Reconnaissance and rescue quadruped robot based on visual sensing technology

Abstract

The invention provides a reconnaissance and rescue quadruped robot based on the visual sensing technology, and relates to the technical field of robotics.The reconnaissance and rescue quadruped robot is composed of a host, bionic mechanical legs, a mechanical arm, a tool barrel and the like, and the host carries a needle eye camera and an auxiliary camera to collect environment images in real time and transmit the environment images to a remote controller; a rescue worker remotely controls the robot to move through visual feedback, during forcible entry operation, a mechanical arm adjusts a tool barrel to enable a forcible entry expansion plate to be inserted into a gap, a hydraulic driving system is in linkage with a moving block and a cross-shaped rod through a hydraulic rod to drive a first connecting rod and a second connecting rod to push the expansion plate to turn outwards, and a powerful expansion effect is generated based on the lever principle; during grabbing operation, the electric lifting rod pushes the mechanical claw to stretch out of the tool cylinder, target grabbing and carrying are achieved in cooperation with the mechanical arm, the limitation that traditional rescue equipment is single in function is broken through, continuous operation of forcible entry and carrying can be completed without replacing tools back and forth, the rescue time is remarkably shortened, and the multi-task co-processing efficiency in the complex environment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a reconnaissance and rescue quadruped robot based on visual sensing technology. Background Art

[0002] The quadruped rescue robot is an important technological breakthrough in the field of firefighting and emergency rescue in recent years. Its design is inspired by bionics, and it uses four mechanical legs to achieve high mobility in complex terrain. This type of robot is usually equipped with 360-degree panoramic cameras, gas sensors, dual-light gimbals and other equipment. It can perform tasks such as fire reconnaissance, life detection, and dangerous gas detection in extreme environments such as thick smoke, high temperature, and toxic gases. It can send back high-definition images and data to the command center in real time to assist firefighters in formulating scientific rescue plans, or carry some mechanical arms to perform rescue tasks when it is inconvenient for rescue personnel to enter the rescue site.

[0003] For example, the patent with announcement number CN222134984U discloses a quadruped rescue robot equipped with a lifting mechanical arm, including a shell, a depth camera is arranged on the inner side of the middle of one end surface of the shell, a mechanical arm gimbal is arranged on the top surface of the shell, a rotating cylinder is arranged in the middle of one end surface of the optical axis assembly, a bearing seat is arranged on the bottom surface of the rotating cylinder, and a claw clamp is arranged on one end surface of the connecting rod. By combining the mechanical leg movement and force performance analysis, by calculating the limit load, a highly flexible 3-DOF leg configuration is selected, which solves the problem that traditional rescue machinery is not suitable for complex terrain and is inefficient in actual operations. However, the existing quadruped robot is only equipped with a single mechanical claw for on-site rescue. Faced with the complex scenes at the rescue site, the single mechanical claw cannot flexibly adapt to the changing needs of the site, which delays the completion of the rescue mission to a certain extent.

[0004] Therefore, a reconnaissance and rescue quadruped robot based on visual sensing technology was introduced. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defect in the prior art that when the existing quadruped robot is equipped with a single mechanical claw to perform rescue missions, it cannot be used to meet the changing needs in complex rescue scenarios, which affects the efficiency of completing the rescue mission. The present invention proposes a reconnaissance and rescue quadruped robot based on visual sensing technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a reconnaissance and rescue quadruped robot based on visual sensing technology, characterized in that it includes a fuselage and bionic mechanical legs movably connected to the outer walls on both sides of the two ends of the fuselage, a main machine is fixedly connected to the top end of the fuselage, a pinhole camera is embedded on the side wall of the front end of the main machine, an auxiliary camera is fixedly connected to the bottom end of the fuselage opposite to the lower end of the pinhole camera, a mechanical arm is fixedly installed on the top of the fuselage adjacent to the main machine, and a tool barrel is fixedly connected to the end of the mechanical arm; demolition and expansion plates are rotatably connected to the outer walls on both sides of the bottom port of the tool barrel, limiting grooves are respectively provided on the outer walls on both sides of the tool barrel above the demolition and expansion plates, and a raised ring is fixedly connected to the outer wall of the tool barrel above the limiting groove. Hydraulic rods are fixedly connected at the corresponding limit grooves at the bottom of both ends of the raised ring, and moving blocks are fixedly connected at the bottom of the hydraulic rods. The end of the moving block extends into the tool barrel through the limit groove. A cross groove is provided at the bottom of the moving block in the tool barrel, and both ends of the cross groove are connected to the side walls at both ends of the moving block. A cross rod is movably arranged in the cross groove, and a first connecting rod is fixedly connected to the bottom of the cross rod. An open groove is machined at the bottom of the first connecting rod, and a second connecting rod is movably connected between the inner walls of the open groove through a pin shaft. The bottom of the second connecting rod is fixedly connected to the side wall of the demolition expansion plate, and an electric lifting rod is fixedly connected to the lower end of the top plate of the inner cavity of the tool barrel, and a cylindrical reinforcement plate is fixedly connected to the bottom of the electric lifting rod, and a mechanical claw is fixedly connected to the bottom of the reinforcement plate, and the mechanical claw is suspended in the tool barrel.

