CN219115602U - Crawler-type jettisonable reconnaissance robot - Google Patents

Abstract

The utility model belongs to the technical field of robot design and manufacturing, and particularly relates to a crawler-type jettisonable reconnaissance robot. Wherein, crawler-type can throw reconnaissance robot includes: and the main body frame is used for installing and protecting other modules and mechanisms. The detection mechanism is used for detecting the environment. The drive structure provides power for the reconnaissance robot. The travelling mechanism moves with the reconnaissance robot. The travelling mechanism adopts a crawler-type structure, so that the travelling mechanism has better obstacle-crossing capability; the crawler belt and the moving wheels can elastically deform, so that the buffer vibration reduction effect is realized, the damage of the reverse impact force of the robot on the control module, the detection mechanism and the driving mechanism after the robot collides with the ground is effectively reduced, the throwing function is realized, the reconnaissance robot can be suitable for throwing into the ground in a throwing mode, and the reconnaissance robot can still normally execute reconnaissance tasks after throwing.

Description

Crawler-type jettisonable reconnaissance robot

Technical Field

The utility model belongs to the technical field of robot design and manufacturing, and particularly relates to a crawler-type jettisonable reconnaissance robot.

Background

The reconnaissance robot is commonly used for scenes such as fire rescue, public safety, pipe gallery inspection, urban management, archaeological search and the like, and can be matched with related professionals to perform field reconnaissance on site. The task at this time often has a certain danger or the reconnaissance space is narrow, and personnel can't get into the scene smoothly, and this just needs the reconnaissance robot to have small, obstacle crossing ability strong characteristics, especially, still requires the reconnaissance robot to possess the characteristics that the disguise is strong when carrying out the anti-riot reconnaissance task to public security. Therefore, according to various special application scenes of the reconnaissance robot, the robot is required to have the characteristics of excellent passing performance, high maneuverability, small volume, light weight and the like.

In order to enable the reconnaissance robot to quickly enter a narrow space or a dangerous site for reconnaissance, the mode of throwing the robot in the air naturally becomes the optimal choice. The existing jettisonable robot is mainly spherical and dumbbell-shaped, the obstacle surmounting capability of the robot capable of performing jettisoning is poor, the terrain adaptability is insufficient, and once the robot is sunk into a sunk area, the robot cannot continue to perform a reconnaissance task.

Disclosure of Invention

The utility model aims to provide a crawler-type jettisonable reconnaissance robot, and aims to solve the problems of poor obstacle surmounting capability and insufficient terrain adaptability of the existing jettisonable robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a crawler-type jettisonable reconnaissance robot comprising:

a main body frame;

the control module is hermetically arranged in the main body frame;

the detection mechanism is hermetically arranged in the main body frame and is electrically connected with the control module;

the driving mechanism is arranged on the main body frame and is electrically connected with the control module;

the traveling mechanism is arranged on the main body frame and comprises a plurality of traveling wheels and two tracks, the traveling wheels comprise two driving wheels and a plurality of driven wheels, the two driving wheels are symmetrically arranged relative to the longitudinal axis of the main body frame along the traveling direction of the reconnaissance robot, the plurality of driven wheels are symmetrically arranged relative to the longitudinal axis and correspond to at least one driven wheel, the two tracks and the two driving wheels are in one-to-one correspondence, the tracks are lapped on the corresponding driving wheels and the driven wheels to carry out transmission, and the driving mechanism is in driving connection with the two driving wheels;

wherein each moving wheel and two tracks are members made of elastic materials, each moving wheel is provided with a plurality of vibration reduction through holes, the vibration reduction through holes are circumferentially arranged at intervals around the central axis of the moving wheel, and the extending direction of each vibration reduction through hole is basically consistent with the extending direction of the central axis of the moving wheel.

In one embodiment, each track is provided with a plurality of resilient teeth, adjacent two of which are disposed between the teeth.

