Four-footed fire-fighting robot with damping buffer legs

Abstract

The invention relates to the technical field of fire-fighting robots, and discloses a four-footed fire-fighting robot with damping buffer legs, which comprises a fire-fighting robot body, thigh parts arranged at four corners of the fire-fighting robot body, shank components arranged at the lower ends of the thigh parts, and feet arranged at the bottoms of the shank components; the shank assembly comprises a first shank part movably arranged at the lower end of the thigh part, a second shank part is arranged below the first shank part, the foot part is arranged at the bottom of the second shank part, and a damping buffer structure is arranged between the second shank part and the first shank part. According to the four-footed fire-fighting robot with the damping and buffering leg, the damping and buffering structure is arranged on the shank assembly, and a matched rack, a floating rod, locking teeth, a second elastic structure and a torsional spring are arranged, so that when feet rotate in a mode of touching the ground, the locking teeth lock the rack, rebound oscillation can be eliminated, and stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting robots, in particular to a four-legged fire-fighting robot with damping buffering legs. Background Art

[0002] The quadruped firefighting robot is a specialized rescue device designed based on bionic principles. Its multi-jointed legs and feet enable autonomous mobility in complex fire scenes. Its core function is to replace firefighters in high-temperature, smoke-filled, and landslide-prone environments, performing tasks such as firefighting, fire source detection, material transportation, and personnel search and rescue. This requires strong terrain adaptability, impact resistance, and continuous operational reliability.

[0003] The current mainstream buffering solution uses a spring-and-damping mechanism to achieve buffering. However, although the spring absorbs the impact of ground contact and dissipates energy through hydraulic damping, the elastic potential energy stored at the moment the foot leaves the ground inevitably triggers joint rebound oscillation, causing the robot to shake or even overturn on dangerous terrain such as slopes and oily surfaces. In addition, the lack of a rigid locking mechanism during the support period causes continuous slight tremors in the joints, which delays energy transmission when pushing off the ground, greatly weakening the explosive power to overcome obstacles. In addition, in order to increase grip, traditional firefighting robots often use a fixed grip design on the soles of their feet (such as a single spike or rubber pad). The rubber pad structure sinks into the mud due to insufficient pressure on soft ground, and is further dragged down by vacuum adsorption when the foot is lifted; while the spikes on hard ground have weak point contact friction and slip instantly on the slippery surface. Both of them have a broken terrain adaptability due to functional rigidity. This static structure cannot dynamically adapt to terrain changes, causing the robot to frequently become unstable in complex fire scenes such as oil stains and slopes, seriously restricting rescue efficiency and safety. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing technology has the disadvantage of poor stability of robots in complex environments. For this reason, we propose a four-legged firefighting robot with damping buffer legs.

[0005] To achieve the above object, the present application adopts the following technical solutions: A quadruped fire-fighting robot with damping buffer legs, comprising a fire-fighting robot body, thigh parts arranged at the four corners of the fire-fighting robot body, calf assemblies arranged at the lower ends of the thigh parts, and feet arranged at the bottoms of the calf assemblies; The calf assembly includes a first calf part movably arranged at the lower end of the thigh part, a second calf part is arranged below the first calf part, the foot is arranged at the bottom of the second calf part, and a damping buffer structure is arranged between the second calf part and the first calf part. The damping buffer structure includes an upper buffer plate arranged at the bottom of the first calf part in an arc shape, and a lower buffer plate arranged at the top of the second calf part in an arc shape. A damping cavity is arranged inside the inner sides of the diagonal ends of the upper buffer plate and the lower buffer plate. The diagonal ends of the lower buffer plate and the upper buffer plate are respectively provided with first piston rods in an arc shape and corresponding to the damping cavity. One end of the first piston rod is movably connected to the inner side of the damping cavity. Hydraulic oil is arranged in the damping cavity, and first elastic structures are arranged between both ends of the upper buffer plate and the lower buffer plate; A locking cavity is arranged inside one end of the lower buffer plate, and a rack driven by the first piston rod in the lower buffer plate to displace is arranged inside the locking cavity. A floating rod is movably arranged in the second calf part, the bottom of the floating rod extends to the bottom of the foot, a connecting seat is arranged at the upper end of the floating rod, a notch is arranged at one end of the connecting seat, a locking tooth is rotatably arranged inside the notch, and a torsion spring is arranged at the rotation part of the locking tooth and the notch. A convex ring is arranged on the outer wall of the floating rod, and a second elastic structure is arranged between the upper end of the convex ring and the inner wall of the second calf part.

