CN211220723U

CN211220723U - Patrol robot

Info

Publication number: CN211220723U
Application number: CN201922223080.8U
Authority: CN
Inventors: 彭彦; 明振; 蔡佳豪
Original assignee: Changsha Wanwei Robot Co ltd
Current assignee: Changsha Wanwei Robot Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-08-11
Anticipated expiration: 2029-12-12

Abstract

The utility model discloses a patrol robot, which comprises a chassis, a machine body and a machine head; the chassis comprises a chassis, an upper cover, a driving wheel assembly and a displacement wheel assembly, wherein a plurality of independent wheel grooves are formed in the chassis, positioning columns are arranged on the upper surface of the upper cover, the driving wheel assembly and the displacement wheel assembly are respectively assembled in the corresponding wheel grooves, and the upper cover is connected to the chassis to enclose an electrical component cavity; the bottom end of the machine body is connected to the positioning column through a foot support, and the top end of the machine body is connected with the machine head through a pitching mechanism. The machine is divided into a chassis, a machine body and a machine head, modularization is achieved, functions of all parts are clearly divided, and internal components are relatively independent. The robot can complete quick update and iteration in a certain technical field without influencing other components by the aid of the structure mode, and the requirement of quick response market is met. Meanwhile, different machine bodies and machine heads can be rotated according to actual needs to be matched, development cost of single customization is saved, and purchase cost of customers is reduced.

Description

Patrol robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a patrol robot.

Background

With the improvement of safety awareness of people, the demand of security patrol robots is increasing day by day. And as the scientific and technological technologies in various fields are developed and mature day by day, the functions of the robot are upgraded and updated, the iteration speed is extremely high, and the design needs to be continuously updated to meet the market demand. Different customers and different scenes have different functional requirements on the patrol robot, and the single design cannot meet the requirements of each customer or each scene, so that the customized design is often required according to the requirements of the customers, the development time is long, and the market cannot be quickly responded.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art's weak point, provide a patrol robot suitable for multiple scene.

The utility model provides a patrol robot, which comprises a chassis, a machine body and a machine head; the chassis comprises a chassis, an upper cover, a driving wheel assembly and a displacement wheel assembly, wherein a plurality of independent wheel grooves are formed in the chassis, positioning columns are arranged on the upper surface of the upper cover, the driving wheel assembly and the displacement wheel assembly are respectively assembled in the corresponding wheel grooves, and the upper cover is connected to the chassis to enclose an electrical component cavity; the bottom end of the machine body is connected to the positioning column through a foot support, and the top end of the machine body is connected with the machine head through a pitching mechanism.

In one specific embodiment, the body comprises a main box and a display screen, wherein the display screen is embedded in one side of the main box; the positioning column is a cylindrical column with threads arranged inside, the bottom end of the foot support is provided with a connecting ring, and the top end of the foot support is fixedly connected below the main box and is sleeved outside the positioning column by a connecting ring to be matched with a fastener for locking.

Preferably, the head comprises a top box, and a high-definition camera, a thermal imaging camera and an infrared camera are arranged outside the top box.

Preferably, the pitching mechanism comprises a fixed seat and a movable head, the fixed seat is fixedly connected to the machine body, and the movable head is hinged to the fixed seat and can rotate around a hinged position and be positioned; the pitching mechanism is externally sleeved with an elastic protective cover.

In order to avoid obstacles conveniently, a groove is formed in the bottom of the upper cover along the periphery, an air pressure pipe is arranged in the groove, and an anti-collision angle is arranged at the corner of the air pressure pipe.

In one embodiment, the drive wheel assembly includes a drive wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism; and a connecting plate is arranged between the driving wheel module and the steering module, and the driving wheel assembly is assembled in the wheel groove through a bolt penetrating through the connecting plate.

Further, the shock absorption support comprises a lower support, an upper support, a shock absorber and a hinge seat; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers are symmetrically arranged on the central plane of the wheel body in the thickness direction and are respectively arranged on the two sides of the upper bracket and the lower bracket; pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed outside the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes; a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve; the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameter of the cylindrical head is gradually decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.

The driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower bracket and is locked by matching with the nut; the speed reducing mechanism comprises a main speed reducer and an auxiliary speed reducer, the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the auxiliary speed reducer, and the output end of the auxiliary speed reducer is connected with the rotating shaft; both ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor; the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve installation accuracy.

In order to improve the shock attenuation effect, the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the cushion rubber, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.

In a specific embodiment, the displacement wheel assembly comprises a displacement wheel, a position sensor, a link mechanism and a mounting seat, wherein the position sensor is mounted on the displacement wheel, one end of the link mechanism is connected with a wheel shaft of the displacement wheel, the other end of the link mechanism is connected with the mounting seat, and the displacement wheel assembly is arranged in the wheel groove and is connected with the underframe through a bolt penetrating through the mounting seat; the connecting rod mechanism comprises a long connecting rod, a short connecting rod and an H-shaped connecting rod, one end of the short connecting rod is hinged with the top of the mounting seat, the other end of the short connecting rod is hinged with the top end of the long connecting rod, the H-shaped connecting rod and the short connecting rod are arranged in parallel, one end of the H-shaped connecting rod is hinged with the bottom of the mounting seat, the other end of the H-shaped connecting rod is hinged with the middle of the long connecting rod, and the bottom end of; the mounting seat comprises a substrate and a pair of lug seats arranged on the substrate, and the mounting seat is connected with the link mechanism through the lug seats.

The utility model discloses to divide into chassis, fuselage and aircraft nose triplex, realize the modularization, each partial functional partitioning is clear to inside components and parts are also relatively independent. The robot can complete quick update and iteration in a certain technical field without influencing other components by the aid of the structure mode, and the requirement of quick response market is met. Meanwhile, different machine bodies and machine heads can be rotated according to actual needs to be matched, development cost of single customization is saved, and purchase cost of customers is reduced. On the other hand, as each driving wheel assembly is respectively arranged in the corresponding wheel groove, and each driving wheel assembly works independently, the pivot steering can be realized, the turning radius is greatly shortened, and the device can adapt to the round trip patrol of more narrow road sections; each displacement wheel assembly is arranged in the corresponding wheel groove, the displacement wheels are not driven, the slipping phenomenon is avoided, the displacement data of the robot chassis under various working conditions can be accurately calculated and compensated, and therefore the robot chassis can be suitable for various different scenes.

Drawings

Fig. 1 is an axial view of a preferred embodiment of the invention.

Fig. 2 is a schematic cross-sectional view of the preferred embodiment.

Fig. 3 is a schematic bottom view of the preferred embodiment.

FIG. 4 is an enlarged schematic axial view of the driving wheel assembly in the preferred embodiment.

Fig. 5 is an enlarged schematic axial view of the driving wheel module in the preferred embodiment.

FIG. 6 is a schematic cross-sectional view of X-X in FIG. 5.

Fig. 7 is an enlarged view of Y in fig. 6.

Fig. 8 is a schematic sectional view of the steering module in the present preferred embodiment.

Fig. 9 is a schematic cross-sectional view of Z-Z in fig. 8.

Fig. 10 is an enlarged schematic view of the displacement wheel assembly in the preferred embodiment.

Sequence numbers of the drawings:

a-a base plate is arranged on the base plate,

1-framework, 2-upper cover, 3-access cover, 4-steering wheel assembly,

41-driving wheel module, 411-wheel body, 412-driving motor,

413-damping support, 4131-lower support, 4132-upper support, 4133-damper, 4134-pin shaft, 4135-hinged seat, 4136-wear-resisting sleeve, 4137-rotating shaft bolt, 4138-split pin,

42-steering module, 421-steering motor,

422-speed reducing mechanism, 4221-main speed reducer, 4222-auxiliary speed reducer,

423-rotating shaft, 4231-claw,

424-strong magnetic steel sleeve, 425-angle sensor, 426-shock absorption rubber cushion,

5-a displacement wheel assembly, wherein the displacement wheel assembly,

51-displacement wheel, 52-position sensor,

53-link mechanism, 531-long link, 532-short link, 533-H type link,

54-mounting seat, 541-substrate, 542-ear seat;

6-pneumatic tube, 7-anticollision angle;

b-body, B1-main box, B2-display screen,

c-machine head, C1-top box, C2-high-definition camera, C3-thermal imaging camera, C4-infrared camera, C5-red and blue flashing light,

d, a foot support is arranged on the frame,

e-pitching mechanism, E1-fixed seat, E2-movable head,

f, a protective cover.

