CN208774900U - A kind of mobile sniffing robot of full landform - Google Patents

Abstract

The mobile sniffing robot of full landform in the utility model, it is walked using wheeled construction on flat road surface, it is walked using track structure on complicated road surface, including wheeled component part, car body, chassis system, steering gear system, controller, environmental detecting system, power-supply system and driving motor, the car body is located at the top of the chassis system；The driving motor includes Wheel type driving motor and caterpillar chassis driving motor；The chassis system includes crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor, the synchronous pulley includes driving wheel and driven wheel, the caterpillar chassis driving motor is mounted on chassis supports frame, the driving wheel of the synchronous pulley is connected with the output shaft of the caterpillar chassis driving motor, the crawler belt is engaged with the synchronous pulley, drives caterpillar drive.

Description

A kind of mobile sniffing robot of full landform

Technical field

The utility model relates to robotic technology fields, more particularly, to a kind of mobile sniffing robot of full landform.

Background technique

Currently, robot chassis generallys use crawler type and/or wheeled, wherein being had using caterpillar machinery to complex road surface There is a powerful handling capacity, but it then can not be quickly through to flat road surface.Although and wheel machine can be quickly through flat Road surface, but to more complex road surface, for example, thick grass, broken stone road, the road surfaces such as marsh can only hang back.Therefore, make robot autonomous Ground carries out detection to foreign environment and crosses over some gullies even by itself strength under the premise of guaranteeing its own safety Climbing or across lower steep cliff, be problem to be solved in robot field.

Utility model content

Aiming at the problems existing in the prior art, the purpose of this utility model is that proposing a kind of mobile explorer of full landform Device people enables the mobile sniffing robot of the full landform in the utility model using crawler type in such a way that wheel type combines The mutual switching of crawler type to wheeled construction is enough completed, i.e., it uses wheel type movement on flat road surface, props up by former and later two Frame supports the mobile entire body of sniffing robot of the full landform, and can be realized quickly accessible pass through；It is multiple Miscellaneous road surface use track structure, by sensor obtain traffic information so that utilize SCM system to acquired information into Row analysis, avoid intransitable barrier based on the analysis results, to its can across barrier take it is appropriate act into Row is crossed over；The mobile sniffing robot of full landform in the utility model is rotated by jointly controlling different groups of steering engine, machine It rises or reduces so as to raise or reduce its own height, and can restore automatically just in the case where overturning in people chassis Normal posture.

The technical solution of the utility model is as follows:

A kind of mobile sniffing robot of full landform is walked using wheeled construction on flat road surface, using track structure It walks on complicated road surface comprising wheeled component part, car body, chassis system, steering gear system, controller, environment detection system System, power-supply system and driving motor, the car body are located at the top of the chassis system；The driving motor includes wheeled drive Dynamic motor and caterpillar chassis driving motor；The chassis system includes crawler belt, synchronous pulley, chassis supports frame and crawler type bottom Disk-drive motor, the synchronous pulley include driving wheel and driven wheel, and the caterpillar chassis driving motor is mounted on chassis branch On support, the driving wheel of the synchronous pulley is connected with the output shaft of the caterpillar chassis driving motor, the crawler belt and institute Synchronous pulley engagement is stated, caterpillar drive is driven；The wheeled component part include first support, second support, the first wheel and Second wheel, the first support and second support are located at the both ends of crawler type car body, the first support and second Bracket has preset length, and the first support and the second support are able to carry out rotation, are configured to support The end of first support of the first support far from the car body, and described is arranged in the car body, first wheel The end of second support of the second support far from the car body is arranged in two wheels；And the Wheel type driving motor first Wheel type driving motor and the second Wheel type driving motor and first wheel are adhesion wheel, and first wheel is by described the One Wheel type driving motor and second Wheel type driving motor are driven；The steering gear system includes the first steering engine, the second rudder Machine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller, the steering engine controller control the movement of each steering engine, And the torsion of the 4th steering engine and second steering engine is greater than the torsion of the third steering engine and the first steering engine；The environment is visited Examining system includes the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor and third ultrasonic distance-measuring sensor, institute The first ultrasonic distance-measuring sensor is stated to be arranged in first support and the first wheel junction；The angular transducer is arranged described The inside of car body；The master control borad of the controller judges environment by receiving the range information of the ultrasonic sensor feedback Information；Master control borad judges the posture of robot itself by the angle information of receiving angle sensor feedback, to complete certainly The normal attitude of body restores automatically；The power-supply system is decompression power supply system.

Preferably, the caterpillar chassis driving motor includes the first caterpillar chassis driving motor and the second crawler type bottom Disk-drive motor, the crawler belt include the first crawler belt and the second crawler belt, and the synchronous pulley includes the first synchronous pulley and second Synchronous pulley, the chassis supports frame include the first chassis supports frame and the second chassis supports frame, are located at below car body Two sides；Each chassis supports frame is located at the inside of each crawler belt, and described two caterpillar chassis driving motors are pacified respectively On respective chassis supports frame, each chassis supports frame is connected to below the car body by connector.

Preferably, first synchronous pulley includes the first driving wheel and the first follower, and first crawler belt is mounted on Between the first driving wheel and the first follower of first synchronous pulley, hole is provided on the first crawler belt, the hole is synchronous with first Tooth intermeshing on belt wheel；And

Second synchronous pulley includes the second driving wheel and the second follower, and it is synchronous that second crawler belt is mounted on second Between the second driving wheel and the second follower of belt wheel, it is provided with hole on the second crawler belt, on the hole and the second synchronous pulley Tooth intermeshing；

First driving wheel of first synchronous pulley is mounted on the output shaft of the first caterpillar chassis driving motor, institute The first driven wheel for stating the first synchronous pulley is mounted on the first chassis supports frame, when the rotation of the first crawler type driving motor, First crawler belt is driven to be rotated；

Second driving wheel of second synchronous pulley is mounted on the output shaft of the second caterpillar chassis driving motor, institute The second driven wheel for stating the second synchronous pulley is mounted on the second chassis supports frame, when the rotation of the second crawler type driving motor, Second crawler belt is driven to be rotated.

Preferably, the first driving wheel in first synchronous pulley and the second follower in second synchronous pulley It is oppositely arranged, and the first driven wheel in first synchronous pulley is opposite with the second driving wheel in second synchronous pulley Setting.

