Post-disaster auxiliary field cleaning and reconstruction robot

Abstract

The invention belongs to the field of post-disaster reconstruction robots, and discloses a post-disaster auxiliary field cleaning and reconstruction robot which comprises a base with a walking mechanism, a hydraulic seam opening clamp installed on the lower surface of the base in the walking direction and a hydraulic control system installed on the lower surface of the hydraulic seam opening clamp. And clamp teeth of the hydraulic seam opening clamp extend out of the base. The invention aims to control a hydraulic jacking motor on the hydraulic seam opening clamp to push clamp teeth by different lengths, so that the clamp teeth of the hydraulic seam opening clamp are conveniently inserted into a seam, and the hydraulic seam opening clamp is controlled to open to complete seam opening operation; in other words, cement boards, concrete blocks or heavy objects in other ruins are pried through the hydraulic seam opening pliers to assist rescue; after-disaster fragment plates are removed through the pincer type clamping jaw, and a pincer type clamping jaw sawtooth part on the pincer type clamping jaw plays a role in cutting while grabbing and clamping; the equipment is more professional and targeted, and rescue and post-disaster reconstruction actions can be implemented more efficiently.

Description

Technical Field

[0001] The present invention belongs to the field of post-disaster reconstruction robots, and in particular relates to a post-disaster auxiliary on-site cleaning and reconstruction robot. Background Art

[0002] In post-disaster reconstruction, there are a series of complex problems and dangers, such as dangerous working environments, obstacles in the ruins, rescue missions and the need for material transportation. Traditional human reconstruction is not only time-consuming and labor-intensive, but also risky. For this reason, with the development of science and technology, various types of disaster relief machinery have emerged in an endless stream;

[0003] At present, the post-disaster rescue robots that are commonly used mainly include disaster relief robots, drainage robots, exploration and rescue robots, and cleaning robots.

[0004] The problem with the above robots is that small robots are limited in their size and cannot handle large-scale post-disaster environments; large robots are limited in their movement in the debris terrain after the disaster. In addition, there are currently no robots designed for post-disaster reconstruction, that is, there are no robots that can clean up the ruins first and then carry out agricultural production. For this reason, current robots are only used for post-disaster relief operations, and there are no robots that can integrate post-disaster rescue and post-disaster reconstruction. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a post-disaster auxiliary site cleaning and reconstruction robot, which has the functions of carrying, grasping, planting and remote control integration, and thus has the functions of post-disaster rescue and post-disaster reconstruction; considering the need to enable the robot to meet the above functions at the same time, the present invention adopts a modular design, so that the volume of the robot body can be reduced while meeting different needs.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A post-disaster auxiliary site cleaning and reconstruction robot includes a base with a walking mechanism, the direction of movement of the base along with the walking mechanism is used as the walking direction, and also includes:

[0008] A hydraulic seam pliers is installed on the lower surface of the base along the traveling direction, and the jaws of the hydraulic seam pliers extend out of the base;

[0009] A first mechanical arm is mounted on the upper surface of the base;

[0010] A clamp-type gripper, mounted at the end of the first mechanical arm, for gripping an object;

[0011] The lifting mechanism is installed on the upper surface of the base and is located near the first mechanical arm.

[0012] Preferably, the fixed end of the hydraulic seam pliers is fixed to the lower surface of the base through a bracket, the two jaws of the hydraulic seam pliers are symmetrically arranged relative to the fixed end, and the cross-section of each jaw along the vertical direction is stepped.

[0013] Preferably, the walking mechanism includes a plurality of first motors, four track wheel shafts, four track wheel groups and two sets of tracks. The four track wheel shafts are rotatably mounted on the lower surface of the base, each track wheel group is sleeved on each track wheel shaft, and each set of tracks is respectively sleeved on four adjacent track wheels located on the same side of the base. A plurality of first motors are fixedly mounted at the four corner edges of the lower surface of the base, and the output ends of the first motors are fixed to the track wheel shafts.