In one embodiment, the inner side of each crawler belt is provided with an anti-falling part, the anti-falling part is arranged along the middle line of the crawler belt in an extending way, the wheel surface of each running wheel is provided with a circumferential annular groove, and the anti-falling part is arranged in the circumferential annular groove.

In one embodiment, each track is provided with a plurality of leakage holes extending through the inner and outer sides.

In one embodiment, the body frame is provided with a mounting bracket for mounting the control module, and the control module is supportably connected to the mounting bracket by a plurality of resilient adapters.

In one embodiment, the crawler-type jettisonable reconnaissance robot further comprises two swing arms and a power device, wherein the two swing arms are in one-to-one correspondence with the two driving wheels or the two symmetrical driven wheels, one ends of the swing arms are rotatably connected to the main body frame, the power device is arranged in the main body frame and is electrically connected with the control module, and the power device is in driving connection with the two swing arms.

In one embodiment, the track-type jettisonable reconnaissance robot further includes a gyroscope, the gyroscope is mounted in the main body frame, the gyroscope is electrically connected with the control module, and the gyroscope is used for detecting and judging the gesture of the track-type jettisonable reconnaissance robot.

In one embodiment, the driving mechanism comprises two driving motors, the two driving motors are in driving connection with the two driving wheels in a one-to-one correspondence manner, and the two driving motors are respectively and electrically connected with the control module.

In one embodiment, the track-type jettisonable reconnaissance robot further comprises at least one extension support bar, wherein the end wall of the main body frame, which is close to the driven wheel, is provided with a connecting seat, the extension support bar is detachably connected to the connecting seat, and the extension direction of the extension support bar is consistent with the advancing direction of the track-type jettisonable reconnaissance robot.

In an embodiment, the crawler-type jettisonable reconnaissance robot still includes radar mapping module, and the top of main part frame is equipped with the quick-operation joint, and radar mapping module detachably connects to on the quick-operation joint, radar mapping module and control module electric connection, and the safety cover that is used for protecting radar mapping module's mapping probe is installed to radar mapping module, and the safety cover includes the base and connects in two bead of base, two bead alternately set up.

The utility model has at least the following beneficial effects:

the crawler-type jettisonable reconnaissance robot is used for reconnaissance on site, and has better obstacle crossing capability and can adapt to more terrains with complex conditions because the crawler-type jettisonable reconnaissance robot adopts a crawler-type travelling mechanism. Moreover, each moving wheel and each crawler of the traveling mechanism are made of elastic materials, and each moving wheel is provided with a plurality of vibration reduction through holes, so that when the crawler-type jettisonable reconnaissance robot is thrown, the crawler and the moving wheels can generate elastic deformation when contacting the ground, and each moving wheel can further convert the reverse impact force acted by the ground into extrusion deformation of the moving wheel through the vibration reduction through holes, thereby realizing the buffering vibration reduction effect on the whole reconnaissance robot, effectively reducing the damage of the reverse impact force on the ground to the control module, the detection mechanism and the driving mechanism when the jettisoning robot is collided, enabling the reconnaissance robot to be suitable for being thrown into the ground in a throwing mode, and ensuring that the reconnaissance robot can normally execute reconnaissance tasks after throwing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an assembly structure of a crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram II of an assembly structure of a crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of an assembly structure of a driving wheel, a driven wheel and a crawler of the crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a structure of one of the traveling wheels of the crawler-type jettisonable inspection robot according to an embodiment of the present utility model;

FIG. 5 is a schematic diagram of an assembled structure of a body frame of a crawler-type jettisonable inspection robot according to an embodiment of the present utility model with a top cover removed;

FIG. 6 is a schematic diagram of an assembled structure of a top cover and a control module of a body frame of a crawler-type jettisonable inspection robot according to an embodiment of the present utility model after the top cover and the control module are removed;

FIG. 7 is a schematic diagram of an assembly structure of a driving mechanism and a driving wheel in the crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of an assembly structure of a power device and a swing arm in a crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 9 is a schematic diagram showing an assembly structure of a crawler-type jettisonable reconnaissance robot equipped with an extension support bar and a radar mapping module according to an embodiment of the present utility model;