Preferably, the end of first support of the first support far from the car body is rotatably connected to the first connection frame, First Wheel type driving motor and the second Wheel type driving motor are separately positioned on the outside of the two sides of first connection frame, institute Each first wheel is stated to be connected with the output shaft of the first Wheel type driving motor and the second Wheel type driving motor respectively；First ultrasound Wave distance measuring sensor be arranged in when the first wheel lands described in outside of first connection frame far from the car body；First wheel Angle between the first support is adjusted by the 5th steering engine；

First connection frame is attached first columnar stays by the first post supports and U-shaped supporting element The lower section of first connection frame and first support junction is arranged in part, is configured to keep the width of the first support Degree influences rotation flexibility ratio between the first connection frame and first support and the to prevent the width of the first connection frame from narrowing One columnar stays frame plays the role of support and limit to the movement of first support Part III；

The lower end of the inside of first connection frame, two sides point of the U-shaped supporting element are arranged in the U-shaped supporting element It is not parallel with the bottom edge of first connection frame, so that the bottom edge of the U-shaped supporting element is disposed vertically with first connection frame, The first support plate is connected on the bottom edge of the U-shaped support frame, and the first ultrasonic distance-measuring sensor is set in first support plate.

Preferably, the first end of second connection frame is rotatablely connected separate to the second support by the first aluminium column The end of the car body；

The second post supports are arranged in the second end of second connection frame, and second post supports are configured to protect The width of second support is held, to prevent the width of second connection frame from narrowing, influences second connection frame and described second Rotation flexibility ratio between bracket.

Preferably, the first support includes first part, second part and Part III, the first support first Dividing includes the first component and second component, and the first support second part has bottom and two sides, the first support Part III has bottom and two sides；

After the third steering engine is fixed on first support first part second component by the aluminium column at the top of it, First support first part second component is placed in first component Shang Shi first support first part, first support first part After one component and the overlapping of first support first part second component, by the first of first support first part the overlapping side with it is described The first rotation connection is arranged in car body rotation connection between the first support first part and the first support second part Portion, first rotating junction and the other side of the first support first part first component are affixed；First rotation connects Socket part is U-shaped structure, and the bottom edge of the U-shaped structure of first rotating junction and first support first part are affixed, described The top of the U-shaped structure of one rotating junction is rotatablely connected with the side of first support second part respectively；

4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides of two parts；

It is described by the second rotating junction between the first support second part and the first support Part III Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described The rotation connection of one bracket Part III generates opposite fortune to realize between first support second part and first support Part III Dynamic, the 5th steering engine is fixed to first support Part III by being located at the aluminium column of the 5th steering engine two sides by the 5th steering engine Two sides.

Preferably, the second support includes first part and second part, and the second support first part includes the One component and second component, the second support second part have bottom and two sides；First steering engine is passed through it After the aluminium column at top is fixed on second support first part second component, second support first part second component is set In second support first part first component Shang Shi second support first part's first component and second support first part second After component overlapping, the first of second support first part the overlapping side and the car body are rotatablely connected, the second support the It is a part of between the second support second part be arranged third rotating junction, the third rotating junction with second The other side of the frame first part first component not connecting with car body is affixed；The third rotating junction is U-shaped structure, institute Bottom edge and the second support first part for stating the U-shaped structure of third rotating junction are affixed, the U-shaped of the third rotating junction The top of structure is rotatablely connected with the side of second support second part respectively；

4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides of two parts.

Preferably, the power-supply system includes battery, and the battery is configured to as according to the full landform of the utility model Mobile sniffing robot system provides electric energy；The battery includes the first battery and the second battery, first battery and second Battery is the model airplane battery of 11.1V, wherein voltage is down to each steering engine by the first voltage reduction module by the first battery to be allowed most In high voltage range, and guarantee that each wheel electrical machine and steering engine have sufficient driving current, thus can guarantee the torque of each steering engine with Rotate the first support and the second support and the energy when the mobile sniffing robot of the full landform is under wheeled state Entire car body is supported, voltage is dropped to driving motor by the second voltage reduction module by second battery.

The beneficial effects of the utility model are as follows:

Compared with prior art, the mobile sniffing robot of the full landform in the utility model has gone out shoe according to bionic design The motion mode of band and wheeled combination, so that the full landform in the utility model moves sniffing robot and copes with level land and answer The case where miscellaneous landform, while it can be changed into mobile working platform as needed, specifically, two long feet can be lifted easily It is high and reduce height of the carbody, highly raise aftercarriage can also further progress it is mobile, using robot as mobile working platform, Oneself height is arbitrarily raised and reduces by the interoperation of two feet to carry out exploration and operation, it can also be with by part transformation Simple bridge is made across between river or the cliff of displacement to take；The wherein constructing function of mobile working platform, can be in actually exploration Information collection for the various collection of resources facilities and survey sensors of robot installation provides great convenience, makes robot The information of collection is more accurate in place.

The mobile sniffing robot of full landform in the utility model has obstacle information detecting function, can be according to institute The case where barrier faced, takes specific decision, compared with traditional avoidance trolley and avoidance robot, more intelligence Energy.

The mobile sniffing robot of full landform in the utility model can be realized autonomous pose recovery, when going out in use process When existing rollover situation, it can automatically take measures to be coped with to extricate oneself from a predicament.

Meanwhile because having done a large amount of work in terms of controller, sensor, driver, this is practical new Type performance is stablized, and cost is greatly reduced.Realize obstacle information detection, throwing over barrier, across gully type obstacle, autonomous The multiple functions such as pose recovery, mobile working platform.

Detailed description of the invention

Fig. 1 is the first structure diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 2 is the second structural schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 3 is the third structural schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 4 is the 4th structural schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 5 is the 5th structural schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 6 is the 6th structural schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 7 is the composition schematic diagram of the mobile sniffing robot of full landform according to the present utility model.

Fig. 8 is the structural schematic diagram of the second embodiment of the mobile sniffing robot of full landform according to the present utility model.

Specific embodiment

The embodiments of the present invention are described in detail below in conjunction with attached drawing.

Such as Fig. 1 to the mobile sniffing robot of full landform shown in fig. 7, walked using wheeled construction on flat road surface, It is walked using track structure on complicated road surface comprising wheeled component part, car body 3, chassis system, steering gear system, control Device, environmental detecting system, power-supply system and driving motor processed, the car body are located at the top of the chassis system.

