All-terrain security and protection robot suitable for complex environment and movement method of all-terrain security and protection robot

Abstract

The invention belongs to the technical field of security and protection robots, and discloses an all-terrain security and protection robot adapting to a complex environment and a movement method thereof.The all-terrain security and protection robot comprises a protection mechanism, the protection mechanism is located above a main body mechanism, and the protection mechanism comprises a mechanical arm, a first cavity, a first piston rod, a first spring, an anti-collision pad and a protection sleeve; the invention discloses a movement method of an all-terrain security robot adapting to a complex environment. The movement method comprises the following steps: S1, grabbing and moving away an obstacle through a manipulator on a mechanical arm; through cooperation of the protective sleeve, the air bag and other structures, the mechanical arm can be protected conveniently, energy generated by collision can be effectively dispersed and absorbed through a multi-stage buffering mechanism, the structural integrity of the mechanical arm is protected, the problems of deformation, damage or joint loosening of the mechanical arm caused by direct collision are solved, and the mechanical arm is protected. And meanwhile, the risk that the mechanical arm violently collides with surrounding obstacles in the moving process is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of security robots, and in particular is an all-terrain security robot adaptable to complex environments and a movement method thereof. Background Art

[0002] In today's society, the demand for security is growing. Effective security measures are needed in both cities and remote areas, such as large industrial parks, border areas, nature reserves, disaster sites, etc. However, these areas often have complex terrain environments, such as narrow streets in cities, complex layouts between high-rise buildings, irregular terrain formed by various construction facilities, pipelines and stacked objects in industrial parks, diverse terrains such as mountains, rivers, swamps, deserts in border areas, dense jungles, rugged mountain roads and wetlands in nature reserves, and ruins, mud and sloping ground at disaster sites, which will lead to low efficiency of security personnel patrols and safety risks. At the same time, conventional security monitoring equipment is limited by fixed installation positions, and there are monitoring blind spots, making it difficult to fully cover complex terrain areas. The emergence of all-terrain security robots has brought new opportunities to solve these problems. It can break through the constraints of the geographical environment, autonomously shuttle through complex terrain, and achieve all-round and no-dead-angle security monitoring.

[0003] Most of the existing all-terrain security robots have a relatively simple protective structure on the robotic arm. When the robotic arm collides with an obstacle in a complex environment, it is often a rigid collision, which will cause the robotic arm to instantly bear a large impact force. This impact force will not only damage the appearance structure of the robotic arm, but also cause serious damage to its internal transmission components, joint connections, etc., affecting the accuracy and service life of the robotic arm. Therefore, an all-terrain security robot that can adapt to complex environments is proposed. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides an all-terrain security robot adaptable to complex environments and a movement method thereof.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An all-terrain security robot adaptable to complex environments includes a main body and further includes:

[0007] A protection mechanism, wherein the protection mechanism is located above the main mechanism;

[0008] A buffer mechanism, wherein the buffer mechanism is located inside the protective mechanism;

[0009] Wherein, the protection mechanism comprises a mechanical arm, a first cavity, a first piston rod, a first spring, an anti-collision pad and a protective cover, a plurality of first cavities are evenly opened on the mechanical arm, a first piston rod is slidably connected inside the first cavity, the first piston rod is elastically connected to the inner wall of the first cavity through the first spring, a connecting plate is fixedly connected to one end of the first piston rod away from the first spring, an anti-collision pad for absorbing impact force is fixedly connected to the side of the connecting plate away from the first piston rod, and a protective cover for protecting the mechanical arm is fixedly sleeved on the surface of the mechanical arm;

[0010] The buffer mechanism includes a first vent hole and an airbag. A plurality of airbags for buffering the connecting plate are fixedly connected to the surface of the mechanical arm. The airbags are connected to the first cavity through the first vent hole.

[0011] Preferably, several of the connecting plates are located inside the protective cover, and the connecting plates are fixedly connected to the inner wall of the protective cover through the anti-collision pad. The ends of several of the first piston rods away from the first spring pass through the inner wall of the first cavity and extend to the outside of the robotic arm. The material of the protective cover is wear-resistant material.