[0014] Preferably, there are two track wheel shafts, track wheels are installed at both ends of each track wheel shaft, and the track is jointly sleeved on two adjacent track wheels located on the same side of the base. There are two first motors, and the two first motors are respectively installed at the diagonal edges of the lower surface of the base, and the free end of each first motor is fixed to each track wheel shaft.

[0015] Preferably, the lifting mechanism includes a first lifting component and a second lifting component, and the first lifting component is located at one end of the upper surface of the base, and the second lifting component is located at the other end of the upper surface of the base.

[0016] Preferably, the first lifting assembly includes a second mechanical arm, which is fixed to the other end of the upper surface of the base and is located near the first mechanical arm. A hook is installed at the end of the second mechanical arm for lifting objects.

[0017] Preferably, the lifting mechanism includes a second lifting component, and the second lifting component is located at one end of the upper surface of the base and corresponds to the first mechanical arm.

[0018] Preferably, the second lifting assembly is a screw lifting mechanism and fork teeth driven by a second motor, the screw lifting mechanism is fixed to the upper surface of the base, and the fork teeth are installed on the lifting part on the screw lifting mechanism and extend out of the base.

[0019] Preferably, the screw lifting mechanism comprises:

[0020] A vertical plate, fixed on the upper surface of the base and extending in a vertical direction, wherein the vertical plate has two mounting plates;

[0021] Two limit posts are respectively fixed between the two mounting plates in a vertical direction and are located at the edges of the mounting plates;

[0022] The lead screw is mounted on the two mounting plates for rotation in the vertical direction and is parallel to the two limit columns;

[0023] The sliding plate is parallel to the two mounting plates, and is slidably sleeved on the two limiting columns, and is threadedly sleeved on the lead screw.

[0024] Preferably, the number of the fork tines is two, and agricultural tools are fixedly mounted on the two fork tines by bolts, and the other end of the agricultural tool extends out of the base and performs soil loosening operations on the ground for agricultural production.

[0025] Preferably, the agricultural tool is one of a plow, a harrow and a hoe.

[0026] Preferably, a water tank is placed on the upper surface of the base, a nozzle is installed at the water outlet of the water tank, the nozzle is located near the first mechanical arm, and the spraying direction of the nozzle is the same as the walking direction.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The post-disaster auxiliary site cleaning and reconstruction robot of the present invention includes a base with a walking mechanism, and the direction of movement of the base along the walking mechanism is used as the walking direction. It also includes: a hydraulic seam pliers installed on the lower surface of the base along the walking direction, and the jaws of the hydraulic seam pliers extend out of the base; a first mechanical arm installed on the upper surface of the base; a clamp-type clamp installed at the end of the first mechanical arm for clamping objects; a lifting mechanism installed on the upper surface of the base and located near the first mechanical arm, and the height of the hydraulic seam pliers at the front end of the lifting mechanism from the ground is controlled by a telescopic rod driven by a motor at the end of the lifting mechanism, and its purpose is to control the hydraulic lifting motor on the hydraulic seam pliers to raise the jaws of different widths The required gap size is stuck, so that the jaws of the hydraulic seam pliers are inserted into the gap, and the hydraulic seam pliers are controlled to open to complete the seam opening operation; that is, the hydraulic seam pliers are used to pry open cement boards, concrete blocks or other heavy objects in the ruins to assist in rescue; in addition, the clamp-type clamp on the first mechanical arm is used to remove the post-disaster fragments and panels with the clamp-type clamp, and the clamp-type clamp serrations on the clamp-type clamp provide a cutting effect while grasping; the device in the present invention is relatively small in size and is a small function-integrated robot, so it can better cope with most harsh environments and enter and exit places that are difficult for various large equipment to reach; rescue and post-disaster reconstruction operations are implemented in a more professional, targeted and efficient manner.

