A reconnaissance and rescue quadruped robot based on visual sensing technology

Abstract

The present invention proposes a reconnaissance and rescue quadruped robot based on visual sensing technology, which relates to the field of robotics. The present invention consists of a main unit, bionic mechanical legs, a mechanical arm and a tool barrel. The main unit is equipped with a pinhole camera and an auxiliary camera to collect environmental images in real time and transmit them to a remote control. Rescuers remotely control the movement of the robot through visual feedback. During demolition operations, the mechanical arm adjusts the tool barrel to insert the demolition expansion plate into the gap. The hydraulic drive system drives the first and second connecting rods to push the expansion plate outward through the hydraulic rod linkage moving block and the cross rod, thereby generating a strong expansion effect based on the lever principle. During grasping operations, the electric lifting rod pushes the mechanical claw to extend out of the tool barrel, and cooperates with the mechanical arm to realize target grasping and transportation, breaking through the single function limitation of traditional rescue equipment, and completing the continuous operations of demolition and transportation without changing tools back and forth, significantly shortening the rescue time, and improving the efficiency of multi-task collaborative handling in complex environments.

Description

Technical Field

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

[0002] Quadruped rescue robots have been a significant technological breakthrough in firefighting and emergency rescue in recent years. Their design draws inspiration from biomimetics, and their four mechanical legs enable highly maneuverable movement over complex terrain. These robots, typically equipped with 360-degree panoramic cameras, gas sensors, and dual-optical gimbals, can perform tasks such as fire scene reconnaissance, life detection, and hazardous gas detection in extreme environments such as dense smoke, high temperatures, and toxic gases. They transmit high-definition images and data to command centers in real time, assisting firefighters in developing effective rescue plans. They can also be equipped with robotic arms to perform rescue operations in situations where access to the scene is inconvenient for rescue personnel.

[0003] For example, patent publication number CN222134984U discloses a quadruped rescue robot equipped with a lifting mechanical arm, comprising a housing, a depth camera disposed on the inner side of the middle portion of one end surface of the housing, a mechanical arm gimbal disposed on the top surface of the housing, a rotating cylinder disposed in the middle portion of one end surface of the optical axis assembly, a bearing seat disposed on the bottom surface of the rotating cylinder, and a claw clamp disposed on one end surface of the connecting rod. By combining mechanical leg motion and force performance analysis and calculating the ultimate load, a highly flexible 3-DOF leg configuration is selected, solving the problem of traditional rescue machinery being unsuitable for complex terrain and inefficient in actual operations. However, existing quadruped robots are 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 on-site use, which to a certain extent delays the completion of the rescue mission.

[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 requirements 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 fuselage at both ends, a main machine is fixedly connected at 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 at 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, and 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 the bottom of the hydraulic rods is fixedly connected to a moving block. 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 the two ends of the cross groove are connected to the side walls at both ends of the moving block. A cross rod is movably engaged in the cross groove, and the bottom of the cross rod is fixedly connected to a first connecting 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. The bottom of the second connecting rod is fixedly connected to the side wall of the demolition expansion plate, and the lower end of the top plate of the inner cavity of the tool barrel is fixedly connected to an electric lifting rod, and the bottom of the electric lifting rod is fixedly connected to a cylindrical reinforcement plate, and the bottom of the reinforcement plate is fixedly connected to a mechanical claw, which is suspended in the tool barrel.

[0007] Furthermore, a power box is provided inside the fuselage 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 provide energy for the operation of the robot. A power indicator and a start switch are respectively provided on the outer walls on both sides of the power box.

[0008] Furthermore, a micro motor for controlling the 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 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 the output end of the motor is fixedly connected to the tool barrel through 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 open 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 top plate of the inner cylinder, and the reinforcing plate is movably engaged between the inner walls of the inner cylinder.

