Bionic earthquake rescue robot

Abstract

The bionic earthquake rescue robot comprises a head part and a machine body part, bionic feet capable of being transformed and deformed are arranged on the machine body part, a multi-stage deformable tail structure is arranged at the tail of the machine body part, and a lifting structure used for lifting obstacles is further arranged at the end of the tail structure. The head structure, the fuselage structure, the bionic feet, the tail structure and the lifting structure are assembled into a scorpion shape; the bionic foot comprises a first mechanical arm, the first mechanical arm is connected with the machine body part through a connecting structure, one side of the first mechanical arm is rotationally connected with a second mechanical arm, and one side of the second mechanical arm is rotationally connected with a walking claw. The high-efficiency walking and climbing capacity of the robot in a complex environment is achieved, meanwhile, according to the terrain, the walking form can be converted, obstacles on the advancing route can be lifted and moved away, rapid passing can be achieved, and the earthquake rescue requirement is met.

Description

Technical Field

[0001] The invention belongs to the technical field of rescue, and in particular relates to a bionic earthquake rescue robot. Background Art

[0002] As a sudden natural disaster, earthquakes are characterized by strong destructive power, wide impact range, and great difficulty in rescue. When an earthquake occurs, the collapse of buildings often leads to a large number of people being trapped. It is crucial for the rescue team to carry out rescue work quickly and effectively within the golden rescue time. In the narrow space of the ruins, it is dangerous for the rescue team to enter, and large machinery such as excavators are difficult to use. In addition, if there are nuclear and chemical facilities in the disaster area, the danger of rescue is self-evident. At this time, some special rescue robots are needed to assist in rescue. Earthquake rescue robots refer to robots used for post-earthquake search and rescue, demolition and transportation of the wounded. Earthquake rescue robots have the advantages of strong sensing and detection capabilities, high search and rescue efficiency, high flexibility, fast driving speed, and strong obstacle crossing capabilities.

[0003] A bionic wolf spider rescue robot disclosed in the invention with announcement number CN117817684A relates to the field of robot technology, and its technical highlights are: it includes a box body, a bottom plate is provided at the bottom of the box body, a sensory module is provided on the bottom plate, and a tail box body is provided at the tail of the box body; a radial steering mechanism is provided in the tail box body, the radial steering mechanism includes a connecting rod, a sliding rod and a transmission shaft, the sliding rod is fixed at the end of the transmission shaft away from the box body, the connecting rod is sleeved inside the sliding rod, a rotating column is fixed in the tail box body, the connecting rod is fixed at the top of the rotating column, a rotating connecting disk is provided at one end of the transmission shaft close to the box body, a first rotating shaft is connected to the side of the rotating connecting disk close to the box body, a first transmission tooth is fixed to the top of the first rotating shaft, a second rotating shaft and a second transmission tooth are provided inside the box body, the second transmission tooth is meshed with the first transmission tooth, and bionic arthropod mechanisms are provided at both ends of the second rotating shaft. This solution has the effect of being able to move in complex terrain and search for people or objects, but due to the change in terrain after the earthquake, it is unable to switch the walking mode according to the terrain. When the terrain is flat, it cannot pass quickly, which reduces the search and rescue efficiency. At the same time, it cannot lift obstacles, which greatly reduces the terrain passability. For this reason, we propose a bionic earthquake rescue robot. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic earthquake rescue robot to solve the problem raised in the above-mentioned background technology that due to the change of terrain after the earthquake, it is impossible to switch the walking mode according to the terrain, and it is impossible to pass quickly when the terrain is flat, which reduces the search and rescue efficiency. At the same time, it is impossible to lift obstacles, which greatly reduces the terrain passability.

[0005] To achieve the above object, the present invention provides the following technical solutions: a bionic earthquake rescue robot, comprising a head and a body, wherein the head is arranged on one side of the body, a bionic foot capable of transformation and deformation is arranged on the body, a multi-stage deformable tail structure is arranged at the tail of the body, a lifting structure for lifting obstacles is also arranged at the end of the tail structure, and the head structure, the body structure, the bionic foot, the tail structure and the lifting structure are assembled to form a scorpion shape;

[0006] The bionic foot comprises a first mechanical arm, the first mechanical arm is connected to the body through a connecting structure, one side of the first mechanical arm is rotatably connected to the second mechanical arm, and one side of the second mechanical arm is rotatably connected to a walking claw;

[0007] Wherein, a detection module for detecting terrain, life characteristics and environment is arranged on the head.

