is provided with bearing post (202), the surface of bearing post (202) is provided with gasbag subassembly (203), gasbag subassembly (203) includes gasbag shell (2031), the inner wall fixedly connected with gasbag package (2032) of gasbag shell (2031), the surface of gasbag shell (2031) is provided with pops out subassembly (204), pops out subassembly (204) including action wheel (2041), the surface meshing of action wheel (2041) is connected with from driving wheel (2042), the below of supplementary swash plate (201) is provided with counter-time wheel (2043), the quantity of counter-time wheel (2043) is two, the outside of counter-time wheel (2043) is provided with in the same direction as time wheel (2044), the surface meshing of in the same direction as time wheel (2044) is connected with in the same direction as time chain (2045), in the same direction as time chain (2045) is connected with the surface meshing of action wheel (2041), the surface meshing of following driving wheel (2042) is connected with reverse time chain (2046), reverse time chain (2046) is connected with the surface meshing of reverse time wheel (2043), the surface meshing of supplementary swash plate (201) is connected with driving wheel (205), the fixed surface of driving wheel (205) is connected with locating lever (206), the inner wall of locating lever (206) rotates and is connected with the bull stick, and the fixed surface of bull stick is connected with connecting block (207), connecting block (207) are located the inside of automobile body (1), the inner wall fixedly connected with auxiliary motor (208) of automobile body (1), the inner wall rotation of auxiliary motor (208) is connected with the carousel, and the surface rotation of carousel is connected with the transmission track, driving wheel (205) is connected with the inner wall rotation of transmission track.

5. The tracked robot for biochemical environments of claim 4, wherein: the inside of automobile body (1) is provided with and connects trachea (209), the top that connects trachea (209) is provided with air pump (210), the lower fixed surface of air pump (210) is connected with the inflation pipe, and the inner wall of inflation pipe offsets with the surface that connects trachea (209), the inner wall fixedly connected with gas cylinder (211) of supplementary swash plate (201), the fixed surface of gas cylinder (211) is connected with intake pipe (212), both sides fixedly connected with breather pipe (213) of gas cylinder (211), breather pipe (213) run through bearing post (202) and are "L" font setting, the fixed surface that connects trachea (209) is connected with location straight board (21), the surface of location straight board (21) and the inner wall sliding connection of automobile body (1).

6. A tracked robot for biochemical environments according to claim 1, wherein: the utility model discloses a heating device, including automobile body (1), fixed surface is connected with base (22) of automobile body (1), the inside of base (22) is provided with the heated board, the upper surface of base (22) rotates and is connected with intensification lid (23), intensification lid (23) are circular arc hollow structure, inside fixedly connected with heating coil (24) of intensification lid (23), the fixed surface of intensification lid (23) is connected with wire rod (25), wire rod (25) are kept away from one end fixedly connected with circular telegram piece (26) of intensification lid (23), the one end and automobile body (1) fixed connection of wire rod (25) are kept away from to circular telegram piece (26).

7. The tracked robot for biochemical environments of claim 6, wherein: one side of the heating cover (23) close to the wire guide rod (25) is provided with a vent hole (27), and the vent hole (27) is arranged above the base (22).

8. A tracked robot for biochemical environments according to claim 1, wherein: the upper surface of the vehicle body (1) is fixedly connected with anti-skidding blocks (28), and the anti-skidding blocks (28) are arranged in a linear array.