[0006] Preferably, a force-receiving block is arranged at the bottom of the floating rod, and the bottom of the force-receiving block is in an arc shape. When the second elastic structure is in the initial state, the lower end of the force-receiving block protrudes from the bottom of the foot, and at this time, the locking tooth is lower than the bottom of the rack.

[0007] Preferably, it further includes a soft ground gripping structure, and the soft ground gripping structure includes a lower lifting frame movably arranged inside the foot, and thorns that can extend to the bottom of the foot are arranged at the bottom of the lower lifting frame.

[0008] Preferably, a hard ground gripping structure is arranged on the soft ground gripping structure. The hard ground gripping structure includes an upper lifting frame arranged above the lower lifting frame. A third elastic structure is fixed between the upper lifting frame and the lower lifting frame. Anti-slip rubber claws are arranged at the bottom of the upper lifting frame, and the anti-slip rubber claws penetrate through the lower lifting frame and can extend to the bottom of the foot.

[0009] Preferably, a linkage structure for driving the upper lifting frame and the lower lifting frame to displace is provided on the second lower leg part. The linkage structure includes a second pressure chamber arranged inside one end of the second lower leg part. Inside one end of the lower buffer plate, a first pressure chamber located between the locking chamber and the damping chamber and communicated with the second pressure chamber is provided. A piston block is movably arranged in the first pressure chamber. On one side of the piston block, an arc-shaped first linkage rod is provided. One end of the first linkage rod extends to the inside of the damping chamber and is connected to the end of the first piston rod. The second piston rod is movably connected to the inside of the second pressure chamber. The lower end of the second piston rod extends to the inside of the foot part and is connected to the top of the upper lifting frame.

[0010] Preferably, a second linkage rod corresponding to the rack is provided on the side of the piston block facing away from the first linkage rod. One end of the second linkage rod extends to the inside of the locking chamber and is connected to the rack. Thus, the first piston rod drives the rack to displace through the first linkage rod, the piston block, and the second linkage rod.

[0011] Preferably, hydraulic oil is provided at one end of the first pressure chamber close to the locking chamber and inside the second pressure chamber.

[0012] Preferably, a telescopic rod is provided between the anti-slip rubber claw and the upper lifting frame, and a fourth elastic structure is provided at one end of the telescopic rod.

[0013] Preferably, at least two guide rods are provided inside the foot part, and both the upper lifting frame and the lower lifting frame are movably sleeved outside the guide rods.

[0014] Preferably, the first elastic structure is a spring, and the spring is sleeved on the part of the first piston rod located between the lower buffer plate.

[0015] Technical effects and advantages of the present invention: In the present invention, by providing a damping buffer structure on the calf component, in cooperation with the rack, floating rod, locking teeth, second elastic structure, and torsion spring, when the foot touches the ground, the impact force drives the buffer plate and the upper buffer plate to rotate elastically, and the hydraulic damping dissipates kinetic energy synchronously. When rotating, the locking teeth lock the rack, and the rebound oscillation can be eliminated. The corresponding of the rack and the locking teeth is achieved by the force-bearing block at the bottom of the foot touching the ground first. When the foot leaves the ground, the locking is automatically released, and the first elastic structure accurately resets the lower buffer plate, enabling the robot to obtain an absolutely stable support platform when impacted on hard ground, eliminating the risk of instability during slope movement, and having no delay in force transmission when pushing off the ground, significantly improving the reliability of high-speed running and heavy-load operations. In the present invention, by providing a soft-ground gripping structure, a hard-ground gripping structure, and a linkage structure, when the foot touches the ground, the spiked nails and the anti-slip rubber claws are linked to press down. In soft ground, the spiked nails penetrate and anchor, and on hard ground, the spiked nails are blocked to trigger the anti-slip rubber claws to be compacted, deforming and adhering to increase friction. The gripping mode is automatically switched during a single impact, and the components retract and avoid obstacles when leaving the ground, overcoming the contradiction between hard and soft terrains with pure mechanical intelligence to achieve reliable gripping on all terrains. Moreover, the cooperation of the telescopic rod and the fourth elastic structure provided between the anti-slip rubber claws and the upper lifting frame can adapt to the ground undulation when multiple anti-slip rubber claws move downward and protrude, further increasing the gripping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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: Figure 1 is a schematic structural diagram of the present invention; Figure 2 is an overall structural diagram of the first calf part, the second calf part, and the foot of the present invention; Figure 3 is an overall sectional structural diagram of the upper buffer plate, the lower buffer plate, the second calf part, and the foot of the present invention; Figure 4 is based on the present invention Figure 3 front view structural diagram; Figure 5 is based on the present invention Figure 4 enlarged view at A in; Figure 6 is a specific structural diagram of the foot of the present invention; Figure 7 is a structural diagram of the present invention in the cooperative state of the locking teeth, the rack, the upper lifting frame, and the lower lifting frame; Figure 8 is based on the present invention Figure 7 structural diagram from another perspective; Figure 9 is a structural diagram of the present invention in the disassembled state of the locking teeth and the connecting seat; Figure 10 is a structural diagram of the present invention in the disassembled state of the upper lifting frame, the lower lifting frame, and the telescopic rod.