The driving motor includes Wheel type driving motor and caterpillar chassis driving motor.

The chassis system is located at the lower section of the car body, and the chassis system is using caterpillar chassis as robot Crawler type component part, the chassis system include crawler belt 2, synchronous pulley, chassis supports frame and caterpillar chassis driving motor 1。

Preferably, the caterpillar chassis driving motor 1 includes the first caterpillar chassis driving motor 11 and the second crawler belt Formula chassis driving motor 12, each caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis is adopted It is driven with DC speed-reducing, to make the mobile sniffing robot of the full landform have complex road surface handling capacity.

The crawler body is driven using two DC speed-reducings.The crawler belt 2 includes the first crawler belt 21 and the Two crawler belts 22.

The crawler body is that crawler frame integrates chassis, as shown in Figure 1, the chassis supports frame 4 includes first Chassis supports frame 41 and the second chassis supports frame 42 are located at the two sides of 3 lower section of car body.Each chassis supports frame difference Positioned at the inside of each crawler belt, described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, described Each chassis supports frame is by fastener, for example, L-type connector, is connected to 3 lower section of car body.

The synchronous pulley includes the first synchronous pulley 51 and the second synchronous pulley 52, and first synchronous pulley includes the One driving wheel 511 and the first follower 512, first crawler belt 21 are mounted on 511 He of the first driving wheel of the first synchronous pulley Between first follower 512, hole 6 is provided on the first crawler belt 21, the tooth on the hole and the first synchronous pulley is intermeshed.

Second synchronous pulley includes the second driving wheel 521 and the second follower 522, and second crawler belt 22 is mounted on Between the second driving wheel 521 and the second follower 522 of second synchronous pulley, be provided with hole 6 on the second crawler belt 22, the hole with Tooth intermeshing on second synchronous pulley.

First driving wheel 511 of first synchronous pulley is mounted on the first caterpillar chassis driving motor 11, i.e., and first DC speed-reducing, output shaft on, the first driven wheel 512 of first synchronous pulley is mounted on the first chassis supports frame 41 On, when the rotation of the first DC speed-reducing, the first crawler belt 21 is driven to be rotated.

Second driving wheel 521 of second synchronous pulley is mounted on the second caterpillar chassis driving motor 12, i.e., and second DC speed-reducing, output shaft on, the second driven wheel 522 of second synchronous pulley is mounted on the second chassis supports frame 42 On, when the rotation of the second DC speed-reducing, the second crawler belt 22 is driven to be rotated.

Wherein, the first driving wheel 511 in first synchronous pulley 51 and second in second synchronous pulley 52 Follower 522 is oppositely arranged, i.e. the first driven wheel 512 in the first synchronous pulley 51 and the in second synchronous pulley 52 Two driving wheels 521 are oppositely arranged.

Preferably, the rotation direction and speed of the first DC speed-reducing and the second DC speed-reducing motor are controlled, with Control advance, retrogressing, stopping and the left and right turn of the mobile sniffing robot of the full landform.

The wheeled component part includes first support 7, second support 8, the first wheel 9 and the second wheel 10, and described One bracket 7 and second support 8 are located at the both ends of crawler type car body 3, and the first support 7 and second support 8 have pre- If length, and the first support 7 and second support 8 are able to carry out rotation, are configured to support crawler type car body 3, The height of the first support 7 and second support 8 can be selected according to practical application, and first wheel 9 is arranged In the end of first support 7 of the first support 7 far from the car body 3, and second wheel 10 is arranged described second The end of second support 8 of the bracket 8 far from the car body 3；Preferably, the quantity of first wheel 9 is 2, distinguishes position In the two sides of the first support 7, the quantity of second wheel 10 is two, is located at the two sides of second support 8.

Wheel type driving motor first Wheel type driving motor 100, the second Wheel type driving motor 101.Preferably, described each Wheel type driving motor is DC speed-reducing.

The end of first support 7 of the first support 7 far from the car body 3 is rotatably connected to the first connection frame 13, institute State the first Wheel type driving motor 100 and the second Wheel type driving motor 101 be separately positioned on the first connection frame two sides outside, institute Each first wheel 9 is stated to be connected with the output shaft of the first Wheel type driving motor 100 and the second Wheel type driving motor 101 respectively.It is described First ultrasonic distance-measuring sensor be arranged in when the first wheel lands described in outside of first connection frame 13 far from the car body 3.

First connection frame 13 is attached described first by the first post supports 131 and U-shaped supporting element 132 The lower section of first connection frame 13 and 7 junction of first support is arranged in post supports 131, is configured to described in holding The width of first support influences to turn between the first connection frame and first support to prevent the width of the first connection frame 13 from narrowing Dynamic flexibility ratio.Meanwhile first columnar stays frame 131 play the role of support and limit to the movement of first support Part III.

The lower end of the inside of first connection frame 13 is arranged in the U-shaped supporting element 132, the U-shaped supporting element 132 Two sides are parallel with the bottom edge of first connection frame respectively, so that the bottom edge of the U-shaped supporting element 132 is connect with described first Frame 13 is disposed vertically, and the first support plate 133 is connected on the bottom edge of the U-shaped support frame 132, is set in first support plate 133 Set the first ultrasonic distance-measuring sensor 90.

The first end of second connection frame 14 is rotatablely connected to second support 8 by the first aluminium column far from the car body 3 end, it is preferable that the quantity of the first aluminium column is two.

The second post supports 142 are arranged in the second end of second connection frame 14, and second post supports 142 are matched The width for keeping second support is set, to prevent the width of the second connection frame 13 from narrowing, influences the second connection frame and second Rotation flexibility ratio between frame.

Preferably, first wheel 9 is adhesion wheel, and first wheel relies on the first Wheel type driving motor and second Wheel type driving motor is driven.

The steering gear system includes the first steering engine 201, the second steering engine 202, third steering engine 203, the 4th steering engine the 204, the 5th Steering engine 205 and steering engine controller (not shown), the steering engine controller control the movement of each steering engine, and the 4th steering engine 204 and second steering engine 202 torsion be greater than the third steering engine 203 and the first steering engine 201 torsion.

Angle between first wheel and first support is adjusted by the 5th steering engine.5th steering engine That is the 5th servo motor.The first support includes first part, second part and Part III, the first support first Dividing includes the first component and second component, and the first support second part has bottom and two sides.The first support Part III has bottom and two sides.