FIG. 10 is a schematic diagram II of an assembly structure of a crawler-type jettisonable reconnaissance robot equipped with an extension support bar and a radar mapping module according to an embodiment of the present utility model;

FIG. 11 is a schematic diagram of an assembly structure of a radar mapping module and a protective cover used by the crawler-type jettisonable reconnaissance robot according to an embodiment of the present utility model;

FIG. 12 is an isometric view of a protective cover employed by a tracked jettisonable reconnaissance robot according to an embodiment of the present utility model;

fig. 13 is a front view of a protective cover for a track-type jettisonable reconnaissance robot according to an embodiment of the present utility model.

Wherein, each reference sign in the figure:

10. a main body frame; 11. a mounting bracket; 12. a connecting seat; 13. a quick connector;

20. a control module;

30. a detection mechanism;

40. a driving mechanism; 41. a driving motor; 42. a speed-reducing and moment-increasing structure; 43. a first drive shaft; 44. a stop block; 46. a bolt;

50. a walking mechanism; 501. a driving wheel; 502. driven wheel; 51. a moving wheel; 5111. a vibration damping through hole; 5112. a circumferential ring groove; 503. a track; 5031. elastic teeth; 5032. an anti-falling part; 5033. a leakage hole;

61. swing arms; 62. a power device; 621. a driver; 622. a second drive shaft; 625. an adapter flange; 627. wheel cover; 63. extending the support rod;

70. an elastic adapter;

80. a radar mapping module; 81. a mapping probe; 82. a protective cover; 821. a base; 822. a protection strip;

91. an antenna.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1 to 8, a schematic structural view of the crawler-type jettisonable reconnaissance robot of the present utility model is shown. As shown in fig. 9 to 10, there is shown a schematic structural view of the crawler-type jettisonable reconnaissance robot according to the embodiment of the present utility model after replacing the antenna 91 with the extension support bar 63 and assembling with the radar mapping module 80. Fig. 10 to 12 show schematic structural views of the radar mapping module 80 and the protective cover.

As shown in fig. 1 to 6, the reconnaissance robot includes: the main body frame 10, the control module 20, the detection mechanism 30, the driving mechanism 40 and the traveling mechanism 50 are combined and formed into the reconnaissance robot provided by the utility model. Specifically, the main body frame 10 is used for connecting and protecting an internal electronic module and other executing mechanisms. The control module 20, the detection mechanism 30, the driving mechanism 40 and the traveling mechanism 50 are all mounted on the main body frame 10. The control module 20 has the function of controlling the rest of the electronic modules and other executing mechanisms, and also has the function of receiving and transmitting signals. The detecting mechanism 30 is electrically connected to the control module 20. The detecting mechanism 30 may be selected from various forms, preferably a camera, which may have an infrared detection function, and send an instant message to an operator or a receiving station through the control module 20, which will not be described herein. The detecting mechanism 30 may be disposed on the main body frame 10, may be disposed along a moving direction or along a direction opposite to the moving direction, or may be disposed at both ends thereof with one detecting mechanism 30. The driving mechanism 40 is electrically connected with the control module 20, and the control module 20 receives remote signals of an operator to control the driving mechanism 40, so as to control the behavior of the reconnaissance robot. The traveling mechanism 50 comprises a plurality of traveling wheels 51 and two tracks 503, wherein the traveling wheels 51 comprise two driving wheels 501 and a plurality of driven wheels 502, the two driving wheels 501 are symmetrically arranged relative to the main body frame 10 along the longitudinal axis of the traveling direction of the reconnaissance robot (when the robot is positioned on the horizontal ground and is in a normal posture, the traveling direction of the reconnaissance robot in straight forward and straight backward is the longitudinal axis direction), the plurality of driven wheels 502 are also symmetrically arranged relative to the longitudinal axis, each driving wheel 501 corresponds to at least one driven wheel 502, the two tracks 503 and the two driving wheels 501 are in one-to-one correspondence, the tracks 503 are lapped on the corresponding driving wheels 501 and the driven wheels 502 to be transmitted, and the driving mechanism 40 is in driving connection with the two driving wheels. The moving wheels 51 respectively protrude from the upper surface and the lower surface of the main body frame 10, then the upper crawler 503 is lapped and arranged, the main body frame 10 can be suspended through the moving wheels 51 and the crawler 503, and the main body frame 10 is ensured not to be contacted with the ground in the moving process. The power is transferred between the drive wheel 501 and the driven wheel 502 by the track 503, which causes the driven wheel 502 to apply a forward power with respect to the ground when the drive wheel 501 applies a forward power with respect to the ground during the travel of the reconnaissance robot.