[0007] Furthermore, a power box is provided inside the body between the bionic mechanical legs. The host is electrically connected to the power box through a wire. The power box has a built-in battery to supply energy for the operation of the robot. A power indicator and a start switch are provided on the outer walls on both sides of the power box.

[0008] Furthermore, a micro motor for controlling rotation is provided on the side wall at the end of each segment of the robotic arm, an inner groove is provided at the end of the robotic arm, a bracket is rotatably connected between the side walls of the inner groove via a pin shaft, a rotating disk is fixedly connected to the end of the bracket, the rotating disk has a built-in motor, and a tool cylinder is fixedly connected to the output end of the motor via a flange, a lighting lamp is embedded on the side wall of the front end cover of the fuselage, and an alarm light is fixedly connected to the top of the tail of the fuselage.

[0009] Furthermore, the tool cylinder comprises an outer cylinder and an inner cylinder. The outer cylinder and the inner cylinder are coaxial and integral structures with an opening at the lower end. The top end of the outer cylinder is fixed to the end of the rotating disk by a flange and bolts.

[0010] Furthermore, the raised ring is fixedly connected to the outer wall of the outer cylinder, the limit grooves are symmetrically distributed on the side walls at both ends of the outer cylinder, and the second connecting rod is located in the gap between the outer cylinder and the inner cylinder, the electric lifting rod is fixedly connected to the lower end of the inner cylinder top plate, and the reinforcing plate is movably engaged between the inner walls of the inner cylinder.

[0011] Further, the bionic mechanical leg includes an actuating motor fixedly connected to the outer walls on both sides at both ends of the fuselage and a lever fixedly connected to the outer wall of the power transmission end of the actuating motor. The end of the lever is movably connected to a movable connecting rod. A positioning disk is rotatably connected to the outer wall of the actuating motor housing. The other end of the movable connecting rod is movably connected to the top of one end of the outer wall of the positioning disk. And a first limb segment is fixedly installed on the outer wall of the positioning disk. The bottom of the first limb segment is movably connected to a second limb segment. An electric telescopic rod is movably connected to one side of the top of the first limb segment. The other end of the electric telescopic rod is movably connected to the outer wall of the positioning disk.

[0012] Further, the mechanical claw includes a fixed frame fixedly connected to the bottom of the reinforcing plate and a driving motor fixedly connected to the upper end of the bottom plate of the fixed frame. The lower end of the transmission shaft of the driving motor penetrates and extends to the bottom of the bottom plate of the fixed frame and is fixedly connected to a screw rod. A cross-shaped fixture is threadedly connected to the outer wall of the screw rod. The cross-shaped fixture is a fixed block with a cross-shaped structure. Positioning grooves are respectively formed on the side walls at the ends of the protrusions around the cross-shaped fixture. Hanging plates are respectively fixedly connected to the side walls of the bottom plate of the fixed frame corresponding to the positioning grooves. Adjusting rods are movably connected to the outer walls on both sides at the bottom of the end of the hanging plate. A pawl is movably connected between the side walls at the bottom of the adjusting rods. A driving rod is movably connected to the outer wall at the top of the pawl inside the adjusting rod. The top end of the driving rod is movably connected between the side walls of the positioning groove.