After third steering engine 203 is fixed on first support first part second component by the aluminium column at the top of it, First support first part second component is placed in first component Shang Shi first support first part, first support first part After one component and the overlapping of first support first part second component, by the first of first support first part the overlapping side with it is described The first rotation connection is arranged in car body rotation connection between the first support first part and the first support second part Portion, further, the other side of first rotating junction and the first support first part first component not connect with car body Portion is affixed.First rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction with first Frame first part is affixed, the top of the U-shaped structure of first rotating junction side with first support second part respectively Rotation connection.

4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides of two parts.

It is described by the second rotating junction between the first support second part and the first support Part III Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described The rotation connection of one bracket Part III generates opposite fortune to realize between first support second part and first support Part III It is dynamic.5th steering engine is fixed to first support Part III by being located at the aluminium column of the 5th steering engine two sides by the 5th steering engine Two sides.

Preferably, in the mechanical heel part of the first support 7, further, in the mechanical heel of the first support The 4th steering engine 204 is arranged in partial main force part, for example, digital rudder controller, realizes the tune of 7 rotation position of first support Whole, the 4th steering engine 204 is the 4th servo motor, and the 4th steering engine torsion is big and stability is good.In the institute of first support The movable part of mechanical heel top is stated using third steering engine 203, the third steering engine, that is, third servo motor.Preferably, The third steering engine is digital rudder controller.The third steering engine is configured to the first wheel 9 in first support 7 around first support axis Turned position and the position of the first ultrasonic distance-measuring sensor are adjusted.

The second support includes first part and second part, the second support first part include the first component and Second component, the second support second part have bottom and two sides.First steering engine 201 is passed through into the aluminium column at the top of it After being fixed on second support first part second component, second support first part second component is placed in second support After first part's first component Shang Shi second support first part's first component and the overlapping of second support first part second component, The first of second support first part overlapping side and the car body are rotatablely connected, the second support first part with it is described Third rotating junction is set between second support second part, further, the third rotating junction and second support the The other side of a part of first component not connecting with car body is affixed.The third rotating junction is U-shaped structure, described the The bottom edge of the U-shaped structure of three rotating junctions and second support first part are affixed, the U-shaped structure of the third rotating junction Top respectively with the side of second support second part be rotatablely connected.

4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides of two parts.

Preferably, in the mechanical heel part of the second support 8, further, in the mechanical heel of the second support The second steering engine 202 is arranged in partial main force part, for example, digital rudder controller, realizes the rotation position of the second support Adjustment, second steering engine i.e. the second servo motor, the second steering engine torsion is big, and stability is good.

The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the One servo motor.Preferably, first steering engine 201 is digital rudder controller, and first steering engine is configured to in second support Second wheel is adjusted around the position of the position that second support axis rotates and angular transducer.

Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multiple groups steering engine.

The controller is single-chip microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform Mobile sniffing robot can autonomously carry out the work of setting, the letter incoming to ultrasonic distance-measuring sensor and angular transducer It number is analyzed, executive component is controlled according to result, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.

The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine People detects strange environment.

Embodiment according to the present utility model, the environmental detecting system include the first ultrasonic distance-measuring sensor 90 and the Two ultrasonic distance-measuring sensors 91 and third ultrasonic distance-measuring sensor 92, first ultrasonic distance-measuring sensor setting is the One bracket and the first wheel junction；Preferably, the front of the wheel is arranged in first ultrasonic distance-measuring sensor, into One step, the quantity of first ultrasonic distance-measuring sensor are two.Second ultrasonic distance-measuring sensor and third ultrasound Wave distance measuring sensor is respectively set below the car body and at the first support, it is preferable that second ultrasound It is two away from sensor, and the third ultrasonic distance-measuring sensor is two.

The inside of the car body is arranged in the angular transducer 93 comprising gyroscope and accelerometer, configuration are used In the angle of the detection car body with respect to the horizontal plane.

By the 5th steering engine 205, drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor 90 facing forward, and and remaining Robot chassis supports are got up in steering engine cooperation, carry out the movement such as obstacle detouring of climbing to a higher point.

The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback Such as barrier, steep cliff and gully, to realize that a series of actions is completed barrier and crossed over；Master control borad passes through receiving angle sensor The angle information of feedback judges the posture of robot itself, so that the normal attitude for completing itself restores automatically.

The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root Electric energy is provided according to the mobile sniffing robot system of the full landform of the utility model.Preferably, the battery include the first battery and Second battery, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through the first decompression mould Voltage is down within the scope of the ceiling voltage that each steering engine allows by block, and guarantees that each wheel electrical machine and steering engine have sufficient driving electricity Stream, to can guarantee that all steering engines have enough torques to rotate first support and second support and move in the full landform Dynamic sniffing robot can support entire car body when being under wheeled state.Second battery passes through the second voltage reduction module for voltage drop To driving motor, for example, the ceiling voltage that the Wheel type driving motor and master control borad of driving wheel allow, it is preferable that use second Battery is that the driving motor of the chassis system is powered to solve the problems, such as that crawler body power consumption is more.

Use track structure when complicated road surface is walked when the full landform moves sniffing robot, it is wheeled by first Front of the location of the driving motor as the mobile sniffing robot of the full landform, when the full landform during advance When mobile sniffing robot falls to the first inclination, angular transducer detects first angle changing value, and master control borad control first is watched It takes motor and carries out rotation counterclockwise to realize the normal attitude for turning over to restore the mobile sniffing robot of the full landform；Work as institute When stating the mobile sniffing robot of full landform and toppling over to second side, the angular transducer detects second angle changing value, master control Plate control first servo motor is rotated clockwise to realize and turn over to restore the mobile sniffing robot of the full landform just Normal posture.

The mobile sniffing robot of full landform in second embodiment according to the present utility model, using wheeled construction flat Road surface walking, walked using track structure on complicated road surface comprising wheeled component part, car body 3, chassis system, Steering gear system, controller, environmental detecting system, power-supply system and driving motor, the car body are located at the chassis system Top.

The driving motor includes Wheel type driving motor and caterpillar chassis driving motor.

The chassis system is located at the lower section of the car body, and the chassis system is using caterpillar chassis as robot Crawler type component part, the chassis system include crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor.

Preferably, the caterpillar chassis driving motor includes the first caterpillar chassis driving motor and the second crawler type bottom Disk-drive motor, each caterpillar chassis driving motor is DC speed-reducing, i.e., the described caterpillar chassis uses direct current Decelerating motor is driven, to make the mobile sniffing robot of the full landform have complex road surface handling capacity.