[0008] Preferably, a first hydraulic cylinder is arranged on a surface of one side of the first robotic arm, one end of the first hydraulic cylinder is rotatably connected to the connecting structure via a first ear seat, one end of the piston rod of the first hydraulic cylinder is rotatably connected to the first robotic arm via a second ear seat, and the first robotic arm can be driven to adjust its angle by extending and retracting the first hydraulic cylinder.

[0009] Preferably, a first connecting portion is rotatably provided on one side of the first robotic arm, the first connecting portion is connected to the second robotic arm, a second hydraulic cylinder is rotatably provided on the first connecting portion, one end of the piston rod of the second hydraulic cylinder is rotatably connected to the second connecting portion, and the angle of the second robotic arm and the walking claw can be adjusted by extending and retracting the first hydraulic cylinder, and walking can be achieved by cooperating with the connecting structure.

[0010] Preferably, the second connecting portion is rotatably arranged at one end of the second mechanical arm, and the second connecting portion is connected to the walking claw.

[0011] Preferably, a first main arm connecting rod is arranged on the other side of the first robotic arm, one end of the first main arm connecting rod is rotatably connected to the first main arm shaft, the other end of the first main arm connecting rod is rotatably connected to the second main arm connecting rod, one end of the second main arm connecting rod is rotatably connected to the second main arm shaft, and the second main arm shaft is arranged in the second robotic arm to improve the stability of the first robotic arm during rotation and provide auxiliary support to the first robotic arm.

[0012] Preferably, a first auxiliary arm connecting rod is further provided in the second robotic arm, one end of the first auxiliary arm connecting rod is rotatably connected to the first auxiliary arm shaft, the first auxiliary arm shaft is provided in the second robotic arm, the other end of the first auxiliary arm connecting rod is rotatably connected to the second auxiliary arm connecting rod, the other end of the second auxiliary arm connecting rod is rotatably connected to the second auxiliary arm shaft, the second auxiliary arm shaft is provided in the walking claw, which can provide auxiliary support to the second robotic arm and the walking claw, and at the same time can fold the walking claw and store it in the second robotic arm.

[0013] Preferably, first walking wheels are arranged on both sides of the end of the first mechanical arm, and second walking wheels are arranged on both sides of the end of the second mechanical arm. Through the arrangement of the first walking wheels and the second walking wheels, it is possible to pass quickly when leveling the terrain, thereby reducing the passing time and improving the rescue efficiency.

[0014] Preferably, the connecting structure includes a support rod, which is connected to the fuselage, a positioning column is arranged on one side of the support rod, an optical axis is rotatably arranged in the positioning column, one end of the optical axis is connected to a cross arm, the cross arm is connected to the first mechanical arm through a load-bearing shaft, and the cross arm is rotatably connected to the first ear seat. Through the setting of the connecting structure, the walking gait of a scorpion can be imitated, and the shape of the bionic leg can be transformed.

[0015] Preferably, the tail structure includes multiple groups of tail connecting blocks, which are connected by an angle adjustment assembly. The angle adjustment assembly includes a first rotating shaft, on which a first shaft sleeve and a second shaft sleeve are arranged. The first shaft sleeve and the second shaft sleeve are respectively connected to adjacent tail connecting blocks. The first rotating shaft is also connected to a micro motor, so as to adjust the angles of the multiple groups of tail connecting blocks, imitate the operating form of the scorpion's tail, and lift obstacles in combination with the lifting structure.

[0016] Preferably, the lifting structure includes a tail hook, which is arranged on a first rotating seat, which is arranged on a second rotating shaft, which is arranged on one side of a tail support block, a second rotating seat is arranged at one end of the tail support block, which is arranged on a third rotating shaft, which is arranged on a third rotating seat, which is connected to a tail connecting block, and which is connected to a micro motor, so as to be able to move obstacles on the walking route.