[0013] Further, sealing plates are respectively fixedly connected to the edges of the outer walls on both sides of the end of the demolition and expansion support plate close to the second connecting rod. The sealing plates are in a fan-shaped structure. Sealing gaskets are embedded on the side walls where the sealing plates and the demolition and expansion support plate are in contact. The adjacent demolition and expansion support plates are suspended outside the port of the tool cylinder after being fitted together.

[0014] Further, mounting grooves are formed on the side walls where the demolition and expansion support plates are in contact. Positioning cylinders are respectively fixedly connected to the inner walls on both sides of the mounting grooves. A rotating rod is movably sleeved in the positioning cylinders. A spiral spring is fixedly arranged on the outer wall of the rotating rod in the positioning cylinders. The outer end of the spiral spring is fixedly connected to the inner wall of the positioning cylinder. A hook is fixedly connected to the outer wall of the middle part of the rotating rod. A counterweight is fixedly connected to the outer wall of the arc surface of the back of the hook.

[0015] When the hook is received inside the mounting groove, the spiral spring maintains a normal relaxed state. At this time, the demolition and expansion support plates are suspended outside the port of the tool cylinder after being fitted together.

[0016] Compared with the prior art, the beneficial effects of the present invention include: The omnidirectional visual data of the rescue scene is collected in real time by the needle-eye camera and the auxiliary camera carried by the host, and transmitted to the remote controller held by the rescue personnel, forming a two-way interactive closed-loop control system. Based on the high-precision image information, the rescue personnel remotely control the robot, driving the bionic mechanical legs to move stably in complex terrains. After accurately positioning to the target area, the robotic arm embeds the demolition and expansion plate at the end of the tool cylinder into the operation gap through three-dimensional space expansion and rotation. The hydraulic drive system drives the moving block to link with the cross-shaped rod through the hydraulic rod. Combining the geometric transmission relationship of the first connecting rod and the second connecting rod, the demolition and expansion plate can be controllably turned outwards with the positioning point as the axis. Under the dual action of hydraulic power and mechanical lever, a high-strength expansion force is generated, and it can be expanded up to the state where the double connecting rods are perpendicular to complete the ultimate demolition. After the demolition is completed, the electric lifting rod can quickly push the reinforcement plate to extend the mechanical claw outside the tool cylinder, and the debris cleaning and material handling are realized through the expansion and contraction actions of the grasping mechanism, breaking through the technical bottleneck of the single function of traditional rescue equipment. Integrating key actions such as demolition, expansion, and grasping into the same operation cycle significantly reduces the time-consuming of tool replacement, and continuous multi-task processing can be achieved in complex scenarios such as collapsed buildings and earthquake disasters, improving the emergency response efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components. Among them: Figure 1 Schematically shows an overall structural diagram of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention; Figure 2 Schematically shows a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention Figure 1 Enlarged structural diagram at position A; Figure 3 Schematically shows a structural diagram of the tool cylinder of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention; Figure 4 Schematically shows a sectional structural diagram of the tool cylinder of a reconnaissance and rescue quadruped robot based on visual sensing technology in its initial state according to an embodiment of the present invention; Figure 5 Schematically shows a sectional structural diagram of the tool cylinder of a reconnaissance and rescue quadruped robot based on visual sensing technology in its working state according to an embodiment of the present invention; Figure 6 Schematically shows an installation structural diagram of components such as the demolition and expansion plate, cross-shaped rod, and first connecting rod of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention; Figure 7Schematically shows a cross-sectional structural schematic diagram of a demolition and expansion support plate of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention; Figure 8 Schematically shows a structural schematic diagram of a mechanical claw of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention; Figure 9 Schematically shows a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention Figure 8 The enlarged structural schematic diagram at B in; Figure 10 Schematically shows a structural schematic diagram of a bionic mechanical leg of a reconnaissance and rescue quadruped robot based on visual sensing technology according to an embodiment of the present invention.