[0017] Legend: 1. Fire-fighting robot body; 2. Thigh part; 3. First calf part; 4. Second calf part; 5. Foot; 6. Lower buffer plate; 7. Upper buffer plate; 8. Force-receiving block; 9. First elastic structure; 10. Damping cavity; 11. First piston rod; 12. First pressure cavity; 13. Piston block; 14. Locking cavity; 15. Rack; 16. Second pressure cavity; 17. Second piston rod; 18. Floating rod; 19. Upper lifting frame; 20. Lower lifting frame; 21. Spiked nail; 22. First linkage rod; 23. Second linkage rod; 24. Telescopic rod; 25. Locking tooth; 26. Second elastic structure; 27. Convex ring; 28. Anti-slip rubber claw; 29. Guide rod; 30. Third elastic structure; 31. Connecting seat; 32. Notch; 33. Rotating shaft; 34. Torsion spring; 35. Fourth elastic structure. Detailed implementation manners

[0018] It is easy to understand that according to the technical solution of the present invention, without changing the essence of the present invention, those of ordinary skill in the art can propose various interchangeable structural modes and implementation modes. 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 the whole of the present invention or as a limitation or restriction on the technical solution of the present invention.

[0019] Refer to Figures 1-4 As shown, a quadruped fire-fighting robot with damping buffer legs includes a fire-fighting robot body 1, thigh parts 2 arranged at the four corners of the fire-fighting robot body 1, calf assemblies arranged at the lower ends of the thigh parts 2, and feet 5 arranged at the bottoms of the calf assemblies. The calf assemblies include a first calf part 3 movably arranged at the lower end of the thigh part 2. A second calf part 4 is arranged below the first calf part 3. The foot 5 is arranged at the bottom of the second calf part 4. A damping buffer structure is arranged between the second calf part 4 and the first calf part 3. The damping buffer structure includes an upper buffer plate 7 in an arc shape arranged at the bottom of the first calf part 3. A lower buffer plate 6 in an arc shape is arranged at the top of the second calf part 4. The two correspond to each other. A damping cavity 10 is arranged on the inner sides of one end of the upper buffer plate 7 and the lower buffer plate 6 that are diagonally opposite. Arc-shaped first piston rods 11 corresponding to the damping cavity 10 are respectively arranged at one end of the lower buffer plate 6 and the upper buffer plate 7 that are diagonally opposite. One end of the first piston rod 11 is movably connected to the inner side of the damping cavity 10, and a damping hole is arranged at one end movably connected to the inner side of the damping cavity 10. Hydraulic oil is arranged in the damping cavity 10. The damping hole facilitates the passage of the hydraulic oil. First elastic structures 9 are arranged between both ends of the upper buffer plate 7 and the lower buffer plate 6. The first elastic structures 9 are springs, and the springs are sleeved on the part of the first piston rod 11 between the lower buffer plate 6. The two ends of the spring are respectively fixedly connected to the ends of the lower buffer plate 6 and the upper buffer plate 7. Thus, when the lower buffer plate 6 rotates, the first elastic structure 9 at one end is compressed, and the first elastic structure 9 at the other end is stretched.