[0029] 2. Because of the post-disaster auxiliary site cleaning and reconstruction robot in the present invention, the fixed end of the hydraulic seam pliers is fixed to the lower surface of the base through a bracket, and the two jaws of the hydraulic seam pliers are symmetrically arranged relative to the fixed end, and the cross-section of each jaw along the vertical direction is stepped, the purpose is to use the stepped cross-section to insert into the gap, so as to better complete the seam operation; compared with the structure of most seam pliers on the market, after accurate force analysis, it is found that the stepped serrations can more stably keep the gap open, thereby ensuring safety when completing the seam operation.

[0030] 3. Because the post-disaster auxiliary site cleaning and reconstruction robot in the present invention has a lifting mechanism including a first lifting component and a second lifting component, and the first lifting component is located at one end of the upper surface of the base, and the second lifting component is located at the other end of the upper surface of the base, wherein the first lifting component includes a second mechanical arm, and the second mechanical arm is fixed to the other end of the upper surface of the base, located near the first mechanical arm, and a hook is installed at the end of the second mechanical arm for lifting objects; wherein the lifting reaction speed of the second mechanical arm is faster, and the moving range after lifting the heavy object is relatively wide, and at the same time, a force analysis is performed on the hook part of the hook to ensure that it will not be deformed due to overload in the post-disaster environment; and the post-disaster environment can be cleaned and materials can be transported, and the second lifting component is a screw lifting mechanism and fork teeth driven by a second motor, and the screw lifting mechanism is fixed to the base The fork teeth are installed on the upper surface of the screw lifting mechanism and extend out of the base; the purpose is to use the first lifting component to lift objects and use the second lifting component to lift heavier objects, so as to clean up the post-disaster environment and transport materials; the "wide-area rapid grasping" of the hook is combined with the "heavy-duty precision lifting" of the screw: among them, the use of a lightweight robotic arm with a high-speed motor can quickly respond and grab small and medium-sized ruins such as bricks and furniture debris within the moving range of the robotic arm, covering 90% of the small and medium-sized ruins cleaning needs; the screw adopts a high-rigidity roller screw and a reducer combination, which can fine-tune the lifting of large structures such as collapsed floor slabs; a single robot can replace the traditional joint operation of multiple devices, shortening the response cycle of cleaning and rescue within the "golden 72 hours" after the disaster; through the coordinated cooperation of the two, the post-disaster environment can be better handled.

[0031] 4. Because the post-disaster auxiliary site cleaning and reconstruction robot in the present invention has a lifting mechanism including a second lifting component, and the second lifting component is located at one end of the upper surface of the base and corresponds to the first mechanical arm, wherein the second lifting component is a screw lifting mechanism and fork teeth driven by a second motor, the screw lifting mechanism is fixed to the upper surface of the base, the fork teeth are installed on the lifting part on the screw lifting mechanism and extend out of the base, the purpose is to use only the second lifting component to lift heavier objects, so that the post-disaster environment can be cleaned and materials can be transported; the screw lifting mechanism is made of high-strength alloy steel, and the load distribution of the fork teeth and the screw threads is optimized through finite element simulation to ensure that when lifting heavy objects (such as concrete blocks, collapsed beams and columns), the stress is concentrated in the safe area of ​​the structure to avoid local deformation or fracture; at the same time, the screw lifting mechanism adopts a fully sealed protective cover and IP67 dust and water proof standards, and can continue to operate in dusty, rain soaked or chemically polluted environments.

[0032] 5. Because the post-disaster auxiliary site cleaning and reconstruction robot in the present invention has two forks, agricultural tools are fixed on the two forks by bolts, and the other end of the agricultural tool extends out of the base to loosen the ground for agricultural production. The purpose is to use the movement of the robot to enable the agricultural tool to assist in the plowing-type production of post-disaster agricultural recovery, and to achieve plowing-type production at different depths through the lifting of the second lifting component; traditional post-disaster land reclamation requires a multi-stage process of "manual cleaning-large agricultural machinery entry-soil improvement", which takes several months; the present invention integrates the entire process operation through a single robot, and can compress the period of restoring cultivated land to a sowing state to within a few weeks; the present invention breaks through the technical limitations of the single function of post-disaster rescue equipment by innovatively integrating heavy-duty lifting mechanisms with agricultural tools, and constructs a full-cycle solution of "emergency-reconstruction-recovery", providing an option for the construction of a resilient agricultural system in disaster-prone areas.