As shown in fig. 3 and 4, each of the running wheels 51 and the two crawler belts 503 is a member made of an elastic material, and each of the running wheels 51 is provided with a plurality of vibration reduction through holes 5111, the plurality of vibration reduction through holes 5111 are circumferentially spaced around the central axis of the running wheel 51, and the extending direction of each vibration reduction through hole 5111 is substantially coincident with the extending direction of the central axis of the running wheel 51. When the reconnaissance robot is impacted by the reaction force of the ground during throwing and landing, the vibration reduction through hole 5111 can further absorb the impact force so that the whole reconnaissance robot achieves the effect of buffering and vibration reduction, and the control module 20, the detection mechanism 30 and other parts can still work normally after throwing is implemented, so that the reconnaissance task is completed normally. Moreover, the moving wheel 51 is preferably made of rubber, and after the moving wheel 51 is provided with the vibration reduction through hole 5111, the overall quality of the reconnaissance robot can be reduced to a certain extent, and the light weight degree of the reconnaissance robot is improved.

The track 503 is provided with a plurality of resilient teeth 5031, with adjacent resilient teeth 5031 being spaced apart, preferably equally spaced apart between any adjacent resilient teeth 5031. The elastic teeth 5031 are slightly higher than the surface of the crawler 503, so as to increase friction with the ground, and facilitate climbing operation of the reconnaissance robot. The tread of the wheel 51 is provided with a circumferential ring groove 5112, the inner side of the track is provided with an anti-drop part 5032, the anti-drop part 5032 extends along the central line of the track 503, the anti-drop part 5032 is arranged in the circumferential ring groove 5112, and the track 503 is prevented from being separated from the wheel 51 along the transverse axis direction (when the robot is positioned on the horizontal ground and in a normal posture, the transverse axis is horizontal and vertical to the longitudinal axis). Each track 503 is provided with a plurality of leakage holes 5033 penetrating the inside and the outside for timely discharging weed soil and the like affecting the movement of the track 503.

As shown in fig. 5 and 6, the main body frame 10 is provided with a mounting bracket 11 for mounting the control module 20, and the control module 20 is supportably connected to the mounting bracket 11 by a plurality of elastic adapters 70. When the scout robot is thrown to the ground, the main body frame 10 receives a certain ground reverse impact, if the control module 20 is directly installed on the main body frame 10 (i.e. the control module 20 is rigidly connected to the main body frame 10), when the force is transmitted to the main body frame 10, the control module 20 is damaged due to the rigid impact of the main body frame 10, so that the implementation requirement of the throwing robot cannot be met. When the control module 20 is supported and connected to the mounting bracket 11 through the plurality of elastic transfer pieces 70 (at this time, the control module 20 and the main body frame 10 are flexibly connected through the elastic transfer pieces 70), the impact of the main body frame 10 is converted into the deformation internal energy of the elastic transfer pieces 70 through the elastic transfer pieces 70, namely, most of the impact kinetic energy is counteracted through the elastic transfer pieces 70, so that the control module 20 is buffered and damped through the elastic transfer pieces 70 when the reconnaissance robot is thrown, and the control module 20 is better protected from impact damage. In addition, the elastic adapter 70 can suspend the control module 20 to a certain extent, and further improves the vibration resistance of the control module 20.