[0020] As Figures 3-8 , Figure 10 shown, in order to improve the grip on soft ground and avoid the traditional rubber pad sinking into the mud due to insufficient pressure on soft ground and being more dragged by vacuum adsorption when lifting the foot, a soft-ground gripping structure is provided. The soft-ground gripping structure includes a lower lifting frame 20 movably arranged inside the foot 5. A plurality of spiked nails 21 that can extend to the bottom of the foot 5 are arranged at the bottom of the lower lifting frame 20. The spiked nails 21 break through the soft layer and anchor to the hard bottom by concentrating extreme pressure, and at the same time utilize the nail-soil friction mechanism to achieve reliable gripping. In order to achieve the grip on hard ground, a hard-ground gripping structure is provided on the soft-ground gripping structure. The hard-ground gripping structure includes an upper lifting frame 19 arranged above the lower lifting frame 20. A third elastic structure 30 is fixed between the upper lifting frame 19 and the lower lifting frame 20. The third elastic structure 30 is preferably a spring, and the upper and lower ends of the spring are respectively fixed to the bottom of the upper lifting frame 19 and the top of the lower lifting frame 20. In order to increase the stability of the lower lifting frame 20 and the upper lifting frame 19, at least two guide rods 29 are arranged on the inner side of the foot 5. Both the upper lifting frame 19 and the lower lifting frame 20 are movably sleeved outside the guide rods 29. A plurality of anti-slip rubber claws 28 are arranged at the bottom of the upper lifting frame 19. The anti-slip rubber claws 28 penetrate through the lower lifting frame 20 and can extend to the bottom of the foot 5. Specifically, through holes corresponding to the anti-slip rubber claws 28 are arranged on the lower lifting frame 20. The anti-slip rubber claws 28 extend downward through the through holes, and a plurality of through holes corresponding to the spiked nails 21 and the anti-slip rubber claws 28 are arranged at the bottom of the foot 5. The spiked nails 21 and the anti-slip rubber claws 28 extend downward through the through holes. Further, a linkage structure for driving the displacement of the upper lifting frame 19 and the lower lifting frame 20 is arranged on the second calf 4. The linkage structure includes a second pressure chamber 16 arranged at one end inside of the second calf 4. One end inside of the lower buffer plate 6 is provided with a first pressure chamber 12 located between the locking chamber 14 and the damping cavity 10 and communicating with the second pressure chamber 16. A piston block 13 is movably arranged in the first pressure chamber 12. Hydraulic oil is arranged at one end of the first pressure chamber 12 close to the locking chamber 14 and the inner side of the second pressure chamber 16. An arc-shaped first linkage rod 22 is arranged on one side of the piston block 13, and one end of the first linkage rod 22 extends to the inner side of the damping cavity 10 and is connected to the end of the first piston rod 11. The second piston rod 17 is movably connected to the inner side of the second pressure chamber 16. The lower end of the second piston rod 17 extends to the inner side of the foot 5 and is connected to the top of the upper lifting frame 19. In order to facilitate the intake and exhaust of the end of the piston block 13 facing away from the hydraulic oil, a hole corresponding to one end of the first pressure chamber 12 close to the damping cavity 10 is arranged on the lower buffer plate 6, which is convenient for the other end of the piston block 13 to achieve intake and exhaust when one end drives the displacement of the hydraulic oil. At the same time, a hole is also arranged on one side at the lower end of the second pressure chamber 16 for the intake and exhaust at the lower end of the second pressure chamber 16 when the second piston rod 17 moves up and down.

[0021] In addition, as Figure 10As shown, in order to adapt to the unevenness on the hard ground, a telescopic rod 24 is provided between the anti-slip rubber claws 28 and the lifting frame 19. One end of the telescopic rod 24 is provided with a fourth elastic structure 35. The telescopic rod 24 is composed of an outer rod body and an inner rod body that is movably inserted into the outer rod body. The fourth elastic structure 35 is preferably a spring, and the spring is sleeved outside the telescopic rod, so that the spring can be compressed when the telescopic rod contracts.