[0033] 6. Because the post-disaster auxiliary site cleaning and reconstruction robot in the present invention has a water tank placed on the upper surface of the base, a nozzle is installed at the water outlet of the water tank, the nozzle is located near the first mechanical arm, and the spraying direction of the nozzle is the same as the walking direction; the purpose is to spray water to deposit dust in the air on the ground, thereby improving the disaster relief environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of the present invention in Example 1;

[0035] Figure 2 It is a schematic diagram of the structure of the present invention in Embodiment 1 at another viewing angle;

[0036] Figure 3It is a schematic diagram of the coordination of the track wheel shaft, the track wheel assembly and the first motor in Embodiment 1 and Embodiment 2 of the present invention;

[0037] Figure 4 Schematic diagram of the cooperation between the crawler wheel shaft and crawler track in embodiments 1 and 2 of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of the lifting mechanism in Examples 1 and 2 of the present invention;

[0039] Figure 6 Schematic diagram of the structure of the first mechanical arm in embodiments 1 and 2 of the present invention;

[0040] Figure 7 Schematic diagram of the structure of the clamp-type clamping jaws in Examples 1 and 2 of the present invention;

[0041] Figure 8 This is a schematic diagram of the structure of the hook in Example 1 of the present invention;

[0042] Fig. 9 This is a schematic diagram of the structure of the seedling board in Examples 1 and 2 of the present invention;

[0043] Fig.10 This is a schematic diagram of the structure of the present invention in Example 2;

[0044] Fig.11 This is a schematic diagram of the structure of a water storage tank in Example 2 of the present invention;

[0045] Fig.12 It is a schematic diagram of the structure of the present invention in Example 2 at another viewing angle;

[0046] Fig.13 This is a schematic diagram of the structure of the agricultural tool in Example 2 of the present invention;

[0047] In the figure: base 1, hydraulic seam pliers 2, pliers teeth 21, first mechanical arm 3, pliers-type clamps 31, pliers-type clamps serrated portion 311, agricultural tools 4, first motor 5, track wheel shaft 6, track wheel 7, track 8, second mechanical arm 9, fork teeth 10, vertical plate 11, mounting plate 111, limiting column 112, lead screw 113, sliding plate 114, first fixed plate 115, second motor mounting seat 116, bearing frame 12, water storage tank 13, nozzle 131, counterweight block 14, second motor 15, coupling 16, hook 17, seedling board 18, seedling board placement hole 181. DETAILED DESCRIPTION