The two driving motors 41 are respectively connected with the two driving wheels 501, so that when the reconnaissance robot needs to turn, the steering can be performed by a differential method. That is, the driving motor 41 on one side stops or decelerates, and the driving motor 41 on the other side runs normally, so that the scout robot can rotate with the driving wheel 501 on one side of the stopped or decelerated driving motor 41 as an axial center wheel, and the scout robot is prevented from being provided with a heavy and complicated steering device. As shown in fig. 7, the driving mechanism 40 includes a driving motor 41, a reduction and moment-increasing structure 42, a first transmission shaft 43, a first stopper 44, and a bolt 46. The first transmission shaft 43 penetrates through and protrudes out of the main body frame 10, the protruding portion is matched with the moving wheel 51, the protruding portion and the moving wheel 51 can be assembled in an interference mode and further fixed through the bolt 46, the first stop block 44 and the bolt 46 are assembled in sequence, and the bolt 46 and the first stop block 44 are connected together in a threaded mode. And, the speed and moment reducing transmission is realized between the driving motor 41 and the first transmission shaft 43 through the speed and moment reducing structure 42, so that the reconnaissance robot can have enough travelling power.

As shown in fig. 5, 6 and 8, the reconnaissance robot further includes two swing arms 61 and a power device 62, the two swing arms 61 are arranged in one-to-one correspondence with the two driving wheels 501 or with the two driven wheels 502, one end of the swing arm 61 is rotatably connected to the main body frame 10, the power device 62 is installed in the main body frame, the power device 62 is electrically connected with the control module, and the power device 62 is in driving connection with the two swing arms 61. As shown in fig. 8, the power unit 62 includes a driver 621, a second drive shaft 622, an adapter flange 625, and a wheel cover 627. The power unit 62 includes at least one driver 621, and the driver 621 may be in the form of a motor or the like, and the driver 621 is directly connected to the second transmission shaft 622, and the second transmission shaft 622 penetrates the first transmission shaft 43 and generates no resistance when rotating relative to the first transmission shaft 43. Second drive shaft 622 is coupled to drive wheel 51 via adapter flange 625. The second transmission shaft 622 penetrates through the moving wheel 51, the wheel cover 627 is matched with the swing arm 61 and fixedly connected with the adapter flange 625, and the top end of the second transmission shaft 622 is sealed inside. When the reconnaissance robot encounters an obstacle during traveling, the reconnaissance robot may ride the swing arm 61 on the obstacle by rotating the swing arm 61 by 360 °, and lift the reconnaissance robot up by rotating the swing arm 61, over the obstacle by the driving mechanism 40. Through the angle of the rotary swing arm 61, the swing arm 61 can be used as an auxiliary support for the scout robot to climb over the obstacle under the complex road condition, so that the capability of climbing over the obstacle under the complex road condition is realized.

The reconnaissance robot further comprises a gyroscope, the gyroscope is installed in the main body frame 10 and is electrically connected with the control module 20, and the gyroscope is used for detecting and judging the gesture of the reconnaissance robot. In the process of throwing the reconnaissance robot, when the back of the reconnaissance robot thrown on the ground is detected to touch the ground, the swing arm 61 can be rotated by 360 degrees, and the reconnaissance robot is lifted up by rotating the swing arm 61, so that the reconnaissance robot can be turned over to a normal working posture with the right side upwards; when the gyroscope detects that the scout robot thrown on the ground is in a normal working posture, the posture of the scout robot is not required to be adjusted by rotating the swing arm 61, and the driving motor 41 can be directly started at this time to enable the scout robot to travel and execute a scout task.