[0012] Preferably, the mechanical arm is fixedly connected with a plurality of pressure detectors, the plurality of pressure detectors are respectively located inside a plurality of airbags, the number of the first vent holes is the same as the number of airbags, and the number of the first vent holes is twice the number of the second springs;

[0013] Among the several first cavities, a group of first ventilation holes connected to the first cavity is divided into a first ventilation hole upper hole and a first ventilation hole lower hole. The cross-sections of the first ventilation hole upper hole and the other first ventilation holes are circles with equal diameters, and the diameter of the first ventilation hole lower hole is twice that of the first ventilation hole upper hole.

[0014] Preferably, several of the airbags are located between the connecting plate and the mechanical arm, the two first vents are respectively located on both sides of the first cavity, two airbags are contained between the connecting plate and the mechanical arm, and the two airbags are respectively located on both sides of the first piston rod.

[0015] Preferably, a damping mechanism is provided inside the protective mechanism, and the damping mechanism includes a rotating frame, a second cavity is opened inside the rotating frame, a second piston rod is slidably connected inside the second cavity, a second spring is fixedly connected to the second piston rod, a damping block is fixedly connected to the second piston rod, a rotating shaft is rotatably connected inside the rotating frame, a rotating shaft is opened on the rotating shaft, a plurality of anti-slip blocks are fixedly connected to the side of the inner wall of the rotating groove, a plurality of anti-slip strips are fixedly connected to the inner wall of the rotating groove, and a second ventilation hole is opened inside the rotating frame.

[0016] Preferably, the second piston rod is rotatably connected to the inner wall of the second cavity via a second spring, the second spring is located on a side of the second piston rod close to the damping block, the size of the damping block is matched with the size of the rotation groove, the side of the damping block is in contact with a plurality of anti-slip strips, a plurality of anti-slip strips are located on a side of the damping block away from the second piston rod, and the second vent is located on a side of the second piston rod away from the damping block.

[0017] Preferably, the second cavity is communicated with the interior of the protective sleeve through a second vent hole, and the second cavity and the rotating frame are fixedly connected to the two mechanical arms respectively.

[0018] Preferably, the main mechanism includes a robot body, the side of the robot body is rotatably connected to a driving wheel, the surface of the driving wheel is slidably sleeved with a track, the front end of the robot body is provided with a sensor, the front end of the robot body is fixedly connected to an anti-collision block, and the top of the robot body is rotatably connected to a turntable.

[0019] Preferably, the anti-collision block is located below the sensor, and the bottom of the mechanical arm is rotatably connected to the top of the turntable.

[0020] A motion method of an all-terrain security robot adaptable to complex environments, the motion method is as follows:

[0021] S1. First, the sensor in front of the robot body obtains the three-dimensional terrain contour of the surrounding environment, accurately measures the distance and the position of obstacles. If the obstacle in front is small, the robot arm can grab and remove the obstacle, so that the device does not need to change direction and change the planned route.

[0022] S2. When the surrounding environment is very complicated, for example, when there are branches or other obstacles around the robot arm, when the robot arm grabs and removes the obstacles through the manipulator, the obstacles around the robot arm will collide with and squeeze the protective cover, causing the protective cover to deform and squeeze the anti-collision pad and the connecting plate at the place where the protective cover is deformed, so that the first piston rod moves in the direction close to the robot arm, squeezing the first spring and the air in the first cavity, and buffering the displacement of the connecting plate by the elastic force of the anti-collision pad and the first spring, while allowing air to enter the airbag through the first vent hole to expand the airbag. When the airbag collide with the connecting plate, the displacement of the connecting plate can be buffered by the air pressure inside the airbag. At the same time, the pressure detector set inside the airbag will detect the air pressure inside the airbag. When the air pressure inside the airbag reaches the set predetermined value, it means that the obstacles on the moving path are difficult to break through. At this time, after receiving the signal, the robot body will control the robot arm to change the path to remove the obstacle;