[0018] Reference numerals in the figure: 1, fuselage; 11, auxiliary camera; 12, illuminating lamp; 13, warning lamp; 14, power supply box; 2, bionic mechanical leg; 21, actuating motor; 22, lever; 23, movable connecting rod; 24, positioning disk; 25, first limb segment; 26, second limb segment; 27, electric telescopic rod; 3, main body; 31, pinhole camera; 4, robotic arm; 41, bracket; 42, rotating disk; 5, tool cylinder; 501, outer cylinder; 502, inner cylinder; 51, demolition and expansion support plate; 511, sealing plate; 512, mounting groove; 513, positioning cylinder; 514, rotating rod; 515, clockwork spring; 516, hook; 517, counterweight; 52, limiting groove; 53, raised ring; 531, hydraulic rod; 532, moving block; 533, cross-shaped groove; 534, cross-shaped rod; 54, first connecting rod; 55, second connecting rod; 56, electric lifting rod; 57, reinforcing plate; 58, mechanical claw; 581, fixed frame; 582, driving motor; 583, screw; 584, cross-shaped fixture; 585, positioning groove; 586, hanging plate; 587, adjusting rod; 588, ratchet; 589, driving rod. Detailed implementation manners

[0019] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, those of ordinary skill in the art can propose various structural manners and implementation manners that can be mutually replaced. Therefore, the following detailed implementation manners and the accompanying drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as all of the present invention or as a limitation or restriction on the technical solution of the present invention.

[0020] According to an embodiment of the present invention in combination with Figures 1-7 and Figure 10A reconnaissance and rescue quadruped robot based on visual sensing technology includes components such as a fuselage 1, bionic mechanical legs 2, a host 3, a pinhole camera 31, an auxiliary camera 11, a mechanical arm 4 and a tool cylinder 5. The outer walls of both ends of the long strip fuselage 1 are movably connected with bionic mechanical legs 2, and a power box 14 is arranged inside the fuselage 1 between the bionic mechanical legs 2. The power box 14 has a built-in battery to supply energy for the operation of the robot. The outer walls of both sides of the power box 14 are respectively provided with a power indicator and a start switch. The host 3 is fixedly installed at the top end of the fuselage 1 by screws. The host 3 is electrically connected to the power box 14 through a wire. The host 3 contains existing technologies such as a CPU, a data processing module, a wireless communication module and an execution control module. No further description is given. After receiving instructions, the host 3 controls the robot to walk and execute task instructions. The front end wall of the host 3 is embedded with a A pinhole camera 31 is provided, which can take directionally photos of the robot's forward route and collect environmental data. An auxiliary camera 11 is fixedly connected to the bottom end of the fuselage 1 opposite to the lower end of the pinhole camera 31. The auxiliary camera 11 is a semicircular wide-angle camera, which assists the robot in collecting ground road conditions and environmental data around the location. A mechanical arm 4 is fixedly installed on the top of the fuselage 1 adjacent to the main machine 3 by bolts, and a micro motor for controlling rotation is provided on the side wall at the end of each segment of the mechanical arm 4. An inner groove is provided at the end of the mechanical arm 4, and a bracket 41 is rotatably connected between the side walls of the inner groove through a pin shaft. A rotating disk 42 is fixedly connected to the end of the bracket 41, and a motor is built in the rotating disk 42. The output end of the motor is fixedly connected to a tool cylinder 5 through a flange. An illuminating lamp 12 is embedded on the side wall of the front end cover of the fuselage 1, and an alarm lamp 13 is fixedly connected to the top of the tail of the fuselage 1.