The crawler body is driven using two DC speed-reducings.The crawler belt includes that the first crawler belt and second carry out Band.

The crawler body be crawler frame integrate chassis, the chassis supports frame include the first chassis supports frame and Second chassis supports frame, is located at the two sides below car body.Each chassis supports frame is located at the inside of each crawler belt, Described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, and each chassis supports frame passes through tight Firmware, for example, L-type connector, is connected to below the car body.

The synchronous pulley includes the first synchronous pulley and the second synchronous pulley, and first synchronous pulley includes first main Driving wheel and the first follower, first crawler belt are mounted between the first driving wheel of the first synchronous pulley and the first follower, Hole is provided on first crawler belt, the tooth on the hole and the first synchronous pulley is intermeshed.

Second synchronous pulley includes the second driving wheel and the second follower, and it is synchronous that second crawler belt is mounted on second Between the second driving wheel and the second follower of belt wheel, it is provided with hole on the second crawler belt, on the hole and the second synchronous pulley Tooth intermeshing.

First driving wheel of first synchronous pulley is mounted on the first caterpillar chassis driving motor, i.e. the first direct current subtracts Speed motor, output shaft on, the first driven wheel of first synchronous pulley is mounted on the first chassis supports frame, when first straight When flowing decelerating motor rotation, the first crawler belt is driven to be rotated.

Second driving wheel of second synchronous pulley is mounted on the second caterpillar chassis driving motor, i.e. the second direct current subtracts Speed motor, output shaft on, the second driven wheel of second synchronous pulley is mounted on the second chassis supports frame, when second straight When flowing decelerating motor rotation, the second crawler belt is driven to be rotated.

Wherein, the first driving wheel in first synchronous pulley and the second follower phase in second synchronous pulley To setting, i.e. the first driven wheel in the first synchronous pulley is oppositely arranged with the second driving wheel in second synchronous pulley.

Preferably, the rotation direction and speed of the first DC speed-reducing and the second DC speed-reducing motor are controlled, with Control advance, retrogressing, stopping and the left and right turn of the mobile sniffing robot of the full landform.

The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support The both ends of crawler type car body are located at second support, the first support and second support have preset length, and The first support and second support are able to carry out rotation, be configured to support crawler type car body, the first support and The height of second support can be selected according to practical application, and the first wheel setting is separate in the first support The end of the first support of the car body, and second of the second support far from the car body is arranged in second wheel The end of frame；Preferably, the quantity of first wheel is 2, is located at the two sides of the first support, described second The quantity of wheel is two, is located at the two sides of second support.

First Wheel type driving motor of Wheel type driving motor, the second Wheel type driving motor；Preferably, first wheel For adhesion wheel, first wheel is driven by the first Wheel type driving motor and the second Wheel type driving motor.

Preferably, each Wheel type driving motor is DC speed-reducing.

The end of first support of the first support far from the car body is rotatably connected to the first connection frame, and described first Wheel type driving motor and the second Wheel type driving motor are separately positioned on the outside of the two sides of the first connection frame, each first wheel It is connected respectively with the output shaft of the first Wheel type driving motor and the second Wheel type driving motor.First ultrasonic distance-measuring sensor Outside of first connection frame far from the car body described in being arranged in when the first wheel lands.

First connection frame is attached first columnar stays by the first post supports and U-shaped supporting element The lower section of first connection frame and first support junction is arranged in part, is configured to keep the width of the first support Degree influences the rotation flexibility ratio between the first connection frame and first support to prevent the width of the first connection frame from narrowing.Meanwhile First columnar stays frame plays the role of support and limit to the movement of first support Part III.

The lower end of the inside of first connection frame, two sides point of the U-shaped supporting element are arranged in the U-shaped supporting element It is not parallel with the bottom edge of first connection frame, so that the bottom edge of the U-shaped supporting element is disposed vertically with first connection frame, The first support plate is connected on the bottom edge of the U-shaped support frame, and the first ultrasonic distance-measuring sensor is set in first support plate.

The first end of second connection frame is rotatablely connected by the first aluminium column to the separate car body of second support End, it is preferable that the quantity of the first aluminium column is two.

The second post supports are arranged in the second end of second connection frame, and second post supports are configured to protect The width of second support is held, to prevent the width of the second connection frame from narrowing, influences to turn between the second connection frame and second support Dynamic flexibility ratio.

The steering gear system include the first steering engine 201 ', the second steering engine 202 ', third steering engine 203 ', the 4th steering engine 204 ', 5th steering engine 205 ' and steering engine controller (not shown), the steering engine controller control the movement of each steering engine, and described the The torsion of four steering engines 204 ' and second steering engine 202 ' is greater than the torsion of the third steering engine 203 ' and the first steering engine 201 ', such as Shown in Fig. 8.

Angle between first wheel and first support is adjusted by the 5th steering engine 205 '.Described 5th The 5th servo motor of steering engine 205 ' i.e..The first support includes first part, second part and Part III, and described first Frame first part includes the first component and second component, and the first support second part has bottom and two sides.It is described First support Part III has bottom and two sides.

After third steering engine 203 ' is fixed on first support first part second component by the aluminium column at the top of it, First support first part second component is placed in first component Shang Shi first support first part, first support first part After one component and the overlapping of first support first part second component, by the first of first support first part the overlapping side with it is described The first rotation connection is arranged in car body rotation connection between the first support first part and the first support second part Portion, further, the other side of first rotating junction and the first support first part first component not connect with car body Portion is affixed.First rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction with first Frame first part is affixed, the top of the U-shaped structure of first rotating junction side with first support second part respectively Rotation connection.

4th steering engine is fixed to first support the by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides of two parts.

It is described by the second rotating junction between the first support second part and the first support Part III Second rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and described The rotation connection of one bracket Part III generates opposite fortune to realize between first support second part and first support Part III It is dynamic.5th steering engine 205 ' is fixed to first by being located at the aluminium column of 205 ' two sides of the 5th steering engine by the 5th steering engine 205 ' Two sides of bracket Part III.