[0023] S3. During this process, the protective cover is squeezed, which compresses the space between the protective cover and the robotic arm, allowing the gas in the protective cover to enter the second cavity through the second air hole, and the air pressure causes the second piston rod to move toward the damping block, squeezing the second spring and causing the side of the damping block away from the second piston rod to collide with the anti-slip strip, thereby increasing the friction coefficient between the damping block and the rotating groove, thereby increasing the damping at the joint of the robotic arm, and effectively suppressing the vibration of the robotic arm.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention facilitates the protection of the mechanical arm by arranging the cooperation of the protective cover and the airbag and other structures. When the mechanical arm encounters an obstacle, the protective cover will be squeezed and deformed, and the displacement of the connecting plate is buffered by the elastic force of the anti-collision pad and the first spring. At the same time, the airbag is inflated, and the displacement of the connecting plate is buffered by the air pressure inside the airbag. The multi-stage buffer mechanism can effectively disperse and absorb the energy generated by the collision, reduce the impact force on the mechanical arm, protect the structural integrity of the mechanical arm, and prevent the deformation, damage or joint loosening of the mechanical arm caused by direct collision. At the same time, it also reduces the risk of violent collision between the mechanical arm and surrounding obstacles during movement, thereby improving the safety around the mechanical arm.

[0026] The present invention improves the stability of the robot arm in gripping and removing obstacles by arranging the cooperation of structures such as the second vent hole and the damping block. When the protective cover is squeezed, the air pressure causes the second piston rod to move toward the damping block, squeezing the second spring and causing the side of the damping block away from the second piston rod to abut against the anti-slip strip, thereby increasing the friction coefficient between the damping block and the rotating groove, thereby increasing the damping at the joint of the robot arm, thereby effectively suppressing the vibration of the robot arm. For some obstacles with irregular shapes and unstable center of gravity, the above scheme can prevent the obstacles gripped by the robot arm from falling due to vibration, thereby improving the success rate of the robot arm in gripping and removing obstacles, and also reducing the impact of such vibration on the internal structure of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is a front view structural diagram of the main mechanism of the present invention;

[0029] Figure 3 It is a schematic diagram of the cross-sectional structure of the protection mechanism of the present invention;

[0030] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0031] Figure 5 For the present invention Figure 3 The enlarged structural diagram at B in the middle;

[0032] Figure 6 This is a schematic diagram of the structural relationship between the anti-slip block and the anti-slip strip of the present invention;

[0033] Figure 7 It is a schematic diagram of the structural relationship between the damping block and the rotating frame of the present invention;

[0034] Figure 8 It is a schematic diagram of the three-dimensional structure of the protection mechanism of the present invention.

[0035] In the figure: 1. protection mechanism; 101. mechanical arm; 102. first cavity; 103. first piston rod; 104. first spring; 105. connecting plate; 106. anti-collision pad; 107. protective cover; 108. mechanical hand; 2. buffer mechanism; 201. first vent hole; 2011. first vent hole upper hole; 2012. first vent hole lower hole; 202. airbag; 203. pressure detector; 3. damping Mechanism; 301, rotating frame; 302, second cavity; 303, second piston rod; 304, second spring; 305, damping block; 306, rotating shaft; 307, rotating groove; 308, anti-slip block; 309, anti-slip strip; 310, second vent; 4, main body mechanism; 401, robot body; 402, driving wheel; 403, crawler track; 404, sensor; 405, anti-collision block; 406, turntable. DETAILED DESCRIPTION

[0036] 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.

[0037] like Figures 1 to 8 As shown, the present invention provides an all-terrain security robot adaptable to complex environments, including a main body mechanism 4, and also including:

[0038] A protection mechanism 1, which is located above the main mechanism 4;

[0039] A buffer mechanism 2, the buffer mechanism 2 is located inside the protection mechanism 1;

[0040] Wherein, the protection mechanism 1 comprises a mechanical arm 101, a first cavity 102, a first piston rod 103, a first spring 104, an anti-collision pad 106 and a protective cover 107. A plurality of first cavities 102 are evenly provided on the mechanical arm 101. The first piston rod 103 is slidably connected inside the first cavity 102. The first piston rod 103 is elastically connected to the inner wall of the first cavity 102 through the first spring 104. A connecting plate 105 is fixedly connected to one end of the first piston rod 103 away from the first spring 104. A side of the connecting plate 105 away from the first piston rod 103 is fixedly connected to an anti-collision pad 106 for absorbing impact force. A protective cover 107 for protecting the mechanical arm 101 is fixedly sleeved on the surface of the mechanical arm 101.