[0048] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0049] Example 1

[0050] like Figure 1 , 3 As shown, a post-disaster auxiliary site cleaning and reconstruction robot is about 1.2m long, about 0.9m wide, about 0.6m high, and weighs about 15Kg. It includes a base 1 with a walking mechanism. Specifically, the walking mechanism includes a plurality of first motors 5, four track wheel shafts 6, four track wheel groups and two groups of tracks 8. The four track wheel shafts 6 are rotatably mounted on the lower surface of the base 1, and each track wheel group is sleeved on each track wheel shaft 6 (it should be noted that one track wheel group is two track wheels 7, and the two track wheels 7 are respectively rotatably sleeved on the two ends of a track wheel shaft 6 and are located on two opposite side walls of the base 1), each group of tracks 8 is respectively sleeved on four adjacent track wheels 7 located on the same side of the base, and a plurality of first motors 5 are fixedly mounted at the four corner edges of the lower surface of the base 1, and the output end of the first motor 5 is fixed to the track wheel shaft 6 (as shown in FIG. Figure 4 As shown); More specifically, in this embodiment, there are two first motors 5, which are respectively mounted at the four corner edges of the lower surface of the base 1 and are diagonally mounted relative to the lower surface of the base 1. The free end of each first motor 5 is fixed to each track wheel shaft 6; and each track wheel group has two track wheels 7, and the track 8 is sleeved on the two track wheels 7. Therefore, the track wheel shaft 6 can be rotated by driving the first motor 5, thereby driving the track wheels 7 on the same track wheel shaft 6 to rotate, and then the track wheels 7 on the multiple track wheel groups on the same side of the base 1 are rotated, thereby driving the track 8 to rotate, and then the device walks on the ground. In addition, the track 8 can also The crawler 8 can accommodate different terrains. Its large ground contact area provides the machine with better traction and buoyancy, so that it has excellent off-road performance in various complex terrains (such as mud, snow, desert, rocks, etc.). The crawler 8 can pass through uneven ground and obstacles more easily, maintain good stability and controllability, and can better adapt to the complex environment after the disaster. Compared with the structure of ordinary tires, this design can better disperse and carry weight, which is very useful for occasions where a large amount of materials need to be transported. The load-dispersing characteristics of the crawler 8 can also reduce ground settlement and improve the stability and safety of the robot; two directions of movement of the base 1 with the walking mechanism are used as the walking direction A, and also include,

[0051] The hydraulic seam pliers 2 of model FS-14 are fixed at their fixed ends on the lower surface of the base 1 through a bracket along the walking direction A, and the jaws 21 of the hydraulic seam pliers 2 extend out of the base 1, so as to control the hydraulic lifting motor on the hydraulic seam pliers 2 to clamp the jaws 21 of different widths to the required gap size, so as to insert the jaws 21 of the hydraulic seam pliers 2 into the gap, control the hydraulic seam pliers 2 to open and complete the seam opening operation; that is, the hydraulic seam pliers 2 are used to pry open cement boards, concrete blocks or other heavy objects in the ruins to assist in rescue; and the stepped cross-section is used to insert into the gap to better complete the seam opening operation; specifically: Figure 1 , 11 As shown in FIG. 12 , the two teeth 21 of the hydraulic seam opening pliers 2 are symmetrically arranged relative to the fixed end thereof, and the cross section of each tooth 21 along the vertical direction is stepped, the purpose of which is to use the stepped cross section to insert into the gap so as to better complete the seam opening operation; compared with the structure of most seam opening pliers on the market, after an accurate force analysis, it is found that the stepped serrations can more stably keep the gap open, thereby ensuring safety when completing the seam opening operation;

[0052] The first mechanical arm 3 of model C4-A601S is mounted on the upper surface of the base 1 (it should be noted that the first mechanical arm 3 is rotatably mounted on the base 1 through a disc bearing so that it can rotate 360 ​​degrees), and the clamp-type clamp 31 is mounted at the end of the first mechanical arm 3 for clamping an object. In addition, a side wall of the clamp-type clamp 31 is provided with a clamp-type clamp serration portion 311 (such as Figure 6 , 7 The purpose is to perform cutting operations while grasping objects;

[0053] The lifting mechanism comprises a first lifting assembly and a second lifting assembly, wherein the first lifting assembly is located at one end of the upper surface of the base, and the second lifting assembly is located at the other end of the upper surface of the base;

[0054] like Figure 8 As shown, the first lifting assembly includes a second mechanical arm 9 of model C4-B601S, which is fixed to the other end of the upper surface of the base 1 and is located near the first mechanical arm 3. A hook 17 is installed at the end of the second mechanical arm 9 for lifting objects, wherein the second mechanical arm 9 has a faster reaction speed for lifting objects and a relatively wider range of movement after lifting heavy objects. At the same time, a force analysis is performed on the hook part of the hook 17 to ensure that it will not be deformed due to overload in the post-disaster environment; and the post-disaster environment can be cleaned and materials can be transported;

[0055] The second lifting assembly is a screw lifting mechanism and a fork tine 10 driven by a second motor 15 . The screw lifting mechanism is fixed to the upper surface of the base 1 . The fork tine 10 is installed on the lifting part of the screw lifting mechanism and extends out of the base 1 .