[0011] Furthermore, the bionic mechanical leg includes an actuator motor fixedly connected to the outer walls on both ends of the fuselage and a lever fixedly connected to the outer wall of the power transmission end of the actuator motor, the end of the lever is movably connected to a movable connecting rod, a positioning plate is rotatably connected to the outer wall of the actuator 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 plate, and a first limb is fixedly installed on the outer wall of the positioning plate, the second limb is movably connected to the bottom of the first limb, an electric telescopic rod is movably connected to the outer wall on 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 plate.

[0012] Furthermore, 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 driving motor transmission shaft extends through the bottom of the fixed frame bottom plate and is fixedly connected to a screw. A cross-fix is threadedly connected to the outer wall of the screw. The cross-fix is a fixed block with a cross-shaped structure. Positioning grooves are provided on the side walls of the raised ends of the cross-fix. Hanging plates are fixedly connected to the corresponding positioning grooves on the side walls of the bottom plate of the fixed frame. Adjustment rods are movably connected to the outer walls on both sides of the bottom of the hanging plate. A pawl is movably connected between the side walls of the bottom of the adjusting rod. A driving rod is movably connected to the outer wall of the top of the pawl inside the adjusting rod, and the top of the driving rod is movably connected between the side walls of the positioning groove.

[0013] Furthermore, sealing plates are fixedly connected to the edges of the outer walls on both sides of the demolition expansion plate near one end of the second connecting rod. The sealing plates are fan-shaped structures, and sealing gaskets are embedded on the side walls where the sealing plate and the demolition expansion plate are in contact. After the adjacent demolition expansion plates are in contact, they are suspended outside the port of the tool barrel.

[0014] Furthermore, an installation groove is opened on the side wall where the demolition and expansion support plate is in contact, and a positioning cylinder is fixedly connected to the inner walls on both sides of the installation groove. A rotating rod is movably sleeved in the positioning cylinder, and a clockwork spring is fixedly provided on the outer wall of the rotating rod in the positioning cylinder. The outer end of the clockwork 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, and a counterweight block is fixedly connected to the outer wall of the curved surface on the back of the hook.

[0015] Furthermore, when the hook is received in the mounting groove, the clockwork spring maintains a normal stretched state. At this time, the demolition expansion plates fit together and are suspended outside the tool barrel port.

[0016] Compared with the existing technology, the beneficial effects of the present invention include: the pinhole camera and auxiliary camera carried by the host collect all-round visual data of the rescue scene in real time, and transmit it to the rescuer's handheld remote control to form a two-way interactive closed-loop control system. The rescuer remotely controls the robot based on high-precision image information, drives the bionic mechanical legs to move stably in complex terrain, and after accurately positioning to the target area, the mechanical arm inserts the demolition expansion plate at the end of the tool barrel into the working gap through three-dimensional space expansion and rotation. The hydraulic drive system drives the moving block and the cross-shaped rod to link together through the hydraulic rod, and combines the geometric transmission relationship between the first connecting rod and the second connecting rod to make The demolition and expansion plate can be controlled to evert with the positioning point as the axis, and a high-strength expansion force is generated under the dual action of hydraulic power and mechanical levers. It can be expanded to the maximum double-link vertical state to complete extreme demolition. After the demolition is completed, the electric lifting rod can quickly push the reinforcement plate to extend the mechanical claw to the outside of the tool barrel. The expansion and contraction action of the grasping mechanism can realize the rubble cleaning and material handling, 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 reducing the time spent on tool replacement, and realizing continuous multi-tasking processing in complex scenarios such as collapsed buildings and earthquake disasters, thereby improving the efficiency of emergency response. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Reference numerals in the figure: 1. Body; 11. Auxiliary camera; 12. Light; 13. Warning light; 14. Power box; 2. Bionic mechanical leg; 21. Actuator motor; 22. Lever; 23. Movable connecting rod; 24. Positioning plate; 25. First limb segment; 26. Second limb segment; 27. Electric telescopic rod; 3. Main unit; 31. Pinhole camera; 4. Mechanical arm; 41. Bracket; 42. Rotating plate; 5. Tool cylinder; 501. Outer cylinder; 502. Inner cylinder; 51. Demolition expansion plate; 511. Sealing plate; 512. Mounting slot; 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 groove; 534. Cross rod; 54. First connecting rod; 55. Second connecting rod; 56. Electric lifting rod; 57. Reinforcement plate; 58. Mechanical claw; 581. Fixed frame; 582. Driving motor; 583. Screw; 584. Cross lock; 585. Positioning groove; 586. Hanging plate; 587. Adjusting rod; 588. Ratchet; 589. Driving rod. DETAILED DESCRIPTION