Preferably, in the mechanical heel part of the first support, further, in the mechanical heel portion of the first support The 4th steering engine 204 ' is arranged in the main force part divided, for example, digital rudder controller, realizes the tune of the first support rotation position Whole, the 4th steering engine 204 ' i.e. the 4th servo motor, the 4th steering engine torsion is big and stability is good.In the institute of first support The movable part of mechanical heel top is stated using third steering engine 203, the third steering engine 203 ' i.e. third servo motor.It is preferred that Ground, the third steering engine 203 ' are digital rudder controller.The third steering engine 203 ' be configured to the first wheel in first support around First support axis turned position and the position of the first ultrasonic distance-measuring sensor are adjusted.

The second support includes first part and second part, the second support first part include the first component and Second component, the second support second part have bottom and two sides.First steering engine 201 ' is passed through into the aluminium at the top of it After column is fixed on second support first part second component, second support first part second component is placed in second Frame first part first component Shang Shi second support first part's first component and the overlapping of second support first part second component Afterwards, the first of second support first part the overlapping side and the car body are rotatablely connected, the second support first part with Between the second support second part be arranged third rotating junction, further, the third rotating junction with second The other side of the frame first part first component not connecting with car body is affixed.The third rotating junction is U-shaped structure, institute Bottom edge and the second support first part for stating the U-shaped structure of third rotating junction are affixed, the U-shaped of the third rotating junction The top of structure is rotatablely connected with the side of second support second part respectively.

4th steering engine is fixed to the by being located at the aluminium column of 204 ' two sides of the 4th steering engine by the 4th steering engine 204 ' Two sides of one bracket second portions.

Preferably, in the mechanical heel part of the second support, further, in the mechanical heel portion of the second support The second steering engine 202 ' is arranged in the main force part divided, for example, digital rudder controller, realizes the tune of the rotation position of the second support Whole, the second servo motor of second steering engine 202 ' i.e., the second steering engine torsion is big, and stability is good.

The first steering engine is used in the movable part of the mechanical heel top of second support, first steering engine i.e. the One servo motor.Preferably, first steering engine 201 ' is digital rudder controller, and first steering engine is configured to in second support Second wheel is adjusted around the position of the position that second support axis rotates and angular transducer.

Using steering engine controller, such as 32 road steering engine controllers, to control the angle of multiple groups steering engine.

The controller is single-chip microcontroller；Preferably, the steering engine controller is AVR single chip, to make the full landform Mobile sniffing robot can autonomously carry out the work of setting, the letter incoming to ultrasonic distance-measuring sensor and angular transducer It number is analyzed, executive component is controlled according to result, for example, caterpillar chassis driving motor, Wheel type driving motor and steering engine.

The environmental detecting system includes several ultrasonic sensors and angular transducer, is configured to help machine People detects strange environment.

Embodiment according to the present utility model, the environmental detecting system include the first ultrasonic distance-measuring sensor and second Ultrasonic distance-measuring sensor and third ultrasonic distance-measuring sensor, first ultrasonic distance-measuring sensor are arranged in first support With the first wheel junction；Preferably, the front of the wheel is arranged in first ultrasonic distance-measuring sensor, further, The quantity of first ultrasonic distance-measuring sensor is two.Second ultrasonic distance-measuring sensor and third ultrasonic distance measurement Sensor is respectively set below the car body and at the first support, it is preferable that the second ultrasonic distance measurement sensing Device is two, and the third ultrasonic distance-measuring sensor is two.

The inside of the car body is arranged in the angular transducer comprising gyroscope and accelerometer are configured to Detect the angle of the car body with respect to the horizontal plane.

By the 5th steering engine 205 ', drive the ultrasonic emission port of the first ultrasonic distance-measuring sensor facing forward, and and remaining Robot chassis supports are got up in steering engine cooperation, carry out the movement such as obstacle detouring of climbing to a higher point.

The master control borad of controller judges environmental information, example by receiving the range information of the ultrasonic sensor feedback Such as barrier, steep cliff and gully, to realize that a series of actions is completed barrier and crossed over；Master control borad passes through receiving angle sensor The angle information of feedback judges the posture of robot itself, so that the normal attitude for completing itself restores automatically.

The power-supply system is decompression power supply system, and the power-supply system includes battery, and the battery is configured to as root Electric energy is provided according to the mobile sniffing robot system of the full landform of the utility model.Preferably, the battery include the first battery and Second battery, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through the first decompression mould Voltage is down within the scope of the ceiling voltage that each steering engine allows by block, and guarantees that each wheel electrical machine and steering engine have sufficient driving electricity Stream, to can guarantee that all steering engines have enough torques to rotate first support and second support and move in the full landform Dynamic sniffing robot can support entire car body when being under wheeled state.Second battery passes through the second voltage reduction module for voltage drop To driving motor, for example, the ceiling voltage that the Wheel type driving motor and master control borad of driving wheel allow, it is preferable that use second Battery is that the driving motor of the chassis system is powered to solve the problems, such as that crawler body power consumption is more.

Use track structure when complicated road surface is walked when the full landform moves sniffing robot, it is wheeled by first Front of the location of the driving motor as the mobile sniffing robot of the full landform, when the full landform during advance When mobile sniffing robot falls to the first inclination, angular transducer detects first angle changing value, and master control borad control first is watched It takes motor and carries out rotation counterclockwise to realize the normal attitude for turning over to restore the mobile sniffing robot of the full landform；Work as institute When stating the mobile sniffing robot of full landform and toppling over to second side, the angular transducer detects second angle changing value, master control Plate control first servo motor is rotated clockwise to realize and turn over to restore the mobile sniffing robot of the full landform just Normal posture.

Detailed process is as follows when the mobile sniffing robot of the full landform climb up and over high-rise working:

When the first ultrasonic distance-measuring sensor, front distance is detected less than the first setting value, master control borad is according to described the The collected information of one ultrasonic sensor judges that there are barriers in front, while obtaining the mobile detection machine of the full landform The distance between people and barrier, it is preset that master control borad issues the mobile sniffing robot execution of the control signal control full landform The action group of across obstacle is climbed to a higher point.

Preferably, the eminence of the barrier has plane, so that the car body can march to completely in the plane.

When the mobile sniffing robot of full landform carries out climbing up and over high-rise working, the specific steps of which are as follows:

Step 1, that is, by the 4th servo motor, drives first support to be rotated to lift first by the 4th steering engine Wheel stops lifting ac after the height that the height of first wheel reaches beyond the barrier highest point；

Step 2, the mobile sniffing robot of the full landform is by caterpillar chassis advance pre-determined distance, the 4th steering engine, i.e., 4th servo motor drives first support rotation to fall in the first wheel in barrier eminence plane；

Step 3, the second steering engine, i.e. the second servo motor, rotation drive second support, are propped up by the second support The car body；With second support car body prop up come, to the first wheel relative to angle between first support be adjusted with Just chassis is propped up to make its avoiding obstacles.