[0056] like Figure 2 and Figure 5 As shown, the screw lifting mechanism includes a vertical plate 11, which is fixed on the upper surface of the base 1 and extends in the vertical direction. The vertical plate 11 has two mounting plates 111; two limiting columns 112 are respectively fixed between the two mounting plates 111 in the vertical direction and are located at the edges of the mounting plates 111; a screw 113 is rotatably mounted on the two mounting plates 111 in the vertical direction and is parallel to the two limiting columns 112; a sliding plate 114 is parallel to the two mounting plates 111 and is slidably sleeved on the two limiting columns 112, and is threadedly sleeved on the screw 11 3; a first fixing plate 115 is provided on one side of the vertical plate 11, and the first fixing plate 115 is fixed to the base 1 by bolts, and a configuration block 14 is installed on the first fixing plate 115; the sliding plate 114 is the lifting part on the screw lifting mechanism, and the fork tine 10 is fixedly mounted on the sliding plate 114 and extends out of the base 1; a second motor mounting seat 116 is installed on the vertical plate 11 by bolts, and a second motor 15 is installed on the second motor mounting seat 116, and the output end of the second motor 15 is connected to the end of the screw 113 through a coupling 16 (such as Figure 5 As shown), the main working principle is to start the second motor 15, and the free end of the second motor 15 drives the coupling 16 to rotate, thereby driving the screw 113 to rotate, thereby driving the sliding plate 14 to move in the height direction relative to the vertical plate 11, that is, to lift and lower, so that the fork teeth 10 can be lifted and lowered in the height direction of the vertical plate 11, and the purpose is to use only the second lifting component to lift heavier objects, so that the post-disaster environment can be cleaned and materials can be transported; the screw lifting mechanism is made of high-strength alloy steel, and the load distribution of the fork teeth 10 and the screw thread is optimized through finite element simulation to ensure that when lifting heavy objects (such as concrete blocks, collapsed beams and columns), the stress is concentrated in the safe area of ​​the structure to avoid local deformation or fracture; at the same time, the screw lifting mechanism adopts a fully sealed protective cover and IP67 dust and water proof standards, and can continue to operate in dusty, rain soaked or chemically polluted environments;

[0057] There are two fork teeth 10 , and goods can be forked by the fork teeth 10 , and then the goods forked by the fork teeth 10 can be lifted or lowered with the help of the second lifting component.

[0058] In addition, a carrying frame 12 is fixedly installed on the base 1, and various materials, such as food, drinking water, medicine, rescue equipment, etc., can be placed in the carrying frame 12 to transport materials from the distribution point to the disaster area, or from the disaster area to a safe area; it can provide fast and reliable supply of materials while reducing the exposure of personnel to dangerous environments.

[0059] Example 2

[0060] This embodiment is basically the same as the embodiment 1, except that the second mechanical arm 9 and the hook 17 are not provided in this embodiment. Figure 10-12 As shown, a water tank 13 is also placed on the upper surface of the base 1, and a nozzle 131 is installed at the water outlet of the water tank 13. The nozzle 131 is located near the first mechanical arm 3, and its spraying direction is the same as the walking direction A. The purpose is to spray water to deposit the dust in the air on the ground, thereby improving the disaster relief environment;

[0061] In addition, in this embodiment, there are two track wheel shafts 6, and track wheels 7 are respectively installed at both ends of each track wheel shaft 6. The two adjacent track wheels 7 located on the same side of the base 1 are sleeved with a track 8, and there are two first motors 5, which are respectively installed at the diagonal edges of the lower surface of the base 1, and the free end of each first motor 5 is fixed to each track wheel shaft 6;