[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, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0020] According to one embodiment of the present invention, Figure 1-Figure 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 robotic arm 4 and a tool cylinder 5. The outer walls of both ends of the long fuselage 1 are movably connected with bionic mechanical legs 2. A power box 14 is provided 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. A power indicator and a start switch are provided on the outer walls of both sides of the power box 14. 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, it controls the robot to walk and execute task instructions. The front end wall of the host 3 is embedded A pinhole camera 31 is provided, which directionally captures the situation on the robot's forward route and collects 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 robotic arm 4 is fixedly installed on the top of the fuselage 1 adjacent to the main body 3 by bolts. A micro motor for controlling rotation is provided on the side wall at the end of each limb of the robotic arm 4. An inner groove is provided at the end of the robotic 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 the tool barrel 5 through a flange. A lighting lamp 12 is embedded on the side wall of the front end cover of the fuselage 1, and an alarm light 13 is fixedly connected to the top of the tail of the fuselage 1.

[0021] The tool cylinder 5 includes an outer cylinder 501 and an inner cylinder 502. The outer cylinder 501 and the inner cylinder 502 are coaxial and integrated structures with an opening at the lower end. The top of the outer cylinder 501 is fixed to the end of the rotating disk 42 by a flange and bolts. The outer walls on both sides of the bottom port of the outer cylinder 501 are rotatably connected with a demolition expansion support plate 51. The demolition expansion support plate 51 is an approximately triangular structure. Limiting grooves 52 are respectively provided on the outer walls on both sides of the outer cylinder 501 above the demolition expansion support plate 51. A raised ring 53 is fixedly connected to the outer wall of the outer cylinder 501 above the limiting groove 52. Hydraulic rods 531 are respectively fixedly connected to the limiting grooves 52 at the bottoms of both ends of the raised ring 53. Moving blocks 532 are respectively fixedly connected to the bottoms of the hydraulic rods 531. The ends of the moving blocks 532 extend to the space between the outer cylinder 501 and the inner cylinder 502 through the limiting grooves 52. The bottom of the movable block 532 in the outer cylinder 501 is provided with a cross-shaped groove 533 in the gap, and the two ends of the cross-shaped groove 533 are connected to the side walls at both ends of the movable block 532. A cross-shaped rod 534 is movably engaged in the cross-shaped groove 533, and the bottom of the cross-shaped rod 534 is fixedly connected to the first connecting rod 54. The bottom of the first connecting rod 54 is processed with an open groove, and the second connecting rod 55 is movably connected between the inner walls of the open groove through a pin shaft. The bottom of the second connecting rod 55 is fixedly connected to the side wall of the demolition and expansion plate 51, and the lower end of the inner cavity top plate of the inner cylinder 502 is fixedly connected to the electric lifting rod 56. The bottom of the electric lifting rod 56 is fixedly connected to a cylindrical reinforcing plate 57. The reinforcing plate 57 is movably engaged between the inner walls of the inner cylinder 502, and the bottom of the reinforcing plate 57 is fixedly connected to a mechanical claw 58, which is suspended in the inner cylinder 502.