Detailed Description

As shown in fig. 1, the patrol robot disclosed in this embodiment includes a chassis a, a body B, and a head C.

As shown in fig. 1 and 2, the body B includes a main box B1 and a display screen B2, the display screen is embedded in one side of the main box, the head C includes a top box C1, a high-definition camera C2, a thermal imaging camera C3 and an infrared camera C4 are arranged outside the top box, and a red-blue flash burst lamp C5 is arranged at the top of the top box. During assembly, the bottom end of the machine body B is connected to the positioning column through the foot support D, and the top end of the machine body B is connected with the machine head C through the pitching mechanism E. Wherein, the bottom of the foot bracket D is provided with a connecting ring, and the top end of the foot bracket is fixedly connected below the main box and is sleeved outside the positioning column by the connecting ring to be matched with a fastener for locking. The pitching mechanism E comprises a fixed seat E1 and a movable head E2, the fixed seat is fixedly connected to the machine body, the movable head is hinged to the fixed seat and can rotate around the hinged position and be positioned, and an elastic protective cover F is sleeved outside the pitching mechanism to improve the protection grade.

As shown in fig. 1 to 3, the chassis a includes a base frame 1, an upper cover 2, an access cover 3, a driving wheel assembly 4, and a displacement wheel assembly 5. The chassis 1 is a rectangular chassis, four corners of the bottom of the chassis are respectively provided with a wheel groove for mounting the driving wheel assembly 4, and the middle of the chassis is provided with a pair of smaller wheel grooves for mounting the displacement wheel assembly 5. The bottom of upper cover 2 is seted up flutedly along the periphery, is equipped with the atmospheric pressure 6 pipe in the recess, and atmospheric pressure pipe corner is equipped with crashproof angle 7, covers simultaneously and establishes air pressure sensor, and air pressure sensor detects the change of the internal gas pressure of atmospheric pressure pipe, and the internal gas pressure of atmospheric pressure pipe changes when bumping into to can judge whether bump with the external world according to the change of the internal gas pressure of atmospheric pressure pipe, if bump, then can plan the route again. The middle part of the upper surface of the upper cover 2 is provided with an access hole, the periphery is provided with a positioning column 8, and the positioning column is a cylindrical column internally provided with threads. The upper cover is connected to the bottom frame to form an electrical element cavity in a surrounding mode, and the access cover is detachably connected to the access opening to seal the electrical element cavity. The driving wheel assembly 4 and the displacement wheel assembly 5 are respectively assembled in corresponding wheel grooves.

The access cover 3 is a cover body capable of sealing the access opening, the middle part of the access cover is provided with a mounting opening for mounting accessories such as laser and a router, the outer edge of the access cover is provided with a lower spigot of a lower edge, the access cover and the upper cover are mounted through a fastener and are in lap joint through the upper spigot and the lower spigot, and a whole circle of sealing strip is filled at a lap joint to improve the protection level of the whole machine.

As shown in fig. 3, four sets of driving wheel assemblies 4 are respectively arranged in the wheel grooves at the four corners and assembled with the chassis through bolts.

As shown in fig. 4, the drive wheel assembly 4 includes a drive wheel module 41, a steering module 42, and a connecting plate 43; the connecting plate is provided with a through hole corresponding to the mounting hole, the driving wheel assembly is arranged in the wheel groove, the steering module penetrates through the wheel groove and is clamped into the bottom frame, and the steering module is connected with the bottom frame through a bolt penetrating through the through hole and screwed into the mounting hole. The driving wheel module is fixed below an output shaft of the steering module through six screws penetrating through the connecting plate 43, and the rotation of the output shaft of the steering module directly drives the driving wheel module to deflect left and right; the driving wheel assembly passes through the connecting plate.