[0062] Furthermore, if Figure 11-13 As shown, an agricultural tool 4 (a plow, a rake, or a harrow is selected in this embodiment) is installed on the fork tine 10 by bolts, and the other end of the agricultural tool 4 extends out of the base 1 and performs a soil loosening operation on the ground to carry out agricultural production;

[0063] like Fig. 9 , 10 As shown in 12, the two jaws 21 of the hydraulic seam pliers 2 clamp a seedling board 18, and the seedling board 18 has a seedling board placement hole 181 arranged in the vertical direction (and the seedling board placement hole 181 is a blind hole); the purpose is to use the hydraulic seam pliers 2 to clamp the seedling board 18, and then manually take out the seedlings from the seedling board placement hole 181 for planting (the seedlings are not limited to flowers, grass, and trees).

[0064] By utilizing the movement of the robot, the agricultural tool can assist in plowing-type production for post-disaster agricultural recovery, and by lifting the second lifting component, plowing-type production at different depths can be achieved; traditional post-disaster land reclamation requires a multi-stage process of "manual cleaning-entry of large agricultural machinery-soil improvement", which takes up to several months; the present invention integrates the entire process operation through a single robot, and can compress the period of restoring arable land to a sowing state to within a few weeks; the present invention breaks through the technical limitations of the single function of post-disaster rescue equipment through the innovative integration of heavy-duty lifting mechanisms and agricultural tools, and constructs a full-cycle solution of "emergency-reconstruction-recovery", providing options for the construction of a resilient agricultural system in disaster-prone areas.

[0065] The above-mentioned implementation modes are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the protection scope of this patent.

Claims

1. A post-disaster auxiliary site cleaning and reconstruction robot, comprising a base with a walking mechanism, wherein the direction in which the base moves along with the walking mechanism is used as the walking direction, and characterized in that: Also includes: A hydraulic seam pliers is installed on the lower surface of the base along the traveling direction, and the jaws of the hydraulic seam pliers extend out of the base; A first mechanical arm is mounted on the upper surface of the base; A clamp-type gripper, mounted at the end of the first mechanical arm, for gripping an object; The lifting mechanism is installed on the upper surface of the base and is located near the first mechanical arm.

2. The robot according to claim 1, characterized in that: The fixed end of the hydraulic seam pliers is fixed on the lower surface of the base through a bracket, the two jaws of the hydraulic seam pliers are symmetrically arranged relative to the fixed end, and the cross section of each jaw along the vertical direction is stepped.

3. The robot according to claim 1, characterized in that: The lifting mechanism includes a first lifting component and a second lifting component, wherein the first lifting component is located at one end of the upper surface of the base, and the second lifting component is located at the other end of the upper surface of the base.

4. The robot according to claim 3, characterized in that: The first lifting assembly includes a second mechanical arm, which is fixed to the other end of the upper surface of the base and is located near the first mechanical arm. A hook is installed at the end of the second mechanical arm for lifting objects.

5. The robot according to claim 1, characterized in that: The lifting mechanism includes a second lifting component, and the second lifting component is located at one end of the upper surface of the base and corresponds to the first mechanical arm.

6. The robot according to claim 3 or 5, characterized in that: The second lifting assembly is a lead screw lifting mechanism and fork teeth driven by a second motor. The lead screw lifting mechanism is fixed to the upper surface of the base, and the fork teeth are installed on the lifting part on the lead screw lifting mechanism and extend out of the base.

7. The robot according to claim 6, characterized in that: The number of the fork teeth is two, and agricultural tools are fixedly mounted on the two fork teeth by bolts, and the other end of the agricultural tool extends out of the base and performs soil loosening operations on the ground to carry out agricultural production.

8. The robot according to claim 6, characterized in that: A water tank is placed on the upper surface of the base, a nozzle is installed at the water outlet of the water tank, the nozzle is located near the first mechanical arm, and the spraying direction of the nozzle is the same as the walking direction.

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