[0017] Preferably, the detection module includes a visual sensor, an infrared life detector and an environmental sensor, and the visual sensor, infrared life detector and environmental sensor are all connected to a central processor in the fuselage, and the central processor is connected to a signal and data transmission module and a first hydraulic cylinder, a second hydraulic cylinder and a micro motor.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) The bionic foot of the present application can imitate the biological characteristics of scorpions, enabling the robot to walk and climb efficiently in complex environments. At the same time, it can change the walking form according to the terrain, greatly improving the search and rescue efficiency.

[0020] (2) The present application can lift and remove obstacles on the route, allowing for quick passage and meeting earthquake rescue needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the bionic foot from a first perspective in the present invention;

[0023] Figure 3 This is a schematic structural diagram of the bionic foot from a second viewing angle in the present invention;

[0024] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at B in the middle;

[0025] Figure 5 It is a schematic diagram of the structure of the bionic foot in the folded state of the present invention;

[0026] Figure 6 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0027] Figure 7 It is a structural schematic diagram of the lifting structure in the present invention;

[0028] In the figure: 1, bionic foot; 2, fuselage guard plate; 3, fuselage; 4, tail structure; 5, lifting structure; 6, detection module; 7, head; 8, connection structure; 41, tail connection block; 42, first shaft sleeve; 43, second shaft sleeve; 44, first rotating shaft; 51, tail support block; 52, tail hook; 53, second rotating shaft; 54, first rotating seat; 55, third rotating shaft; 56, second rotating seat; 57, third rotating seat; 81, support rod; 82, cross arm; 83, positioning column; 84, optical axis; 101, first ear seat; 102, The first hydraulic cylinder; 103, the second ear seat; 104, the first connecting part; 105, the second hydraulic cylinder; 106, the second connecting part; 107, the walking claw; 108, the second mechanical arm; 109, the first mechanical arm; 110, the load-bearing shaft; 111, the first main arm shaft; 112, the first main arm connecting rod; 113, the second main arm connecting rod; 114, the second main arm shaft; 115, the first auxiliary arm connecting rod; 116, the second auxiliary arm connecting rod; 117, the second auxiliary arm shaft; 118, the first auxiliary arm shaft; 119, the first walking wheel; 120, the second walking wheel. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 5 The present invention provides a technical solution: a bionic earthquake rescue robot, comprising a head 7 and a body 3, wherein the head 7 is arranged at one side of the body 3, a bionic foot 1 capable of transformation and deformation is arranged on the body 3, a multi-stage deformable tail structure 4 is arranged at the tail of the body 3, a lifting structure 5 for lifting obstacles is also arranged at the end of the tail structure 4, and the head 7 structure, the body structure, the bionic foot 1, the tail structure 4 and the lifting structure 5 are assembled to form a scorpion shape;

[0031] The bionic foot 1 comprises a first mechanical arm 109 , which is connected to the body 3 via a connecting structure 8 , one side of the first mechanical arm 109 is rotatably connected to the second mechanical arm 108 , and one side of the second mechanical arm 108 is rotatably connected to the walking claw 107 .

[0032] A first hydraulic cylinder 102 is arranged on one side surface of the first robotic arm 109, one end of the first hydraulic cylinder 102 is rotatably connected to the connecting structure 8 via a first ear seat 101, one end of the piston rod of the first hydraulic cylinder 102 is rotatably connected to the first robotic arm 109 via a second ear seat 103, and the first robotic arm 109 can be driven to adjust its angle by extending and retracting the first hydraulic cylinder 102.

[0033] The first connecting part 104 is rotatably provided at one side of the first robotic arm 109, and the first connecting part 104 is connected to the second robotic arm 108. The second hydraulic cylinder 105 is rotatably provided on the first connecting part 104, and one end of the piston rod of the second hydraulic cylinder 105 is rotatably connected to the second connecting part 106. Through the extension and retraction of the first hydraulic cylinder 102, the second connecting part 106 is rotatably provided at one end of the second robotic arm 108, and the second connecting part 106 is connected to the walking claw 107, so that the angles of the second robotic arm 108 and the walking claw 107 can be adjusted, and walking can be performed in conjunction with the connecting structure 8.