[0041] The buffer mechanism 2 includes a first vent hole 201 and an airbag 202 . A plurality of airbags 202 for buffering the connecting plate 105 are fixedly connected to the surface of the robot arm 101 . The airbags 202 are connected to the first cavity 102 through the first vent hole 201 .

[0042] A plurality of connecting plates 105 are all located inside the protective cover 107, and the connecting plates 105 are fixedly connected to the inner wall of the protective cover 107 through the anti-collision pad 106, and the ends of a plurality of first piston rods 103 away from the first spring 104 all pass through the inner wall of the first cavity 102 and extend to the outside of the mechanical arm 101, and the material of the protective cover 107 is wear-resistant material, and a plurality of pressure detectors 203 are fixedly connected to the mechanical arm 101, and the plurality of pressure detectors 203 are respectively located inside the plurality of air bags 202, and the number of the first vent holes 201 is the same as the number of the air bags 202, and the number of the first vent holes 201 is twice the number of the second springs 304, and a plurality of In the first cavity 102, a group of first vent holes 201 connected to the first cavity 102 is divided into a first vent hole upper hole 2011 and a first vent hole lower hole 2012. The cross-sections of the first vent hole upper hole 2011 and the other first vent holes 201 are circular with equal diameters. The diameter of the first vent hole lower hole 2012 is twice that of the first vent hole upper hole 2011. Several air bags 202 are located between the connecting plate 105 and the mechanical arm 101. The two first vent holes 201 are respectively located on both sides of the first cavity 102. There are two air bags 202 between the connecting plate 105 and the mechanical arm 101. The two air bags 202 are respectively located on both sides of the first piston rod 103.

[0043] Under the same pressure, the tube diameter is inversely proportional to the flow rate, that is, the larger the tube diameter, the smaller the flow rate. The diameter of the first vent lower hole 2012 is set to be one times the diameter of the first vent upper hole 2011. When the air pressure changes, the pressure detector 203 in the first vent upper hole 2011 will preferentially detect the air pressure change. The actual measured time that the first vent lower hole 2012 lags behind the first vent upper hole 2011 is calculated and compared with the theoretical time that should be lagged. When the actual measured lag time is very different from the theoretical time, it means that the first vent upper hole 2011 or the first vent lower hole 2012 is blocked, that is, there may be a lot of wear debris blocking it. At this time, the user should be prompted to clean the wear debris.

[0044] The above scheme is adopted: by setting the cooperation of the protective cover 107 and the airbag 202 and other structures, it is convenient to protect the mechanical arm 101. When the mechanical arm 101 encounters an obstacle, the protective cover 107 will be squeezed and deformed. The protective cover 107 is deformed and squeezes the anti-collision pad 106 and the connecting plate 105 at the place where the protective cover 107 is deformed, so that the first piston rod 103 moves in the direction close to the mechanical arm 101, squeezes the first spring 104 and the air in the first cavity 102, and the displacement of the connecting plate 105 is buffered by the elastic force of the anti-collision pad 106 and the first spring 104, and the air is Enter the airbag 202 through the first air vent 201 to expand the airbag 202. When the airbag 202 is against the connecting plate 105, the displacement of the connecting plate 105 can be buffered by the air pressure inside it. The multi-stage buffering mechanism can effectively disperse and absorb the energy generated by the collision, reduce the impact force on the robotic arm 101, protect the structural integrity of the robotic arm 101, and prevent deformation, damage or loose joints of the robotic arm 101 due to direct collision. At the same time, it also reduces the risk of violent collision between the robotic arm and surrounding obstacles during movement, thereby improving the safety around the robotic arm.

[0045] like Figures 3 to 8 As shown, a damping mechanism 3 is arranged inside the protective mechanism 1, and the damping mechanism 3 includes a rotating frame 301, a second cavity 302 is opened inside the rotating frame 301, a second piston rod 303 is slidably connected inside the second cavity 302, a second spring 304 is fixedly connected to the second piston rod 303, a damping block 305 is fixedly connected to the second piston rod 303, a rotating shaft 306 is rotatably connected inside the rotating frame 301, a rotating groove 307 is opened on the rotating shaft 306, a plurality of anti-sliding blocks 308 are fixedly connected to the side of the inner wall of the rotating groove 307, a plurality of anti-slip strips 309 are fixedly connected to the inner wall of the rotating groove 307, and a second ventilation hole 310 is opened inside the rotating frame 301.