[0022] As Figures 2-9 shown, in order to achieve locking and avoid rebound, a locking cavity 14 is provided inside one end of the lower buffer plate 6. Inside the locking cavity 14, there is a rack 15 that is pushed and displaced by the first piston rod 11 in the lower buffer plate 6. Specifically, on the side of the piston block 13 facing away from the first linkage rod 22, there is a second linkage rod 23 corresponding to the rack 15. One end of the second linkage rod 23 extends inside the locking cavity 14 and is connected to the rack 15. Thus, the first piston rod 11 pushes the rack 15 to displace through the first linkage rod 22, the piston block 13, and the second linkage rod 23. The rack 15 is arc-shaped, and the teeth are located at the bottom and are evenly arranged. A floating rod 18 is movably arranged in the second calf part 4. The bottom of the floating rod 18 extends to the bottom of the foot part 5, and the upper end extends to the inner cavity of the locking cavity 14. A connecting seat 31 is arranged at the upper end of the floating rod 18. One end of the connecting seat 31 is provided with a notch 32. A locking tooth 25 is rotatably arranged inside the notch 32. Specifically, a rotating shaft 33 is fixedly arranged at the lower end of the locking tooth 25. The locking tooth 25 rotates in the notch 32 through the rotating shaft 33, and a torsion spring 34 is arranged at the rotating part of the end of the rotating shaft 33 and the notch 32. Thus, when the locking tooth 25 rotates, the torsion spring 34 twists, and due to the limitation of one end of the notch 32, the locking tooth 25 can only flip in one direction. A convex ring 27 is arranged on the outer wall of one end of the floating rod 18. A second elastic structure 26 is arranged between the upper end of the convex ring 27 and the inner wall of the second calf part 4. The second elastic structure 26 is preferably a spring, and the spring is sleeved outside the floating rod 18. In order to prevent the lower end of the floating rod 18 from breaking and being damaged, a stress block 8 is arranged at the bottom of the floating rod 18. The bottom of the stress block 8 is arc-shaped. When the second elastic structure 26 is in the initial state, the lower end of the stress block 8 protrudes from the bottom of the foot part 5, and at this time, the locking tooth 25 is lower than the bottom of the rack 15.

[0023] Working principle: When in use, since the whole of the thigh part 2, the first calf part 3, and the second calf part 4 is inclined during movement, when the foot 5 touches the ground, the second calf part 4 is pressed, thereby driving the lower buffer plate 6 to rotate by a certain amplitude. Then, one end of the first elastic structure 9 contracts, and the other end of the first elastic structure 9 stretches. At the same time, one end of the first piston rod 11 displaces in the damping cavity 10, and the hydraulic oil flows through the damping hole at one end of the first piston rod 11 to consume energy. And the force block 8 protrudes from the bottom of the foot 5 initially. Therefore, when the foot 5 touches the ground, the force block 8 contacts the ground first. Then, the force block 8 drives the floating rod 18 to move upward. The convex ring 27 cooperates with the inner wall of the second calf part 4 to compress the second elastic structure 26. The floating rod 18 drives the connecting seat 31 and the locking tooth 25 to move upward as a whole. Then, the locking tooth 25 corresponds to the rack 15. When the lower buffer plate 6 rotates, the first piston rod 11 on the upper buffer plate 7 displaces relative to the lower buffer plate 6. Then, the first piston rod 11 pushes the piston block 13, the second linkage rod 23, and the rack 15 to displace as a whole through the first linkage rod 22. When passing through the locking tooth 25, the locking tooth 25 is pressed and flipped, and the torsion spring 34 is twisted. Then, the locking tooth 25 is clamped with the tooth gap on the rack 15 to achieve one-way locking, avoiding rebound. Moreover, when the piston block 13 displaces, it will push the hydraulic oil in the first pressure chamber 12 and the second pressure chamber 16. Then, the hydraulic oil positively presses the second piston rod 17 to displace, and the second piston rod 17 drives the upper lifting frame 19 and the lower lifting frame 20 to move downward as a whole. If it is soft ground, the spiked nails 21 protrude from the bottom of the foot 5, and the spiked nails 21 directly pierce the ground to form an anchor for gripping. The anti-slip rubber claws 28 can move with the spiked nails 21 to assist in increasing friction. In the case of hard ground conditions, the spiked nails 21 are blocked by the ground and cannot protrude. The impact force compresses the third elastic structure 30, forcing the anti-slip rubber claws 28 to continuously press down until they closely fit the hard ground, enhancing the friction through the adhesion force of deformation. And there are telescopic rods 24 and a fourth elastic structure 35 between the upper lifting frame 19 and the anti-slip rubber claws 28. Thus, multiple anti-slip rubber claws 28 can adapt to the unevenness of the hard ground. Finally, when the foot 5 leaves the ground, the second elastic structure 26 and the first elastic structure 9 reset, the floating rod 18 moves downward and resets, the locking tooth 25 separates from the rack 15, and the locking is released. Then, the lower buffer plate 6 rotates back to its original position. At this time, the hydraulic oil in the second pressure chamber 16 and the first pressure chamber 12 rises under the negative pressure when the piston block 13 resets. Then, the negative pressure realizes the upward reset of the second piston rod 17. Compared with the traditional exposed anti-slip structure, this design completely retracts the protruding components when leaving the ground to avoid snagging, and automatically adapts to soft and hard terrains with a single action when touching the ground, ensuring both the anti-slip stability on hard ground and maintaining the piercing and gripping advantages on soft ground, achieving zero-power all-terrain adaptability.