As shown in fig. 9 and 10, the reconnaissance robot further includes at least one extension support bar 63, the end wall of the main body frame 10 near the driven wheel 502 is provided with a connection seat 12, the extension support bar 63 is detachably connected to the connection seat 12, and the extension direction of the extension support bar 63 is consistent with the traveling direction of the reconnaissance robot (the robot is positioned on the horizontal ground and is in a normal posture to perform linear advance or linear retreat, that is, the robot travels, that is, the traveling direction includes a linear advance direction and a linear retreat direction). When the scout robot is used to span large ravines, the extended support bars 63 are used, and the distance across the ravines should be no greater than the center distance of the front and rear wheels of the scout robot (i.e., the center distance between the driving wheel 501 and the driven wheel 502 as shown in fig. 3) but greater than the diameter of the individual running wheels 51. In the process of crossing a gully, the extension support rods 63 firstly reach the opposite sides of the gully and are supported on the opposite sides, then the scout robot continues to travel until the driving wheel 501 and the crawler 503 which is lapped on the driving wheel 501 are suspended together, the extension support rods 63, the driven wheel 502 and the crawler 503 which is lapped on the driven wheel 502 jointly support the weight of the whole robot when the driving wheel 501 and the crawler 503 which is lapped on the driven wheel 502 are suspended together, at the moment, the power is transmitted through the crawler 503 so that the crawler 503 which is lapped on the driven wheel 502 continues to apply travelling power relative to the ground, when the driven wheel 502 and the crawler 503 which is lapped on the driven wheel are about to enter the gully and are suspended, the driving wheel 501 and the crawler 503 which is lapped on the driven wheel have reached the opposite sides, the swing arm 61 is controlled to rotate and are supported on the opposite sides of the gully, and then the driven wheel 502 enters the gully and is suspended together, and at the moment, the driving wheel 501 and the swing arm 61 jointly support the weight of the whole robot until the driven wheel 502 also reaches the opposite sides of the gully.

In addition, the use of the extension support bar 63 also helps the reconnaissance robot to be able to climb over higher obstacles. When the scout robot encounters a higher obstacle during the course of travel, then the scout robot first adjusts the travel pose, i.e. the scout robot adjusts to the end fitted with the swing arm 61 as the forward end of the scout robot at that time, then lifts the swing arm 61 and approaches the obstacle, then rides the swing arm 61 on the obstacle to lift the forward end of the scout robot at that time, so that the crawler 503 riding around the drive wheel 501 can climb up the obstacle. When the advancing end of the reconnaissance robot is lifted, the extension supporting rod 63 at the tail end of the reconnaissance robot is propped against the ground, and the extension supporting rod 63 can generate certain degree of deflection deformation (but is not made of flexible materials), so that auxiliary support is formed for the reconnaissance robot, the reconnaissance robot is prevented from overturning backwards in the process of crossing an obstacle, and the obstacle crossing capacity of the reconnaissance robot is further improved.

Alternatively, the extension support 63 may be provided in an additional assembly or may be provided in a different use form of the antenna 91.

Specifically, when the extension support rod 63 is in different use forms of the antenna 91, the antenna 91 is connected to the connection base 12, the connection base 12 is made of metal material, and the other end is connected to the control module, so that the function of enhancing signals of the antenna 91 can be realized when the extension support rod is connected to the antenna 91. When the extension support function is not required, the antenna 91 is erected at this time, and the erected antenna 91 is used to enhance the signal transmission effect of the control module. When the extension supporting function is required, the antenna 91 is put down in advance to be converted into the extension supporting bar 63. Since the antenna 91 is required to support the reconnaissance robot, it cannot be made of an elastic material but can be deformed to some extent, and the reconnaissance robot does not have a throwing function.

In addition, if the extension support 63 is additionally assembled (i.e., the extension support 63 is an additional component), the antenna 91 is a flexible antenna, and the function of the antenna 91 is not affected when the antenna 91 is deformed by impact, the antenna 91 may be mounted to the connection base 12, or the antenna 91 may be independently mounted to the main body frame 10 with respect to the connection base 12. When the antenna 91 is mounted to the connection base 12, if the extension support 63 is required, the antenna 91 needs to be removed in advance, and then the extension support 63 is mounted and fixed to the connection base 12. When the antenna 91 is independently mounted to the main body frame 10 with respect to the connection base 12, the extension support rod 63 is directly connected and fixed to the connection base 12 when the extension support rod 63 is needed. Alternatively, the present reconnaissance robot may employ a built-in antenna housed and mounted in the main body frame 10.