As shown in fig. 5 and 6, the driving wheel module 41 includes a wheel body 411, a driving motor 412, and a damping bracket 413. The wheel body 411 is an outer tire. The driving motor 412 is a hub motor matched with an outer-ring tire, the driving motor is embedded in a wheel body and is connected with the damping support 413 through a central shaft of the driving motor, threads are arranged outside the end parts of two ends of the central shaft of the driving motor, and a pair of planes are milled at the outer ends of the thread sections so as to clamp a wrench during connection.

The shock absorbing bracket 413 includes a lower bracket 4131, an upper bracket 4132 and a shock absorber 4133. The lower bracket 4131 is a U-shaped bracket, the root parts of two side plates of which are welded with a pin shaft 4134, the middle part of which is provided with a through hole, and the end part of which is provided with a threaded hole. The upper bracket is an n-shaped bracket, the top end of the upper bracket is provided with a circle of connecting holes, and the two sides of the bottom end of the upper bracket are connected with hinged seats 414. As shown in fig. 7, the hinge seat 4135 is a cylindrical seat body, the center of which is embedded with a wear-resistant sleeve 4136, the solid body is provided with a circle of connecting holes arranged in an annular array around the axial center, and the hinge seat is connected with the upper bracket through bolts penetrating through the connecting holes. The lower support is horizontally arranged, and two ends of the central shaft respectively penetrate through holes on two sides of the lower support and are matched with corresponding nuts to lock so as to complete the installation of the lower support; then the upper bracket is arranged in a downward inclined manner and sleeved outside the lower bracket, and is hinged through a rotating shaft bolt 4137 penetrating through a hinge seat 4135, a copper gasket is arranged between the upper bracket and the lower bracket, and the copper gasket is in contact limit with the hinge seat and the wear-resistant sleeve, so that a gap exists between the upper bracket and the lower bracket, and direct abrasion is avoided. The rotating shaft bolt 4137 comprises a cylindrical head, a polished rod section and a threaded section, the outer diameter of the cylindrical head is gradually decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support. After the upper and lower brackets are mounted, the ends of the damper 4133 are respectively sleeved outside the pin 4134 and positioned by a cotter pin 4138 passing through the radial hole. The steering module 42 is mounted on the top of the upper bracket, and is connected by bolts passing through the connection holes.

After the assembly of the driving wheel module 41 is completed, the shock absorber is triangular with the upper support and the lower support, the upper support is hinged with the lower support, a wear-resistant flexible rotating shaft structure is designed, the rotating shaft structure can rotate freely, the shock absorber is compressed when an obstacle is met, the lower support and the hub motor can rotate upwards around the position of the rotating shaft, the shock is reduced, and the large impact can be borne. For the pin joint, because install wear-resisting cover in the articulated seat, wear-resisting cover is interference fit with articulated seat. One end of the rotating shaft bolt is a threaded section, the middle section of the rotating shaft bolt is a precisely machined cylinder, one end of the rotating shaft bolt is a hexagonal socket head, and the threaded section and the middle section of the rotating shaft bolt are provided with a step. The cylindrical section of the rotating shaft bolt is arranged in the copper sleeve hole, and the thread section of the rotating shaft bolt penetrates through the copper gasket and is fixed on the lower support of the driving motor. The rotating shaft bolt and the copper sleeve are in clearance fit and can rotate freely, and the copper gasket is in contact spacing with the hinge base and the copper sleeve, so that a gap exists between the upper motor support and the lower motor support, and direct abrasion is avoided.

As shown in fig. 8 and 9, the steering module 42 includes a steering motor 421, a speed reduction mechanism 422, and a rotating shaft 423. Reduction mechanism 422 includes a final drive 4221 and a range drive 4222. The input end of the main reducer 4221 is connected with the steering motor, the output shaft is connected with the input gear of the auxiliary reducer, and the output end of the auxiliary reducer is connected with the rotating shaft. Two ends of an output shaft of the main speed reducer extend out of the main speed reducer, a high-magnetic steel sleeve 424 is arranged outside the top end of the output shaft, and an angle sensor 425 is arranged at a corresponding position below the steering motor so as to control the steering angle. The shell of the auxiliary speed reducer 4222 comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, matched protrusions are formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusions through the grooves to improve installation accuracy. The rotating shaft 423 is a stepped shaft, four convex clamping jaws 4231 are arranged at the top end of the rotating shaft, four clamping grooves are formed in an output gear of the auxiliary speed reducer, the rotating shaft is connected with the auxiliary speed reducer through the top end of the rotating shaft, the clamping jaws extend into the clamping grooves and fill eight damping rubber pads 426, impact in two directions of forward rotation and reverse rotation can be borne, and damage to the gear is avoided when impact occurs. The bottom of the rotating shaft is connected with the damping support through a bolt penetrating through the connecting hole.