[0034] Specifically, the connecting structure 8 includes a support rod 81, which is connected to the fuselage portion 3. A positioning column 83 is arranged on one side of the support rod 81. An optical axis 84 is rotatably arranged in the positioning column 83. One end of the optical axis 84 is connected to the cross arm 82. Specifically, the optical axis 84 and the cross arm 82 in the positioning column 83 are connected to the first mechanical arm 109 through the load-bearing shaft 110, and the cross arm 82 is rotatably connected to the first ear seat 101. Through the setting of the connecting structure 8, the walking gait of a scorpion can be imitated, and the shape of the bionic leg can be transformed.

[0035] When the present application is walking in an earthquake zone, when the detection module 6 detects that it is necessary to climb the road surface, the first hydraulic cylinder 102 contracts to drive the first mechanical arm 109 to rotate on the cross arm 82, and at the same time the second hydraulic cylinder 105 contracts to drive the second mechanical arm 108 to rotate through the first connecting part 104, and the walking claw 107 rotates in the second mechanical arm 108 through the second connecting part 106, and then the optical axis 84 is driven by the micro motor to rotate, and the optical axis 84 can move the entire bionic foot 1 back and forth. Through the cooperation of multiple groups of bionic feet 1, it can imitate the scorpion gait, and walk and climb in the earthquake zone, which greatly improves the search and rescue efficiency of the present device and meets the requirements of efficient walking on different terrains.

[0036] Furthermore, a first main arm connecting rod 112 is provided on the other side of the first robotic arm 109, one end of the first main arm connecting rod 112 is rotatably connected to the first main arm shaft 111, the other end of the first main arm connecting rod 112 is rotatably connected to the second main arm connecting rod 113, one end of the second main arm connecting rod 113 is rotatably connected to the second main arm shaft 114, and the second main arm shaft 114 is provided in the second robotic arm 108. When the first robotic arm 109 rotates, the first main arm connecting rod 112 rotates on the first main arm shaft 111, and the second main arm connecting rod 113 rotates on the second main arm shaft 114, thereby improving the stability of the first robotic arm 109 during rotation and providing auxiliary support to the first robotic arm 109.

[0037] Furthermore, a first auxiliary arm connecting rod 115 is also provided in the second robotic arm 108, one end of the first auxiliary arm connecting rod 115 is rotatably connected to the first auxiliary arm shaft 118, the first auxiliary arm shaft 118 is provided in the second robotic arm 108, the other end of the first auxiliary arm connecting rod 115 is rotatably connected to the second auxiliary arm connecting rod 116, the other end of the second auxiliary arm connecting rod 116 is rotatably connected to the second auxiliary arm shaft 117, the second auxiliary arm shaft 117 is provided in the walking claw 107, when the second robotic arm 108 rotates, the first auxiliary arm connecting rod 115 rotates on the first auxiliary arm shaft 118, the second auxiliary arm connecting rod 116 rotates on the second auxiliary arm shaft 117, which can provide auxiliary support to the second robotic arm 108 and the walking claw 107, and at the same time can fold the walking claw 107 and store it in the second robotic arm 108.

[0038] As a specific embodiment of this application, please refer to Figure 5A first walking wheel 119 is arranged on both sides of the end of the first mechanical arm 109, and a second walking wheel 120 is arranged on both sides of the end of the second mechanical arm 108. Specifically, the first walking wheel 119 and the second walking wheel 120 are driven by independent micro motors. By arranging the first walking wheel 119 and the second walking wheel 120, it is possible to pass quickly on flat terrain, shorten the passing time, and improve the rescue efficiency.

[0039] When the detection module 6 identifies a flat terrain, the second hydraulic cylinder 105 drives the walking claw 107 to rotate and stores the walking claw 107 into the second mechanical arm 108. At the same time, the first mechanical arm 109 and the second mechanical arm 108 are adjusted to be a horizontal device. At the same time, the micro motor in the positioning column 83 rotates the optical axis 84 90° and arranges the bionic foot 1 horizontally. The first walking wheel 119 and the second walking wheel 120 drive the device to move quickly, which can shorten the rescue time and improve the applicability of various terrains.