[0021] The tool cylinder 5 includes two parts, an outer cylinder 501 and an inner cylinder 502. The outer cylinder 501 and the inner cylinder 502 are of a coaxial integrated structure with an open bottom end. The top end of the outer cylinder 501 is fixed to the end of the rotating disk 42 by flange and bolts. On both outer walls of the bottom port of the outer cylinder 501, there are respectively rotatably connected breaking and expanding support plates 51. The breaking and expanding support plates 51 are of an approximately triangular structure. On both outer walls of the outer cylinder 501 above the breaking and expanding support plates 51, there are respectively provided limiting grooves 52. On the outer wall of the outer cylinder 501 above the limiting grooves 52, there is fixedly connected a convex ring 53. At the bottom of both ends of the convex ring 53 corresponding to the limiting grooves 52, there are respectively fixedly connected hydraulic rods 531. The bottom of the hydraulic rods 531 is respectively fixedly connected with moving blocks 532. The ends of the moving blocks 532 extend into the gap between the outer cylinder 501 and the inner cylinder 502 through the limiting grooves 52. At the bottom of the moving blocks 532 in the outer cylinder 501, there are provided cross-shaped grooves 533. Both ends of the cross-shaped grooves 533 communicate to the side walls at both ends of the moving blocks 532. In the cross-shaped grooves 533, there is movably engaged a cross-shaped rod 534. The bottom of the cross-shaped rod 534 is fixedly connected with a first connecting rod 54. An opening groove is processed at the bottom of the first connecting rod 54. Between the inner walls of the opening groove, there is movably connected a second connecting rod 55 through a pin shaft. The bottom of the second connecting rod 55 is fixedly connected to the side wall of the breaking and expanding support plate 51. At the lower end of the inner cavity top plate of the inner cylinder 502, there is fixedly connected an electric lifting rod 56. The bottom of the electric lifting rod 56 is fixedly connected with a cylindrical reinforcing plate 57. The reinforcing plate 57 is movably engaged between the inner walls of the inner cylinder 502, and a mechanical claw 58 is fixedly connected to the bottom of the reinforcing plate 57. The mechanical claw 58 is suspended in the inner cylinder 502.

[0022] The bionic mechanical leg 2 includes an actuating motor 21 fixedly connected to the outer walls on both sides at both ends of the fuselage 1 and a lever 22 fixedly connected to the outer wall of the power transmission end of the actuating motor 21. The end of the lever 22 is movably connected with a movable connecting rod 23. On the outer wall of the housing of the actuating motor 21, there is rotatably connected a positioning disk 24. The other end of the movable connecting rod 23 is movably connected to the top of one end of the outer wall of the positioning disk 24. And a first limb 25 is fixedly installed on the positioning disk 24 by bolts. The bottom of the first limb 25 is movably connected with a second limb 26. On one side of the top of the first limb 25, there is movably connected an electric telescopic rod 27. The other end of the electric telescopic rod 27 is movably connected to the outer wall of the positioning disk 24. The actuating motor 21 pushes the positioning disk 24 to perform intermittent swinging deflection through the movable connecting rod 23, and cooperates with the reciprocating telescoping of the electric telescopic rod 27 to push the second limb 26 to perform intermittent swinging, so as to simulate the up and down lifting and bending of the leg when a living being walks.

[0023] When a quadruped robot based on visual sensing technology conducts on-site rescue in the prior art, generally a robotic arm and a mechanical claw are carried on the main body of the robot to complete the task. However, the rescue site situation is complex, and a single mechanical claw cannot well meet the use requirements of rescue tools. It is necessary to temporarily replace the rescue tool to perform the task, which to a certain extent affects the rapid progress of the rescue task.

[0024] In this embodiment, the host 3 collects the environmental visual image data of the rescue site in all directions through the pinhole camera 31 and the auxiliary camera 11 and feeds it back to the remote controller in the hands of the rescue personnel. The rescue personnel issue remote control instructions in real time according to the collected visual image data. After receiving the instructions, the host 3 drives the bionic mechanical legs 2 to carry the fuselage 1 and the robotic arm 4 to walk at the rescue site. When it is necessary to perform breaking and expanding at the destination, after the robotic arm 4 extends and rotates to adjust, the breaking and expanding plate 51 at the end of the tool cylinder 5 is inserted into the breaking and expanding gap. The hydraulic rod 531 is started, and the hydraulic rod 531 extends to push the moving block 532 to slide in the limiting groove 52 and approach the breaking and expanding plate 51. After the moving block 532 slides, the cross-shaped rod 534 adaptively slides and adjusts in the cross-shaped groove 533 at the bottom of the moving block 532. At the same time, the first connecting rod 54 is pushed to squeeze the second connecting rod 55. After being squeezed, the second connecting rod 55 pushes the breaking and expanding plate 51 to deflect based on its positioning point on the side wall of the bottom port of the tool cylinder 5, so that the lower ends of the breaking and expanding plates 51 on both sides of the bottom port of the tool cylinder 5 deflect outwards, thereby realizing the breaking and expanding of the target object by the breaking and expanding plate 51 based on the inserted gap until the first connecting rod 54 squeezes the second connecting rod 55 until the two are perpendicular to each other. At this time, the breaking and expanding plate 51 is completely deflected and turned outwards to the outside of the port of the tool cylinder 5, releasing the restriction of the breaking and expanding plate 51 on the port of the tool cylinder 5. When it is necessary to grab and carry an object, the electric lifting rod 56 is controlled to push the reinforcing plate 57 to slide to the port of the tool cylinder 5, so that the mechanical claw 58 at the end of the reinforcing plate 57 extends out of the port of the tool cylinder 5. At this time, by controlling the mechanical claw 58 to expand and contract, the target object can be carried and moved under the drive of the robotic arm 4. It integrates breaking and expanding and grabbing and carrying, improves the adaptability of the rescue quadruped robot to the changing use requirements of different rescue tools when facing different tasks, saves the time for the rescue quadruped robot to go back and forth to replace tools so as to efficiently complete the rescue task, and is convenient to use.