As shown in fig. 3, a pair of displacement wheel assemblies 4 are respectively arranged in the wheel grooves of the middle part and assembled with the chassis through bolts.

As shown in fig. 10, the displacement wheel assembly 5 includes a displacement wheel 51, a position sensor 52, a link mechanism 53, and a mount 54. The link mechanism 53 comprises a long link 531, a short link 532 and an H-shaped link 533, wherein the upper end of the long link 531 is provided with a notch, the lower end is provided with a connecting hole, and the middle part is provided with a hinged shaft; the mounting base 54 includes a substrate 541 and a pair of ear bases 542 disposed on the substrate. During assembly, one end of the short connecting rod is inserted into an ear seat at the top of the mounting seat and hinged through a pin shaft, and the other end of the short connecting rod is inserted into a notch at the top of the long connecting rod and hinged with the pin shaft in a matching manner; arranging the H-shaped connecting rod and the short connecting rod in parallel, clamping one end of the H-shaped connecting rod outside a bottom lug seat of the mounting seat, hinging the H-shaped connecting rod and the short connecting rod through a pin shaft, arranging a torsion spring outside the pin shaft, and hinging the other end of the H-shaped connecting rod on a hinging shaft outside the middle part of the long connecting rod; connecting the bottom end of the long connecting rod with a wheel shaft of the displacement wheel; and then the mounting seat is arranged in a notch in the middle of the underframe and is locked with the underframe by penetrating through a basic fastener.

Compared with the existing robot chassis, the chassis is provided with a set of four-wheel four-drive four-steering drive system, so that in-situ steering can be realized, the turning radius is greatly shortened, and the chassis is suitable for round trip patrol of more narrow road sections; the driving wheel assembly is driven by a wheel hub motor and controlled to steer by a steering engine, so that sliding friction between the driving wheel and the ground is effectively avoided during steering, and position data are accurate; the four-wheel drive system has good performance in coping with climbing and obstacle crossing road conditions, and can always keep stable and excellent trafficability when coping with different bad terrains; meanwhile, two sets of displacement wheel devices are added, the displacement wheels are not driven wheels, the slipping phenomenon is avoided, and the two sets of displacement wheels are respectively integrated with an encoder, so that the displacement data of the robot chassis can be accurately calculated and compensated; the periphery of the chassis is provided with the air pressure pipe and the matched air pressure sensor, when the outside collides with the chassis, the air pressure pipe is compressed, so that the air pressure in the air pressure pipe is obviously changed, the air pressure sensor sends a signal to the core control box after sensing the air pressure change, the chassis makes a judgment and moves reversely, and the collision is removed; and the access hole of the chassis adopts an upper and lower lap seam allowance form, a whole circle of sealing strips are arranged inside the access hole, the access hole is compressed by screws, the protection level of the whole machine reaches IP55, and the access hole can be simultaneously suitable for various different working scenes indoors and outdoors.

In conclusion, the robot is divided into a chassis, a machine body and a machine head, modularization is achieved, functions of all parts are clearly divided, and internal components are relatively independent. The robot can complete quick update and iteration in a certain technical field without influencing other components by the aid of the structure mode, and the requirement of quick response market is met. Meanwhile, different machine bodies and machine heads can be rotated according to actual needs to be matched, development cost of single customization is saved, and purchase cost of customers is reduced. On the other hand, as each driving wheel assembly is respectively arranged in the corresponding wheel groove, and each driving wheel assembly works independently, the pivot steering can be realized, the turning radius is greatly shortened, and the device can adapt to the round trip patrol of more narrow road sections; each displacement wheel assembly is arranged in the corresponding wheel groove, the displacement wheels are not driven, the slipping phenomenon is avoided, the displacement data of the robot chassis under various working conditions can be accurately calculated and compensated, and therefore the robot chassis can be suitable for various different scenes.