[0040] As a specific embodiment of this application, please refer to Figure 1 and Figure 6 The tail structure 4 includes multiple groups of tail connecting blocks 41, and the tail connecting blocks 41 are connected by an angle adjustment component. The angle adjustment component includes a first rotating shaft 44. A first shaft sleeve 42 and a second shaft sleeve 43 are arranged on the first rotating shaft 44. The first shaft sleeve 42 and the second shaft sleeve 43 are respectively connected to the adjacent tail connecting blocks 41. The first rotating shaft 44 is also connected to a micro motor, which can adjust the angles of the multiple groups of tail connecting blocks 41, and imitate the running form of the scorpion's tail, and lift obstacles in combination with the lifting structure 5.

[0041] When there are obstacles on the route, multiple groups of tail connecting blocks 41 and their corresponding micro motors drive the first rotating shaft 44 to rotate, and the first rotating shaft 44 drives the first shaft sleeve 42 and the second shaft sleeve 43 to rotate. Through the rotation of the multi-level tail connecting block 41, it can imitate the shape of a scorpion's tail and move, and at the same time cooperate with the lifting structure 5 to move the obstacles away.

[0042] As a specific embodiment of this application, please refer to Figure 7 The lifting structure 5 includes a tail hook 52, which is arranged on a first rotating seat 54, which is arranged on a second rotating shaft 53, which is arranged on one side of a tail support block 51, and a second rotating seat 56 is arranged at one end of the tail support block 51, which is arranged on a third rotating shaft 55, and a third rotating seat 57 is arranged on the third rotating shaft 55, which is connected to the tail connecting block 41, and the third rotating shaft 55 is connected to a micro motor, so as to move away obstacles on the walking route.

[0043] When encountering an obstacle, the tail hook 52 is first moved to the bottom of the obstacle through the tail structure 4, and the second rotating shaft 53 is driven to rotate by the micro motor, the second rotating shaft 53 drives the first rotating seat 54 to rotate, the first rotating seat 54 drives the tail hook 52 to rotate, and at the same time, another micro motor is used to control the third rotating shaft 55 to rotate, the third rotating shaft 55 drives the third rotating seat 57 to rotate, the third rotating seat 57 drives the tail hook 52 to move, and then the obstacle can be lifted and moved away by the rotation of the tail structure 4.

[0044] Specifically, a detection module 6 for detecting terrain, life features and environment is provided on the head 7. The detection module 6 includes a visual sensor, an infrared life detector and an environmental sensor. The visual sensor, the infrared life detector and the environmental sensor are all connected to the central processor in the fuselage 3. The central processor is connected to the signal and data transmission module and the first hydraulic cylinder 102, the second hydraulic cylinder 105 and the micro motor. In the present application, the visual sensor adopts a high-definition camera to realize remote image transmission and provide real-time rescue site information to the operator. The environmental sensor monitors environmental parameters such as temperature, humidity and harmful gases to provide a basis for rescue decisions. The infrared life detector detects life signs of trapped persons.

[0045] The signal and data transmission module uses wireless communication technology to achieve real-time communication with the command center, and a handheld remote control can be used to achieve real-time control of the robot.

[0046] Each tail connection block 41 in the present application is also provided with a releaseable flying drone. During security tasks, the robot releases the drone at the tail to achieve separate collaboration. When these drones perform inspection tasks, safety and efficiency are improved.

[0047] In the present application, a fuselage guard plate 2 is also provided on the bottom surface of the fuselage portion 3 to protect the fuselage portion 3.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic earthquake rescue robot, comprising a head (7) and a body (3), characterized in that: The head (7) is arranged on one side of the fuselage (3); a bionic foot (1) capable of transformation and deformation is arranged on the fuselage (3); a multi-stage deformable tail structure (4) is arranged at the tail of the fuselage (3); a lifting structure (5) for lifting obstacles is also arranged at the end of the tail structure (4); the head (7) structure, the fuselage structure, the bionic foot (1), the tail structure (4) and the lifting structure (5) are assembled to form a scorpion shape; The bionic foot (1) comprises a first mechanical arm (109), the first mechanical arm (109) being connected to the body (3) via a connecting structure (8), one side of the first mechanical arm (109) being rotatably connected to a second mechanical arm (108), and one side of the second mechanical arm (108) being rotatably connected to a walking claw (107); Wherein, a detection module (6) for detecting terrain, life features and environment is arranged on the head (7).