Step 4, the mobile sniffing robot of full landform are advanced by the first wheel and the second wheel, make entire car body All aloft in plane, completion is climbed to a higher point to act and be completed.

When the mobile sniffing robot of full landform works across gully or steep cliff, the specific steps of which are as follows:

When the second ultrasonic distance-measuring sensor detects that distance is greater than second below the mobile sniffing robot of the full landform Setting value, master control borad judge that front is steep cliff or ditch according to the information that second ultrasonic distance-measuring sensor monitors Gully, master control borad issue control signal and control the action group that the mobile sniffing robot of the full landform executes preset across obstacle It carries out lower.

Wherein, across steep cliff movement, specific step is as follows:

Step 1, the 4th steering engine, i.e. the 4th servo motor drive first support to be rotated, and the first wheel is made to fall in the In one plane；

Step 2, the second steering engine, i.e. the second servo motor drive second support rotation that the second wheel is made to fall in the second plane On, and the height of the first plane is lower than the height of the second plane；

Step 3, the mobile sniffing robot of full landform are continuously advanced by the first wheel and the second wheel, Zhi Daosuo It states car body and all falls on the first plane；

Preferably, during the mobile sniffing robot of the full landform described in step 3 is continuously advanced, the 5th steering engine, I.e. described 5th servo motor persistently adjusts the position of the first wheel.

Preferably, during the mobile sniffing robot of the full landform described in step 3 is continuously advanced, first rudder Machine, i.e. first servo motor persistently adjust the position of the second wheel.

The mobile sniffing robot of full landform is acted across gully, and the car body is crossed over from third plane to Siping City Face has gully between the third plane and fourth plane, the specific steps of which are as follows:

Step 1, the car body are located in third plane, and by the 4th steering engine, i.e. the 4th servo motor drives first support It is rotated, drops down onto the first wheel in fourth plane across gully；

Step 2, by the second steering engine, i.e. the second servo motor, which drives second support to carry out rotation, drops down onto the second wheel In third plane；

Step 3, the mobile sniffing robot of full landform is continuously advanced by the first wheel and the second wheel, until institute It states ontology and reaches fourth plane across gully above gully.

The mobile sniffing robot of full landform is walked using wheeled construction on flat road surface, is existed using track structure Complicated road surface walking, from crawler type to wheeled mutual handoff procedure, specific step is as follows:

The mobile sniffing robot of full landform is under crawler belt form, and first wheel and the second wheel are detached from ground Face.

Stop after second wheel lands when the first steering engine rotates to, the 5th steering engine and the 4th steering engine rotate to first Wheel lands, and the first support and second support collective effect support the car body to guarantee that the car body is horizontal, this is The movement of column just completes the mobile sniffing robot of the full landform from crawler belt form to the switching of wheeled form.On this basis Opposite movement is done, just completes the mobile sniffing robot of the full landform from wheeled form to the switching of crawler belt form.

The optimization, extension and substitution of the utility model:

A. optimize the barrier that mechanical structure enables robot to cross various different heights, the obstacles such as steep cliff or gully Object；

B. lighter material is replaced to mitigate the overall weight of robot；

C. the crawler body of robot is further optimized, such as changes the material and width of crawler belt, makes its power consumption Reduce, passage speed is faster；

D. revolving speed and the faster motor of torque and steering engine are selected, so that the sport efficiency of robot is faster, is executed in a more Long task is more powerful and stablizes.

Finally, it should be noted that above-described each embodiment is merely to illustrate the technical solution of the utility model, rather than It is limited；Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art It is understood that it can still modify to technical solution documented by previous embodiment, or to part of or whole Technical characteristic is equivalently replaced；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution the utility model The range of each embodiment technical solution.

Claims (9)

1. a kind of mobile sniffing robot of full landform is walked on flat road surface using wheeled construction, is existed using track structure Complicated road surface walking, it is characterised in that: including wheeled component part, car body, chassis system, steering gear system, controller, environment Detection system, power-supply system and driving motor, the car body are located at the top of the chassis system；The driving motor includes Wheel type driving motor and caterpillar chassis driving motor；

The chassis system includes crawler belt, synchronous pulley, chassis supports frame and caterpillar chassis driving motor, the synchronous pulley Including driving wheel and driven wheel, the caterpillar chassis driving motor is mounted on chassis supports frame, the master of the synchronous pulley Driving wheel is connected with the output shaft of the caterpillar chassis driving motor, and the crawler belt is engaged with the synchronous pulley, drives crawler belt Movement；

The wheeled component part includes first support, second support, the first wheel and the second wheel, the first support and Two brackets are located at the both ends of crawler type car body, and the first support and second support have preset length, and described First support and the second support are able to carry out rotation, are configured to support the car body, the first wheel setting In the end of first support of the first support far from the car body, and second wheel setting is remote in the second support The end of second support from the car body；And

The Wheel type driving motor includes the first Wheel type driving motor and the second Wheel type driving motor；And based on first wheel Motor car wheel, first wheel are driven by first Wheel type driving motor and second Wheel type driving motor；

The steering gear system includes the first steering engine, the second steering engine, third steering engine, the 4th steering engine, the 5th steering engine and steering engine controller, The steering engine controller controls the movement of each steering engine, and the torsion of the 4th steering engine and second steering engine is greater than described The torsion of third steering engine and the first steering engine；

The environmental detecting system includes the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor and third ultrasound Wave distance measuring sensor, first ultrasonic distance-measuring sensor are arranged in first support and the first wheel junction；Angle sensor The inside of the car body is arranged in device；

The master control borad of the controller judges environmental information by receiving the range information of the ultrasonic sensor feedback；It is main Control plate judges the posture of robot itself by the angle information of receiving angle sensor feedback, to complete the normal of itself Posture is restored automatically.