[0022] The bionic mechanical leg 2 includes an actuator motor 21 fixedly connected to the outer walls on both sides of the fuselage 1 and a lever 22 fixedly connected to the outer wall of the power transmission end of the actuator motor 21. The end of the lever 22 is movably connected to a movable connecting rod 23. A positioning plate 24 is rotatably connected to the outer wall of the actuator motor 21 shell. 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 plate 24. The positioning plate 24 is fixed with a first limb segment 25 by bolts. The bottom of the first limb segment 25 is movably connected to the second limb segment 26. An electric telescopic rod 27 is movably connected to the outer wall of one side of the top of the first limb segment 25. The other end of the electric telescopic rod 27 is movably connected to the outer wall of the positioning plate 24. The actuator motor 21 pushes the positioning plate 24 through the movable connecting rod 23 to perform intermittent swinging and deflection, and cooperates with the electric telescopic rod 27 to reciprocate and extend to push the second limb segment 26 to swing intermittently, thereby simulating the up and down lifting and bending of the legs when a biological being walks.

[0023] In the existing technology, when a rescue quadruped robot is navigated based on visual sensing technology to perform on-site rescue, a robotic arm and a robotic claw are generally installed on the main body of the robot to complete the task. However, the situation at the rescue site is complex, and the use of a single robotic claw cannot well adapt to the use requirements of the rescue tool. The rescue tool needs to be temporarily replaced to perform the task, which to a certain extent affects the rapid progress of the rescue mission.

[0024] In this embodiment, the host 3 collects environmental visual image data of the rescue scene in all directions through the pinhole camera 31 and the auxiliary camera 11 and feeds it back to the remote control in the hands of the rescue personnel. The rescue personnel issue remote control commands in real time based on the collected visual image data. After receiving the command, the host 3 drives the bionic mechanical legs 2 to carry the fuselage 1 and the mechanical arm 4 to walk at the rescue scene. When it is necessary to perform demolition and expansion after arriving at the destination, the mechanical arm 4 is extended and rotated to make the demolition and expansion plate 51 at the end of the tool barrel 5 be inserted into the demolition and expansion gap, and the hydraulic rod 531 is started. The hydraulic rod 531 is extended to push the moving block 532 to slide in the limit groove 52 close to the demolition and expansion plate 51. After the moving block 532 slides, the cross rod 534 adaptively slides and adjusts in the cross groove 533 at the bottom of the moving block 532, and at the same time pushes the first connecting rod 54 to squeeze the second connecting rod 55. After being squeezed, the second connecting rod 55 pushes the demolition and expansion plate 51 based on its positioning point on the side wall at the bottom port of the tool barrel 5. The tool holder 5 is then freed from the gripping action of the tool holder 5 and the gripping action of the tool holder 5 is increased, and the tool holder 5 is freed from the gripping action of the tool holder 5.

[0025] like Figure 5 、 Figure 8 and Figure 9As shown, the mechanical claw 58 includes a fixed frame 581 fixedly connected to the bottom of the reinforcing plate 57 and a drive motor 582 fixedly connected to the upper end of the bottom plate of the fixed frame 581. The fixed frame 581 is made of four fixed columns arranged in a ring and fixed plates welded on the outer walls of both ends of the fixed columns. The drive motor 582 can be rotated forward and reversely. The lower end of the drive shaft of the drive motor 582 extends through the bottom of the bottom plate of the fixed frame 581 and is fixedly connected to a screw 583. A cross-fix 584 is threadedly connected to the outer wall of the screw 583. The cross-fix 584 is a fixed block of a cross-shaped structure. Positioning grooves 585 are provided on the side walls of the raised ends around the cross-fix 584. Hanging plates 586 are fixedly connected to the corresponding positioning grooves 585 on the side walls around the bottom plate of the fixed frame 581. The hanging plates 586 are fixedly connected to the corresponding positioning grooves 585. Adjustment rods 587 are movably connected to the outer walls on both sides at the bottom of the end 86, and a pawl 588 is movably connected between the side walls at the bottom of the adjustment rod 587. A driving rod 589 is movably connected to the outer wall of the top of the pawl 588 on the inner side of the adjustment rod 587. The top 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 reverse, the screw 583 is driven to control the intermittent up and down movement of the cross-fix 584. When the cross-fix 584 moves up and down, it drives the top of the driving rod 589 to deflect up and down, and the other end of the driving rod 589 will push the top of the pawl 588 to movably deflect based on the fixed point at the bottom of the adjustment rod 587, thereby controlling the lower ends of all the pawls 588 to deflect and flip inward or outward at the same time, thereby realizing the grasping or release of objects.