Claims

1. A patrol robot, characterized in that: it comprises a chassis, a machine body and a machine head; the chassis comprises a chassis, an upper cover, a driving wheel assembly and a displacement wheel assembly, wherein a plurality of independent wheel grooves are formed in the chassis, positioning columns are arranged on the upper surface of the upper cover, the driving wheel assembly and the displacement wheel assembly are respectively assembled in the corresponding wheel grooves, and the upper cover is connected to the chassis to enclose an electrical component cavity; the bottom end of the machine body is connected to the positioning column through a foot support, and the top end of the machine body is connected with the machine head through a pitching mechanism.

2. A patrol robot as claimed in claim 1, wherein: the machine body comprises a main box and a display screen, and the display screen is embedded in one side of the main box; the positioning column is a cylindrical column with threads arranged inside, the bottom end of the foot support is provided with a connecting ring, and the top end of the foot support is fixedly connected below the main box and is sleeved outside the positioning column by a connecting ring to be matched with a fastener for locking.

3. A patrol robot as claimed in claim 2, wherein: the aircraft nose includes the STB, is equipped with high definition digtal camera, thermal imaging camera and infrared camera outside the STB.

4. A patrol robot as claimed in claim 1 or 3, wherein: the pitching mechanism comprises a fixed seat and a movable head, the fixed seat is fixedly connected to the machine body, and the movable head is hinged to the fixed seat and can rotate around a hinged position and be positioned; the pitching mechanism is externally sleeved with an elastic protective cover.

5. A patrol robot as claimed in claim 1, wherein: the bottom of the upper cover is provided with a groove along the periphery, the groove is internally provided with an air pressure pipe, and the corner of the air pressure pipe is provided with an anti-collision angle.

6. A patrol robot as claimed in claim 1, wherein: the driving wheel assembly comprises a driving wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism; and a connecting plate is arranged between the driving wheel module and the steering module, and the driving wheel assembly is assembled in the wheel groove through a bolt penetrating through the connecting plate.

7. A patrol robot as claimed in claim 6, wherein: the shock absorption support comprises a lower support, an upper support, a shock absorber and a hinge seat; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers are symmetrically arranged on the central plane of the wheel body in the thickness direction and are respectively arranged on the two sides of the upper bracket and the lower bracket; pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed outside the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes; a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve; the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameter of the cylindrical head is gradually decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.

8. A patrol robot as claimed in claim 7, wherein: the driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower bracket and is locked by matching with the nut; the speed reducing mechanism comprises a main speed reducer and an auxiliary speed reducer, the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the auxiliary speed reducer, and the output end of the auxiliary speed reducer is connected with the rotating shaft; both ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor; the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve installation accuracy.

9. A patrol robot as claimed in claim 8, wherein: the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the shock attenuation cushion, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.

10. A patrol robot as claimed in claim 1, wherein: the displacement wheel assembly comprises a displacement wheel, a position sensor, a connecting rod mechanism and a mounting seat, wherein the position sensor is mounted on the displacement wheel, one end of the connecting rod mechanism is connected with a wheel shaft of the displacement wheel, the other end of the connecting rod mechanism is connected with the mounting seat, and the displacement wheel assembly is arranged in the wheel groove and is connected with the bottom frame through a bolt penetrating through the mounting seat; the connecting rod mechanism comprises a long connecting rod, a short connecting rod and an H-shaped connecting rod, one end of the short connecting rod is hinged with the top of the mounting seat, the other end of the short connecting rod is hinged with the top end of the long connecting rod, the H-shaped connecting rod and the short connecting rod are arranged in parallel, one end of the H-shaped connecting rod is hinged with the bottom of the mounting seat, the other end of the H-shaped connecting rod is hinged with the middle of the long connecting rod, and the bottom end of; the mounting seat comprises a substrate and a pair of lug seats arranged on the substrate, and the mounting seat is connected with the link mechanism through the lug seats.