2. the mobile sniffing robot of full landform as described in claim 1, it is characterised in that: the caterpillar chassis driving motor Including the first caterpillar chassis driving motor and the second caterpillar chassis driving motor, the crawler belt includes the first crawler belt and second Crawler belt, the synchronous pulley include the first synchronous pulley and the second synchronous pulley, and the chassis supports frame includes the first chassis branch Support and the second chassis supports frame, are located at the two sides below car body；Each chassis supports frame is located at each crawler belt Inside, described two caterpillar chassis driving motors are separately mounted on respective chassis supports frame, each chassis supports Frame is connected to below the car body by connector.

3. the mobile sniffing robot of landform as claimed in claim 2 complete, it is characterised in that: first synchronous pulley includes the One driving wheel and the first follower, first crawler belt be mounted on the first synchronous pulley the first driving wheel and the first follower it Between, hole is provided on the first crawler belt, the tooth on the hole and the first synchronous pulley is intermeshed；And

Second synchronous pulley includes the second driving wheel and the second follower, and second crawler belt is mounted on the second synchronous pulley The second driving wheel and the second follower between, hole, the hole and the tooth phase on the second synchronous pulley are provided on the second crawler belt Mutually engagement；

First driving wheel of first synchronous pulley is mounted on the output shaft of the first caterpillar chassis driving motor, and described First driven wheel of one synchronous pulley is mounted on the first chassis supports frame, when the rotation of the first crawler type driving motor, is driven First crawler belt is rotated；

Second driving wheel of second synchronous pulley is mounted on the output shaft of the second caterpillar chassis driving motor, and described Second driven wheel of two synchronous pulleys is mounted on the second chassis supports frame, when the rotation of the second crawler type driving motor, is driven Second crawler belt is rotated.

4. the mobile sniffing robot of landform as claimed in claim 3 complete, it is characterised in that: the in first synchronous pulley One driving wheel is oppositely arranged with the second follower in second synchronous pulley, and first in first synchronous pulley from Driving wheel is oppositely arranged with the second driving wheel in second synchronous pulley.

5. the mobile sniffing robot of full landform as claimed in claim 4, it is characterised in that: the first support is far from the vehicle The end of the first support of body is rotatably connected to the first connection frame, first Wheel type driving motor and the second Wheel type driving motor Be separately positioned on the outside of the two sides of first connection frame, each first wheel respectively with the first Wheel type driving motor and The output shaft of two Wheel type driving motors is connected；First ultrasonic distance-measuring sensor be arranged when the first wheel lands described in the Outside of one connection frame far from the car body；Angle between first wheel and the first support passes through the 5th rudder Machine is adjusted；

First connection frame is attached first post supports and is set by the first post supports and U-shaped supporting element The width for being configured to keep the first support in the lower section of first connection frame and first support junction is set, with It prevents the width of the first connection frame from narrowing, influences rotation flexibility ratio and the first column between the first connection frame and first support Support frame plays the role of support and limit to the movement of first support Part III；

The U-shaped supporting element is arranged in the lower end of the inside of first connection frame, two sides of the U-shaped supporting element respectively with The bottom edge of first connection frame is parallel, so that the bottom edge of the U-shaped supporting element is disposed vertically with first connection frame, it is described The first support plate is connected on the bottom edge of U-shaped support frame, and the first ultrasonic distance-measuring sensor is set in first support plate.

6. the mobile sniffing robot of full landform as claimed in claim 5, it is characterised in that: the first end of the second connection frame passes through First aluminium column is rotatablely connected to the end far from the car body of the second support；

The second end of second connection frame is arranged the second post supports, and second post supports are configured to holding the The width of two brackets influences second connection frame and the second support to prevent the width of second connection frame from narrowing Between rotation flexibility ratio.

7. the mobile sniffing robot of full landform as claimed in claim 6, it is characterised in that: the first support includes first Divide, second part and Part III, the first support first part include the first component and second component, the first support Second part has bottom and two sides, and the first support Part III has bottom and two sides；

After the third steering engine is fixed on first support first part second component by the aluminium column at the top of it, by One bracket first part second component is placed in first component Shang Shi first support first part, first support first part first After part and the overlapping of first support first part second component, by the first overlapping side of first support first part and the car body Rotation connection, is arranged the first rotating junction, institute between the first support first part and the first support second part It is affixed to state the first rotating junction and the other side of the first support first part first component；First rotating junction is U-shaped structure, the bottom edge of the U-shaped structure of first rotating junction and first support first part are affixed, first rotation The top of the U-shaped structure of interconnecting piece is rotatablely connected with the side of first support second part respectively；

4th steering engine is fixed to first support second by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides being divided to；

By the second rotating junction between the first support second part and the first support Part III, described second Rotating junction arranges in pairs, each second rotating junction respectively with the first support second part and first described The rotation connection of frame Part III, generates relative motion between first support second part and first support Part III to realize, 5th steering engine is fixed to first support Part III by being located at the aluminium column of the 5th steering engine two sides by the 5th steering engine Two sides.

8. the mobile sniffing robot of full landform as claimed in claim 7, it is characterised in that: the second support includes first Divide and second part, the second support first part include the first component and second component, the second support second part With bottom and two sides；First steering engine is fixed on the second support first part by the aluminium column at the top of it After on two components, second support first part second component, which is placed on the second support first part first component, makes second support After first part's first component and the overlapping of second support first part second component, by the first overlapping of second support first part Side and the car body are rotatablely connected, and third is arranged between the second support first part and the second support second part Rotating junction, the other side of the third rotating junction and the second support first part first component not connect with car body Portion is affixed；The third rotating junction be U-shaped structure, the bottom edge of the U-shaped structure of the third rotating junction with second Frame first part is affixed, the top of the U-shaped structure of the third rotating junction side with second support second part respectively Rotation connection；

4th steering engine is fixed to first support second by being located at the aluminium column of the 4th steering engine two sides by the 4th steering engine Two sides being divided to.

9. the mobile sniffing robot of full landform as claimed in claim 8, it is characterised in that: the power-supply system includes battery, The battery is configured to provide electric energy for this complete mobile sniffing robot system of landform；The battery includes the first battery and the Two batteries, first battery and the second battery are the model airplane battery of 11.1V, wherein the first battery passes through the first voltage reduction module Voltage is down within the scope of the ceiling voltage that each steering engine allows, and guarantees that each wheel electrical machine and steering engine have sufficient driving current, To can guarantee the torque of each steering engine to rotate the first support and the second support and in the mobile detection of the full landform Robot can support entire car body when being under wheeled state, second battery is dropped to voltage by the second voltage reduction module Driving motor.