[0046] The second piston rod 303 is rotatably connected to the inner wall of the second cavity 302 through the second spring 304. The second spring 304 is located on the side of the second piston rod 303 close to the damping block 305. The size of the damping block 305 is adapted to the size of the rotating groove 307. The side of the damping block 305 is in contact with a plurality of anti-slip blocks 308. A plurality of anti-slip strips 309 are located on the side of the damping block 305 away from the second piston rod 303. The second air hole 310 is located on the side of the second piston rod 303 away from the damping block 305. The second cavity 302 is communicated with the interior of the protective cover 107 through the second air hole 310. The second cavity 302 and the rotating frame 301 are fixedly connected to the two robotic arms 101 respectively.

[0047] The main mechanism 4 includes a robot body 401, the side of the robot body 401 is rotatably connected to a driving wheel 402, the surface of the driving wheel 402 is slidably sleeved with a track 403, the front end of the robot body 401 is provided with a sensor 404, the front end of the robot body 401 is fixedly connected to an anti-collision block 405, the top of the robot body 401 is rotatably connected to a turntable 406, the anti-collision block 405 is located below the sensor 404, and the bottom of the robot arm 101 is rotatably connected to the top of the turntable 406.

[0048] The above scheme is adopted: by setting the cooperation of the second vent hole 310 and the damping block 305 and other structures, the stability of the robot arm 101 in gripping and removing obstacles is improved, the protective cover 107 is squeezed, the space between the protective cover 107 and the robot arm 101 is compressed, and the gas in the protective cover 107 enters the second cavity 302 through the second vent hole 310, and the second piston rod 303 is moved toward the damping block 305 by air pressure, the second spring 304 is squeezed, and the side of the damping block 305 away from the second piston rod 303 is against the anti-slip strip 309, the friction coefficient between the damping block 305 and the rotating groove 307 is increased, so that the damping at the joint of the robot arm 101 is increased, thereby effectively suppressing the vibration of the robot arm 101. For some obstacles with irregular shapes and unstable center of gravity, the above scheme can prevent the obstacles gripped by the robot from falling due to vibration, thereby improving the success rate of the robot arm 101 in gripping and removing obstacles, and also reducing the impact of such vibration on the internal structure of the robot arm 101.

[0049] A motion method of an all-terrain security robot adaptable to complex environments, the motion method is as follows:

[0050] S1. First, the sensor 404 in front of the robot body 401 obtains the three-dimensional terrain profile of the surrounding environment, accurately measures the distance and the position of the obstacle, and when the obstacle in front is small in size, the robot hand 108 on the robot arm 101 can grab and remove the obstacle, so that the device does not need to change direction and change the planned route;

[0051] S2. When the surrounding environment is very complex, for example, there are branches or other obstacles around the robot arm 101, when the robot arm 101 grabs and removes the obstacles through the robot hand 108, the obstacles around the robot arm 101 will collide with the protective cover 107 and squeeze the protective cover 107, causing the protective cover 107 to deform and squeeze the anti-collision pad 106 and the connecting plate 105 at the deformation of the protective cover 107, so that the first piston rod 103 moves in the direction close to the robot arm 101, squeezing the first spring 104 and the air in the first cavity 102, and passing through the anti-collision pad 106 and the first spring 1 The elastic force of 04 buffers the displacement of the connecting plate 105, and at the same time allows air to enter the airbag 202 through the first vent hole 201, so that the airbag 202 expands. When the airbag 202 abuts against the connecting plate 105, the displacement of the connecting plate 105 can be buffered by the air pressure inside the airbag 202. At the same time, the pressure detector 203 arranged inside the airbag 202 detects the air pressure inside the airbag 202. When the air pressure inside the airbag 202 reaches the set predetermined value, it indicates that the obstacle on the moving path is difficult to break through. At this time, after receiving the signal, the robot body 401 controls the robot arm 101 to change the path to remove the obstacle.