[0026] In order to further expand the functions of rescue quadruped robots, such as Figure 5-Figure 7 As shown, sealing plates 511 are fixedly connected to the edges of the outer walls on both sides of the demolition and expansion support plate 51 near one end of the second connecting rod 55. The sealing plates 511 are fan-shaped. Sealing gaskets can be set on the side walls where the sealing plates 511 and the demolition and expansion support plates 51 are in contact with each other. After the adjacent demolition and expansion support plates 51 are fitted and suspended outside the port of the tool barrel 5, the two demolition and expansion support plates 51 and the four sealing plates 511 are fitted together to form a disc, which fits tightly on the outer wall of the port of the tool barrel 5, thereby sealing the port of the tool barrel 5 and ensuring the sealing of the port of the tool barrel 5, thereby preventing dust and the like from entering the interior of the tool barrel 5 when the equipment is not in use and causing damage to the driving electronic components of the mechanical claw 58, thereby improving the safety of the equipment.

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

[0028] Specifically, the mechanical claw 58 is retracted inside the tool barrel 5, and the tip of the demolition expansion plate 51 is deflected outward away from the port of the tool barrel 5 until the demolition expansion plate 51 is deflected and suspended outside the two sides of the port of the tool barrel 5. During the deflection of the demolition expansion plate 51, due to the eccentric setting of the hook 516 and the gravity of the counterweight block 517, the center of gravity of the hook 516 is completely located below the rotating rod 514, so that the hook 516 automatically deflects in the positioning barrel 513 based on the rotating rod 514 under the action of gravity, and at the same time, the clockwork spring 515 is contracted, so that after the demolition expansion plate 51 is fully expanded, the lower end of the hook 516 deflects away from the installation slot. The port 512 maintains a vertical downward movable and tilted downward posture. At this time, the hook 516 is suspended at the bottom of the demolition expansion plate 51. By utilizing the hooking and hanging effects of the hook 516, the target object can be lifted and suspended under the push of the robotic arm 4, further expanding the use function of the rescue quadruped robot so that it can complete tasks under different conditions. When the demolition expansion plate 51 is deflected and closed, the hook 516 automatically shrinks into the installation slot 512 again under the action of the center of gravity and the resetting action of the spring 515, avoiding it from hindering the fit of the demolition expansion plate 51, thereby realizing the automatic hiding and storage of the hook 516, which is convenient and practical.