As shown in fig. 9 to 13, the reconnaissance robot further includes a radar mapping module 80, the top of the main body frame 10 is provided with a quick connector 13, the radar mapping module 80 is detachably connected to the quick connector 13, the radar mapping module 80 is electrically connected with the control module 20, the radar mapping module 80 is provided with a protective cover 82 for protecting a mapping probe 81 of the radar mapping module 80, the protective cover 82 includes a base 821 and two guard bars 822 connected to the base 821, and the two guard bars 822 are arranged in a crossing manner. The base 821 is provided with a recess, mating with the quick connector 13, for accomplishing a quick assembly, preferably the recess is a dovetail, and correspondingly the quick connector 13 is a lug of dovetail-like cross section adapted to the dovetail. The cross guard bars 822 protect the mapping probe 81 as the reconnaissance robot traverses terrain such as a bush, preventing damage to the mapping probe 81 to some extent.

The crawler-type jettisonable reconnaissance robot is applied to reconnaissance on site, and has better obstacle crossing capability and can adapt to terrains with more complex conditions because the crawler-type jettisonable reconnaissance robot adopts the crawler-type travelling mechanism 50. Moreover, each moving wheel 51 and each crawler 503 of the travelling mechanism 50 are made of elastic materials, and each moving wheel is provided with a plurality of vibration reduction through holes 5111, so that when the crawler-type jettisonable scout robot is thrown, the crawler 503 and the moving wheels 51 can generate elastic deformation when contacting the ground, and each moving wheel can further convert the reverse impact force acted by the ground into the extrusion deformation of the moving wheel through the vibration reduction through holes, thereby realizing the buffering vibration reduction effect of the whole scout robot, effectively reducing the damage of the reverse impact force on the control module 20, the detection mechanism 30 and the driving mechanism 40 caused by the impact force on the ground when the jettisonable robot is thrown, and ensuring that the scout robot can be suitable for throwing into the ground site in a throwing mode, and can normally execute the scout task after throwing.

Therefore, the reconnaissance robot can be applied to on-site reconnaissance such as fire rescue, pipe gallery inspection, urban management, archaeological searching and the like, so that first accurate on-site data are provided for on-site work, and smooth work is facilitated. For a fire rescue task, the reconnaissance robot is utilized to execute the reconnaissance task to obtain accurate information of a rescue scene, especially for executing rescue workers in environment sites with unknown danger coefficients such as mountain holes, canyons and the like, the reconnaissance robot is utilized to perform scene reconnaissance at first, and the personal safety coefficient of the rescue workers in the process of executing the rescue task can be greatly ensured. Moreover, the reconnaissance robot can also cooperate with police to execute reconnaissance tasks, in particular public safety anti-riot tasks. For police personnel, the anti-riot reconnaissance task is executed by utilizing the reconnaissance robot, so that the personal risk coefficient can be greatly reduced, the volume of the reconnaissance robot is smaller, the concealment is better, and the requirements of police on executing the dangerous task are better met.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. A crawler-type jettisonable reconnaissance robot comprising:

a main body frame (10);

a control module (20), the control module (20) being sealingly mounted in the main body frame (10);

the detection mechanism (30), the detection mechanism (30) is installed in the main body frame (10) in a sealing way, and the detection mechanism (30) is electrically connected with the control module (20);

the driving mechanism (40) is arranged on the main body frame (10), and the driving mechanism (40) is electrically connected with the control module (20);

the walking mechanism (50) is arranged on the main body frame (10), the walking mechanism (50) comprises a plurality of walking wheels (51) and two tracks (503), the plurality of walking wheels (51) comprise two driving wheels (501) and a plurality of driven wheels (502), the two driving wheels (501) are symmetrically arranged relative to the longitudinal axis of the main body frame (10) along the travelling direction of the reconnaissance robot, the plurality of driven wheels (502) are symmetrically arranged relative to the longitudinal axis, each driving wheel (501) corresponds to at least one driven wheel (502), the two tracks (503) and the two driving wheels (501) are in one-to-one correspondence, each track (503) is lapped on the corresponding driving wheel (501) and the corresponding driven wheel (502) for transmission, and the driving mechanism (40) is in driving connection with the two driving wheels (501).