[0052] S3. During this process, the protective cover 107 is squeezed, which compresses the space between the protective cover 107 and the robot arm 101, causing the gas in the protective cover 107 to enter the second cavity 302 through the second vent hole 310, and the second piston rod 303 is moved toward the damping block 305 by air pressure, squeezing the second spring 304 and causing the damping block 305 to be away from the side of the second piston rod 303 and against the anti-slip strip 309, thereby increasing the friction coefficient between the damping block 305 and the rotating groove 307, thereby increasing the damping at the joint of the robot arm 101, thereby effectively suppressing the vibration of the robot arm 101.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] 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. An all-terrain security robot adaptable to complex environments, comprising a main body mechanism (4), characterized in that: Also includes: A protection mechanism (1), wherein the protection mechanism (1) is located above the main mechanism (4); A buffer mechanism (2), wherein the buffer mechanism (2) is located inside the protective mechanism (1); The protection mechanism (1) comprises a mechanical arm (101), a first cavity (102), a first piston rod (103), a first spring (104), an anti-collision pad (106) and a protective cover (107); a plurality of first cavities (102) are evenly arranged on the mechanical arm (101); a first piston rod (103) is slidably connected to the interior of the first cavity (102); the first piston rod (103) is elastically connected to the inner wall of the first cavity (102) through the first spring (104); a connecting plate (105) is fixedly connected to one end of the first piston rod (103) away from the first spring (104); an anti-collision pad (106) for absorbing impact force is fixedly connected to the side of the connecting plate (105) away from the first piston rod (103); and a protective cover (107) for protecting the mechanical arm (101) is fixedly sleeved on the surface of the mechanical arm (101); The buffer mechanism (2) comprises a first vent hole (201) and an air bag (202); a plurality of air bags (202) for buffering the connection plate (105) are fixedly connected to the surface of the mechanical arm (101); the air bags (202) are in communication with the first cavity (102) through the first vent hole (201).

2. The all-terrain security robot adapted to complex environments according to claim 1, characterized in that: Several of the connecting plates (105) are located inside the protective sleeve (107), and the connecting plates (105) are fixedly connected to the inner wall of the protective sleeve (107) through the anti-collision pad (106). The ends of several of the first piston rods (103) away from the first spring (104) penetrate the inner wall of the first cavity (102) and extend to the outside of the mechanical arm (101). The material of the protective sleeve (107) is wear-resistant material.

3. The all-terrain security robot adapted to complex environments according to claim 1, characterized in that: A plurality of pressure detectors (203) are fixedly connected to the mechanical arm (101), and the plurality of pressure detectors (203) are respectively located inside a plurality of air bags (202). The number of the first vent holes (201) is the same as the number of the air bags (202), and the number of the first vent holes (201) is twice the number of the second springs (304); Among the plurality of first cavities (102), a group of first ventilation holes (201) connected to the first cavity (102) is divided into a first ventilation hole upper hole (2011) and a first ventilation hole lower hole (2012), the first ventilation hole upper hole (2011) and the other first ventilation holes (201) have circular cross-sections of equal diameter, and the diameter of the first ventilation hole lower hole (2012) is twice that of the first ventilation hole upper hole (2011).

4. The all-terrain security robot adapted to complex environments according to claim 3, characterized in that: A plurality of the airbags (202) are located between the connecting plate (105) and the mechanical arm (101), the two first vent holes (201) are located on both sides of the first cavity (102), two airbags (202) are contained between the connecting plate (105) and the mechanical arm (101), and the two airbags (202) are located on both sides of the first piston rod (103).

5. The all-terrain security robot capable of adapting to complex environments according to claim 3, characterized in that: A damping mechanism (3) is arranged inside the protection mechanism (1), and the damping mechanism (3) comprises a rotating frame (301), a second cavity (302) is provided inside the rotating frame (301), a second piston rod (303) is slidably connected inside the second cavity (302), a second spring (304) is fixedly connected to the second piston rod (303), a damping block (305) is fixedly connected to the second piston rod (303), a rotating shaft (306) is rotatably connected inside the rotating frame (301), a rotating groove (307) is provided on the rotating shaft (306), a plurality of anti-slip blocks (308) are fixedly connected to the side of the inner wall of the rotating groove (307), a plurality of anti-slip strips (309) are fixedly connected to the inner wall of the rotating groove (307), and a second ventilation hole (310) is provided inside the rotating frame (301).