[0029] The technical scope of the present invention is not limited to the contents of the above description. 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 movably connected to the outer walls on both sides of the fuselage, wherein the top end of the fuselage is fixedly connected to a main machine, 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; a demolition expansion plate is rotatably connected to the outer walls on both sides of the bottom port of the tool barrel, and limiting grooves are respectively provided on the outer walls on both sides of the tool barrel above the demolition expansion plate, and a raised ring is fixedly connected to the outer wall of the tool barrel above the limiting groove, and both ends of the raised ring The bottom of the movable block is fixedly connected to the limit grooves corresponding to the bottom, and the bottom of the movable block is fixedly connected to the movable block. The end of the movable block extends into the tool barrel through the limit groove. A cross groove is provided at the bottom of the movable block in the tool barrel. The two ends of the cross groove are connected to the side walls at both ends of the movable block. A cross rod is movably engaged in the cross groove. The bottom of the cross rod is fixedly connected to a first connecting rod. An open groove is machined at the bottom of the first connecting rod. A second connecting rod is movably connected to the inner wall of the open groove by a pin shaft. The bottom of the second connecting rod is fixedly connected to the side wall of the demolition expansion plate. The lower end of the top plate of the inner cavity of the tool barrel is fixedly connected to an electric lifting rod. The electric lifting rod The bottom of the rod is fixedly connected to a cylindrical reinforcing plate, and the bottom of the reinforcing plate is fixedly connected to a mechanical claw, and the mechanical claw is suspended in the tool cylinder; the tool cylinder comprises an outer cylinder and an inner cylinder, and the outer cylinder and the inner cylinder are coaxial integrated structures with an open lower end, and the top of the outer cylinder is fixed to the end of the rotating disk by a flange and bolts; 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 top plate of the inner cylinder, and the reinforcing plate is movably engaged between the inner walls of the inner cylinder; the mechanical claw comprises a fixed frame and a fixed The cam is fixedly connected to the driving motor at the upper end of the bottom plate of the fixed frame, and the lower end of the driving motor transmission shaft extends through and extends to the bottom of the fixed frame bottom plate and is fixedly connected to a screw, and a cross lock is threadedly connected to the outer wall of the screw, and the cross lock is a fixing block of a cross-shaped structure. Positioning grooves are provided on the side walls of the raised ends of the cross lock, and the corresponding positioning grooves on the side walls of the bottom plate of the fixed frame are fixedly connected to the hanging plates, and the outer walls on both sides of the bottom of the hanging plate are movably connected to adjusting rods, a pawl is movably connected between the side walls of the bottom of the adjusting rod, and a driving rod is movably connected to the outer wall of the top of the pawl on the inner side of the adjusting rod, and the top of the driving rod is movably connected between the side walls of the positioning groove.

2. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that: A power box is provided inside the fuselage 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 provide energy for the operation of the robot. A power indicator and a start switch are respectively provided 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 provided on the side wall at the end of each limb 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. The output end of the motor is fixedly connected to a tool cylinder 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.

4. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that: The bionic mechanical leg includes an actuator motor fixedly connected to the outer walls on both ends of the fuselage and a shift rod fixedly connected to the outer wall of the power transmission end of the actuator motor. The end of the shift rod is movably connected to a movable connecting rod. A positioning plate is rotatably connected to the outer wall of the actuator 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 plate. A first limb segment is fixedly installed on the outer wall of the positioning plate. A second limb segment is movably connected to the bottom of the first limb segment. An electric telescopic rod is movably connected to the outer wall of 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 plate.

5. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that: The edges of the outer walls of both sides of the demolition and expansion plate near one end of the second connecting rod are fixedly connected with sealing plates, and the sealing plates are fan-shaped. Sealing gaskets are embedded on the side walls where the sealing plates and the demolition and expansion plates are in contact with each other. The adjacent demolition and expansion plates are suspended outside the tool barrel port after being in contact.

6. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 1, characterized in that: An installation groove is provided on the side wall where the demolition and expansion support plate is in contact, and a positioning cylinder is fixedly connected to the inner walls on both sides of the installation groove. A rotating rod is movably sleeved in the positioning cylinder, and a clockwork spring is fixedly provided on the outer wall of the rotating rod in the positioning cylinder. The outer end of the clockwork spring is fixedly connected to the inner wall of the positioning cylinder, and a hook is fixedly connected to the outer wall at the middle of the rotating rod, and a counterweight block is fixedly connected to the outer wall of the curved surface on the back of the hook.

7. The reconnaissance and rescue quadruped robot based on visual sensing technology according to claim 6, characterized in that: When the hook is received in the mounting groove, the clockwork spring maintains a normal stretched state. At this time, the demolition and expansion plates are fitted together and suspended outside the tool barrel port.

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