[0025] Such as Figure 5 , Figure 8 and Figure 9As shown in the figure, the mechanical claw 58 includes a fixed frame 581 fixedly connected to the bottom of the reinforcing plate 57 and a driving motor 582 fixedly connected to the upper end of the bottom plate of the fixed frame 581. The fixed frame 581 is processed by four fixed columns arranged in a circular pattern and fixed disks welded to the outer walls of both ends of the fixed columns. The driving motor 582 can rotate forward and backward. The lower end of the transmission shaft of the driving motor 582 penetrates and extends to the bottom of the bottom plate of the fixed frame 581 and is fixedly connected with a screw rod 583. A cross-shaped fixture 584 is threadedly connected to the outer wall of the screw rod 583. The cross-shaped fixture 584 is a fixed block with a cross-shaped structure. Positioning grooves 585 are provided on the side walls at the ends of the protruding ends around the cross-shaped fixture 584. Hanging plates 586 are fixedly connected to the side walls around the bottom plate of the fixed frame 581 corresponding to the positioning grooves 585. Adjusting rods 587 are movably connected to the outer walls on both sides at the bottom end of the hanging plate 586. A pawl 588 is movably connected between the side walls at the bottom of the adjusting rod 587. A driving rod 589 is movably connected to the top outer wall of the pawl 588 inside the adjusting rod 587. The top end of the driving rod 589 is movably connected between the side walls of the positioning groove 585. When the driving motor 582 intermittently rotates forward and backward, it drives the screw rod 583 to control the intermittent up and down movement of the cross-shaped fixture 584. When the cross-shaped fixture 584 moves up and down, it drives the top end of the driving rod 589 to deflect up and down. The other end of the driving rod 589 will push the top end of the pawl 588 to deflect based on the fixed point at the bottom end of the adjusting rod 587, so as to control all the lower ends of the pawls 588 to deflect inward or outward simultaneously, realizing the grasping or releasing of objects.

[0026] In order to further expand the functions of the rescue quadruped robot, such as Figures 5-7 As shown in the figure, sealing plates 511 are respectively fixedly connected to the outer wall edges on both sides of the end of the demolition and expansion support plate 51 close to the second connecting rod 55. The sealing plates 511 are in a fan-shaped structure. A sealing gasket can be arranged on the side wall where the sealing plates 511 are in contact with the demolition and expansion support plate 51. After the adjacent demolition and expansion support plates 51 are suspended outside the port of the tool cylinder 5 in a fitting manner, the two demolition and expansion support plates 51 and the four sealing plates 511 are mutually attached to form a disc, which is tightly attached to the outer wall of the port of the tool cylinder 5, realizing the sealing of the port of the tool cylinder 5, ensuring the sealing performance of the port of the tool cylinder 5, preventing dust and the like from entering the inside of the tool cylinder 5 when the equipment is not in use and damaging the driving electronic components of the mechanical claw 58, and improving the use safety of the equipment.

[0027] On the side walls that are in contact with the demolition and expansion support plate 51, installation grooves 512 are provided. On the inner walls of both sides of the installation groove 512, positioning cylinders 513 are fixedly connected respectively. A rotating rod 514 is movably sleeved in the positioning cylinder 513. On the outer wall of the rotating rod 514 in the positioning cylinder 513, a clockwork spring 515 is fixedly arranged. The outer end of the clockwork spring 515 is fixedly connected to the inner wall of the positioning cylinder 513. On the outer wall of the middle part of the rotating rod 514, a hook 516 is fixedly connected. On the outer wall of the back arc surface of the hook 516, a counterweight 517 is fixedly connected. When the hook 516 is received inside the installation groove 512, the clockwork spring 515 maintains a normal relaxed state. At this time, the demolition and expansion support plates 51 are suspended outside the port of the tool cylinder 5 in a mutually attached state.