6. The all-terrain security robot adapted to complex environments according to claim 5, characterized in that: The second piston rod (303) is rotatably connected to the inner wall of the second cavity (302) via a second spring (304); the second spring (304) is located on a side of the second piston rod (303) close to the damping block (305); the size of the damping block (305) is matched with the size of the rotation groove (307); the side of the damping block (305) is in contact with a plurality of anti-slip blocks (308); a plurality of anti-slip strips (309) are located on a side of the damping block (305) away from the second piston rod (303); and the second vent hole (310) is located on a side of the second piston rod (303) away from the damping block (305).

7. The all-terrain security robot capable of adapting to complex environments according to claim 5, characterized in that: The second cavity (302) is in communication with the interior of the protective sleeve (107) through the second vent hole (310), and the second cavity (302) and the rotating frame (301) are fixedly connected to the two mechanical arms (101) respectively.

8. The all-terrain security robot capable of adapting to complex environments according to claim 5, characterized in that: The main body mechanism (4) comprises a robot body (401), the side of the robot body (401) is rotatably connected to a driving wheel (402), the surface of the driving wheel (402) is slidably sleeved with a track (403), the front end of the robot body (401) is provided with a sensor (404), the front end of the robot body (401) is fixedly connected to an anti-collision block (405), and the top of the robot body (401) is rotatably connected to a turntable (406).

9. The all-terrain security robot adapted to complex environments according to claim 8, characterized in that: The anti-collision block (405) is located below the sensor (404), and the bottom of the mechanical arm (101) is rotatably connected to the top of the turntable (406).

10. A motion method of an all-terrain security robot adaptable to complex environments, applied to an all-terrain security robot adaptable to complex environments as claimed in claims 1 to 9, characterized in that: The exercise method is as follows: S1. First, the sensor (404) in front of the robot body (401) obtains the three-dimensional terrain profile of the surrounding environment, accurately measures the distance and the position of the obstacle, and when the obstacle in front is small in size, the robot hand (108) on the robot arm (101) can grab and remove the obstacle, so that the device does not need to change direction and change the planned route; S2. When the surrounding environment is very complex, for example, when there are branches or other obstacles around the robot arm (101), when the robot arm (101) grabs and removes the obstacles through the robot hand (108), the obstacles around the robot arm (101) will collide with the protective cover (107) and squeeze the protective cover (107), causing the protective cover (107) to deform and squeeze the anti-collision pad (106) and the connecting plate (105) at the deformation point of the protective cover (107), so that the first piston rod (103) moves in a direction close to the robot arm (101), squeezing the first spring (104) and the air in the first cavity (102), and passing the anti-collision pad (106) and the first spring (104). The elastic force of the spring (104) buffers the displacement of the connecting plate (105), and at the same time allows air to enter the interior of the airbag (202) through the first vent hole (201), so that the airbag (202) expands. When the airbag (202) and the connecting plate (105) are in contact with each other, the displacement of the connecting plate (105) can be buffered by the air pressure inside the airbag (202). At the same time, a pressure detector (203) arranged inside the airbag (202) detects the air pressure inside the airbag (202). When the air pressure inside the airbag (202) reaches a preset value, it indicates that the obstacle on the moving path is difficult to break through. At this time, after receiving the signal, the robot body (401) controls the robot arm (101) to change the path to remove the obstacle. S3. During this process, the protective sleeve (107) is squeezed, which causes the space between the protective sleeve (107) and the mechanical arm (101) to be compressed, so that the gas in the protective sleeve (107) enters the second cavity (302) through the second vent hole (310), and the second piston rod (303) is moved toward the damping block (305) by air pressure, squeezing the second spring (304) and causing the side of the damping block (305) away from the second piston rod (303) to abut against the anti-slip strip (309), thereby increasing the friction coefficient between the damping block (305) and the rotating groove (307), thereby increasing the damping at the joint of the mechanical arm (101), thereby effectively suppressing the vibration of the mechanical arm (101).

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