Each moving wheel (51) and each two tracks (503) are members made of elastic materials, each moving wheel (51) is provided with a plurality of vibration reduction through holes (5111), the vibration reduction through holes (5111) are circumferentially arranged at intervals around the central axis of the moving wheel (51), and the extending direction of each vibration reduction through hole (5111) is basically consistent with the extending direction of the central axis of the moving wheel (51).

2. The track-type jettisonable reconnaissance robot of claim 1 wherein,

each crawler belt (503) is provided with a plurality of elastic teeth (5031), and two adjacent elastic teeth (5031) are arranged at intervals.

3. The track-type jettisonable reconnaissance robot of claim 2 wherein,

the inner side of each crawler belt (503) is provided with an anti-falling part (5032), the anti-falling parts (5032) extend along the central line of the crawler belt (503), the tread of each moving wheel (51) is provided with a circumferential annular groove (5112), and the anti-falling parts (5032) are arranged in the circumferential annular grooves (5112).

4. The track-type jettisonable reconnaissance robot of claim 3 wherein,

each of the crawler belts (503) is provided with a plurality of leakage holes (5033) penetrating the inner side and the outer side.

5. The track-type jettisonable reconnaissance robot of any one of claims 1-4, wherein,

the main body frame (10) is provided with a mounting bracket (11) for mounting the control module (20), and the control module (20) is connected to the mounting bracket (11) in a supporting manner through a plurality of elastic switching pieces (70).

6. The track-type jettisonable reconnaissance robot of claim 5 wherein,

the crawler-type jettisonable reconnaissance robot further comprises two swing arms (61) and a power device (62), wherein the two swing arms (61) are in one-to-one correspondence with the two driving wheels (501) or the two symmetrical driven wheels (502), one end of each swing arm (61) is rotationally connected to the main body frame (10), the power device (62) is installed in the main body frame (10), the power device (62) is electrically connected with the control module (20), and the power device (62) is in driving connection with the two swing arms (61).

7. The track-type jettisonable reconnaissance robot of claim 6 wherein,

the crawler-type jettisonable reconnaissance robot further comprises a gyroscope, the gyroscope is installed in the main body frame (10), the gyroscope is electrically connected with the control module, and the gyroscope is used for detecting and judging the posture of the crawler-type jettisonable reconnaissance robot.

8. The track-type jettisonable reconnaissance robot of claim 5 wherein,

the driving mechanism (40) comprises two driving motors (41), the two driving motors (41) are in one-to-one corresponding driving connection with the two driving wheels (501), and the two driving motors (41) are respectively and electrically connected with the control module (20).

9. The track-type jettisonable reconnaissance robot of claim 6 wherein,

the crawler-type jettisonable reconnaissance robot further comprises at least one extension supporting rod (63), a connecting seat (12) is arranged on the main body frame (10) close to the end wall of the driven wheel (502), the extension supporting rod (63) is detachably connected to the connecting seat (12), and the extension direction of the extension supporting rod (63) is consistent with the advancing direction of the crawler-type jettisonable reconnaissance robot.

10. The track-type jettisonable reconnaissance robot of claim 6 wherein,

the utility model provides a reconnaissance robot that crawler-type can throw still includes radar mapping module (80), the top of main part frame (10) is equipped with quick-operation joint (13), radar mapping module (80) detachably connect to on quick-operation joint (13), radar mapping module (80) with control module (20) electric connection, safety cover (82) that are used for protecting mapping probe (81) of radar mapping module (80) are installed to radar mapping module (80), safety cover (82) include base (821) and connect in two bead (822) of base (821), two bead (822) alternately set up.

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