2. The bionic earthquake rescue robot according to claim 1, characterized in that: A first hydraulic cylinder (102) is arranged on one side surface of the first mechanical arm (109); one end of the first hydraulic cylinder (102) is rotatably connected to the connecting structure (8) via a first ear seat (101); and one end of the piston rod of the first hydraulic cylinder (102) is rotatably connected to the first mechanical arm (109) via a second ear seat (103).

3. The bionic earthquake rescue robot according to claim 2, characterized in that: A first connecting portion (104) is rotatably provided on one side of the first mechanical arm (109), the first connecting portion (104) is connected to the second mechanical arm (108), a second hydraulic cylinder (105) is rotatably provided on the first connecting portion (104), and one end of the piston rod of the second hydraulic cylinder (105) is rotatably connected to the second connecting portion (106).

4. The bionic earthquake rescue robot according to claim 3, characterized in that: The second connecting portion (106) is rotatably arranged at one end of the second mechanical arm (108), and the second connecting portion (106) is connected to the walking claw (107).

5. A bionic earthquake rescue robot according to claim 2 or 3, characterized in that: A first main arm connecting rod (112) is arranged on the other side of the first mechanical arm (109); one end of the first main arm connecting rod (112) is rotatably connected to the first main arm shaft (111); the other end of the first main arm connecting rod (112) is rotatably connected to the second main arm connecting rod (112); one end of the second main arm connecting rod (112) is rotatably connected to the second main arm shaft (114); and the second main arm shaft (114) is arranged in the second mechanical arm (108).

6. The bionic earthquake rescue robot according to claim 5, characterized in that: A first auxiliary arm connecting rod (115) is also provided in the second mechanical arm (108); one end of the first auxiliary arm connecting rod (115) is rotatably connected to the first auxiliary arm shaft (118); the first auxiliary arm shaft (118) is provided in the second mechanical arm (108); the other end of the first auxiliary arm connecting rod (115) is rotatably connected to the second auxiliary arm connecting rod (116); the other end of the second auxiliary arm connecting rod (116) is rotatably connected to the second auxiliary arm shaft (117); and the second auxiliary arm shaft (117) is provided in the walking claw (107).

7. The bionic earthquake rescue robot according to claim 1, characterized in that: First running wheels (119) are arranged on both sides of the end of the first mechanical arm (109), and second running wheels (120) are arranged on both sides of the end of the second mechanical arm (108).

8. The bionic earthquake rescue robot according to claim 2, characterized in that: The connection structure (8) comprises a support rod (81), the support rod (81) being connected to the fuselage (3), a positioning column (83) being arranged on one side of the support rod (81), an optical axis (84) being rotatably arranged in the positioning column (83), one end of the optical axis (84) being connected to a cross arm (82), the cross arm (82) being connected to the first mechanical arm (109) via a bearing shaft (110), and the cross arm (82) being rotatably connected to the first ear seat (101).

9. The bionic earthquake rescue robot according to claim 2, characterized in that: The tail structure (4) comprises a plurality of groups of tail connection blocks (41), the tail connection blocks (41) being connected to each other via an angle adjustment assembly, the angle adjustment assembly comprising a first rotating shaft (44), a first shaft sleeve (42) and a second shaft sleeve (43) being arranged on the first rotating shaft (44), the first shaft sleeve (42) and the second shaft sleeve (43) being respectively connected to adjacent tail connection blocks (41), and the first rotating shaft (44) being further connected to a micro motor.

10. The bionic earthquake rescue robot according to claim 1, characterized in that: The lifting structure (5) comprises a tail hook (52), wherein the tail hook (52) is arranged on a first rotating seat (54), the first rotating seat (54) is arranged on a second rotating shaft (53), the second rotating shaft (53) is arranged on one side of a tail support block (51), a second rotating seat (56) is arranged at one end of the tail support block (51), the second rotating seat (56) is arranged on a third rotating shaft (55), a third rotating seat (57) is arranged on the third rotating shaft (55), the third rotating seat (57) is connected to the tail connecting block (41), and the third rotating shaft (55) is connected to a micro motor.

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