[0028] Specifically, the mechanical claw 58 is retracted inside the tool cylinder 5, and the tips of the demolition and expansion support plates 51 deflect outward away from the port of the tool cylinder 5. Until the demolition and expansion support plates 51 deflect and are suspended outside both sides of the port of the tool cylinder 5, during the deflection process of the demolition and expansion support plates 51, due to the eccentric setting of the hook 516 and the gravitational effect of the counterweight 517, the center of gravity of the hook 516 is completely below the rotating rod 514, causing the hook 516 to automatically deflect inside the positioning cylinder 513 based on the rotating rod 514 under the action of gravity, and at the same time, the clockwork spring 515 is contracted. After the demolition and expansion support plates 51 are fully expanded, the lower end of the hook 516 deflects away from the port of the installation groove 512 and maintains a vertically downward and inclined downward posture. At this time, the hook 516 is suspended at the bottom of the demolition and expansion support plate 51. By using the hooking and hanging functions of the hook 516, the target object can be lifted and suspended under the push of the robotic arm 4, further expanding the usage functions of the rescue quadruped robot so that it can complete tasks under different conditions. When the demolition and expansion support plates 51 deflect and close, the hook 516 automatically contracts back into the installation groove 512 again under the action of the center of gravity and the reset action of the clockwork spring 515, avoiding hindering the attachment of the demolition and expansion support plates 51 and realizing the automatic hidden storage of the hook 516, which is convenient and practical.

[0029] The technical scope of the present invention is not limited only to the content described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A reconnaissance and rescue quadruped robot based on visual sensing technology, characterized in that, The invention comprises a fuselage and bionic mechanical legs which are movably connected to the outer walls on both sides of the fuselage, wherein a main machine is fixedly connected to the top end of the fuselage, a pinhole camera is embedded on the side wall of the front end of the main machine, an auxiliary camera is fixedly connected to the bottom end of the fuselage opposite to the lower end of the pinhole camera, a mechanical arm is fixedly installed on the top of the fuselage adjacent to the main machine, and a tool barrel is fixedly connected to the end of the mechanical arm; demolition and expansion plates are rotatably connected to the outer walls on both sides of the bottom port of the tool barrel, limiting grooves are respectively provided on the outer walls on both sides of the tool barrel above the demolition and expansion plates, a raised ring is fixedly connected to the outer wall of the tool barrel above the limiting groove, hydraulic rods are fixedly connected to the corresponding limiting grooves at the bottom of the two ends of the raised ring, and the hydraulic The bottom of the rod is fixedly connected to a moving block, the end of the moving block extends into the tool barrel through a limit groove, and a cross-shaped groove is opened at the bottom of the moving block in the tool barrel, and both ends of the cross-shaped groove are connected to the side walls at both ends of the moving block, and a cross-shaped rod is movably arranged in the cross-shaped groove, and a first connecting rod is fixedly connected to the bottom of the cross-shaped rod, an open groove is processed at the bottom of the first connecting rod, and a second connecting rod is movably connected between the inner walls of the open groove through a pin shaft, and the bottom of the second connecting rod is fixedly connected to the side wall of the demolition expansion plate, and an electric lifting rod is fixedly connected to the lower end of the top plate of the inner cavity of the tool barrel, and a cylindrical reinforcing plate is fixedly connected to the bottom of the electric lifting rod, and a mechanical claw is fixedly connected to the bottom of the reinforcing plate, and the mechanical claw is suspended in the tool barrel.

2. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that, A power box is arranged inside the body between the bionic mechanical legs. The host is electrically connected to the power box through a wire. The power box has a built-in battery to supply energy for the operation of the robot. A power indicator and a start switch are respectively arranged on the outer walls on both sides of the power box.

3. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that A micro motor for controlling rotation is arranged on the side wall at the end of each limb of the robotic arm, an inner groove is arranged at the end of the robotic arm, a bracket is rotatably connected with the side walls of the inner groove through a pin shaft, a rotating disk is fixedly connected to the end of the bracket, the rotating disk has a built-in motor, and a tool cylinder is fixedly connected to the output end of the motor through a flange, an illumination lamp is embedded on the side wall of the front end cover of the fuselage, and an alarm light is fixedly connected to the top end of the tail of the fuselage.

4. The reconnaissance and rescue quadruped robot based on vision sensing technology according to claim 3, characterized in that, The tool cylinder comprises an outer cylinder and an inner cylinder. The outer cylinder and the inner cylinder are coaxial and integral structures with lower ends opened. The top end of the outer cylinder is fixed to the end of the rotating disk by a flange and bolts.

5. The reconnaissance and rescue quadruped robot based on vision sensing technology according to claim 4, characterized in that, The raised ring is fixedly connected to the outer wall of the outer cylinder, the limiting grooves are symmetrically distributed on the side walls at both ends of the outer cylinder, and the second connecting rod is located in the gap between the outer cylinder and the inner cylinder, the electric lifting rod is fixedly connected to the lower end of the inner cylinder top plate, and the reinforcing plate is movably engaged between the inner walls of the inner cylinder.

6. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that, The bionic mechanical leg includes an actuating motor fixedly connected to the outer walls on both sides at both ends of the fuselage and a lever fixedly connected to the outer wall of the power transmission end of the actuating motor. The end of the lever is movably connected to a movable connecting rod. A positioning disk is rotatably connected to the outer wall of the actuating motor housing. The other end of the movable connecting rod is movably connected to the top of one end of the outer wall of the positioning disk. And a first limb is fixedly installed on the outer wall of the positioning disk. The bottom of the first limb is movably connected to a second limb. An electric telescopic rod is movably connected to the outer wall of one side of the top of the first limb, and the other end of the electric telescopic rod is movably connected to the outer wall of the positioning disk.

7. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that, The mechanical claw includes a fixed frame fixedly connected to the bottom of the reinforcing plate and a driving motor fixedly connected to the upper end of the bottom plate of the fixed frame. The lower end of the transmission shaft of the driving motor penetrates and extends to the bottom of the bottom plate of the fixed frame and is fixedly connected to a screw rod. A cross-shaped fixture is threadedly connected to the outer wall of the screw rod. The cross-shaped fixture is a fixed block with a cross-shaped structure. Positioning grooves are formed on the side walls at the ends of the protruding heads around the cross-shaped fixture. Hanging plates are fixedly connected to the side walls of the bottom plate of the fixed frame corresponding to the positioning grooves. Adjusting rods are movably connected to the outer walls on both sides at the bottom of the end of the hanging plate. A pawl is movably connected between the side walls at the bottom of the adjusting rods. A driving rod is movably connected to the outer wall at the top of the pawl inside the adjusting rod. The top end of the driving rod is movably connected between the side walls of the positioning groove.

8. The reconnaissance and rescue quadruped robot based on vision sensing technology according to claim 1, wherein Sealing plates are respectively fixedly connected to the edges of the outer walls on both sides of the end of the demolition and expansion support plate close to the second connecting rod. The sealing plates are in a fan-shaped structure. Sealing gaskets are embedded on the side walls where the sealing plates and the demolition and expansion support plate are in contact. When the adjacent demolition and expansion support plates are in contact, they are suspended outside the port of the tool cylinder.

9. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, wherein Installation grooves are formed on the side walls where the demolition and expansion support plates are in contact. Positioning cylinders are respectively fixedly connected to the inner walls on both sides of the installation grooves. A rotating rod is movably sleeved in the positioning cylinder. A spiral spring is fixedly arranged on the outer wall of the rotating rod in the positioning cylinder. The outer end of the spiral spring is fixedly connected to the inner wall of the positioning cylinder. A hook is fixedly connected to the outer wall of the middle part of the rotating rod. A counterweight block is fixedly connected to the arc-shaped outer wall of the back of the hook.

10. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 9, characterized in that, When the hook is stored inside the installation groove, the spiral spring maintains a normal relaxed state. At this time, the demolition and expansion support plates are in contact with each other and are suspended outside the port of the tool cylinder.

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