[0024] The technical scope of the present invention is not limited 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 quadruped fire-fighting robot with damping buffer legs, characterized in that, It includes a fire-fighting robot body (1), thigh parts (2) arranged at the four corners of the fire-fighting robot body (1), a calf assembly arranged at the lower end of the thigh parts (2), and a foot (5) arranged at the bottom of the calf assembly; the calf assembly includes a first calf part (3) movably arranged at the lower end of the thigh part (2), a second calf part (4) is arranged below the first calf part (3), the foot (5) is arranged at the bottom of the second calf part (4), a damping buffer structure is arranged between the second calf part (4) and the first calf part (3), the damping buffer structure includes an upper buffer plate (7) arranged at the bottom of the first calf part (3) in an arc shape, a lower buffer plate (6) in an arc shape is arranged at the top of the second calf part (4), a damping cavity (10) is arranged inside the inner sides of the diagonal ends of the upper buffer plate (7) and the lower buffer plate (6), first piston rods (11) in an arc shape and corresponding to the damping cavity (10) are respectively arranged at the diagonal ends of the lower buffer plate (6) and the upper buffer plate (7), one end of the first piston rod (11) is movably connected to the inside of the damping cavity (10), hydraulic oil is arranged in the damping cavity (10), and first elastic structures (9) are arranged between both ends of the upper buffer plate (7) and the lower buffer plate (6); a locking cavity (14) is arranged inside one end of the lower buffer plate (6), a rack (15) pushed and displaced by the first piston rod (11) in the lower buffer plate (6) is arranged inside the locking cavity (14), a floating rod (18) is movably arranged in the second calf part (4), the bottom of the floating rod (18) extends to the bottom of the foot (5), a connecting seat (31) is arranged at the upper end of the floating rod (18), a notch (32) is arranged at one end of the connecting seat (31), a locking tooth (25) is rotatably arranged inside the notch (32), and a torsion spring (34) is arranged at the rotation position of the locking tooth (25) and the notch (32), a convex ring (27) is arranged on the outer wall of the floating rod (18), and a second elastic structure (26) is arranged between the upper end of the convex ring (27) and the inner wall of the second calf part (4).

2. The quadruped fire-fighting robot with damping buffer legs according to claim 1, wherein: A stress block (8) is arranged at the bottom of the floating rod (18), the bottom of the stress block (8) is in an arc shape. When the second elastic structure (26) is in the initial state, the lower end of the stress block (8) protrudes from the bottom of the foot (5), and at this time, the locking tooth (25) is lower than the bottom of the rack (15).

3. The quadruped fire-fighting robot with damping buffer legs according to claim 1, characterized in that: It further includes a soft ground gripping structure, and the soft ground gripping structure includes a lower lifting frame (20) movably arranged inside the foot (5), and thorns (21) that can extend to the bottom of the foot (5) are arranged at the bottom of the lower lifting frame (20).

4. The quadruped fire-fighting robot with damping buffer legs according to claim 3, characterized in that: A hard ground gripping structure is arranged on the soft ground gripping structure, and the hard ground gripping structure includes an upper lifting frame (19) arranged above the lower lifting frame (20), a third elastic structure (30) is fixed between the upper lifting frame (19) and the lower lifting frame (20), anti-slip rubber claws (28) are arranged at the bottom of the upper lifting frame (19), and the anti-slip rubber claws (28) penetrate through the lower lifting frame (20) and can extend to the bottom of the foot (5).

5. The quadruped fire-fighting robot with damping buffer legs according to claim 4, characterized in that: A linkage structure for driving the displacement of the upper lifting frame (19) and the lower lifting frame (20) is provided on the second calf part (4). The linkage structure includes a second pressure chamber (16) provided on the inner side of one end of the second calf part (4). One end of the lower buffer plate (6) is provided with a first pressure chamber (12) located between the locking chamber (14) and the damping cavity (10) and communicating with the second pressure chamber (16). A piston block (13) is movably arranged in the first pressure chamber (12). An arc-shaped first linkage rod (22) is provided on one side of the piston block (13), and one end of the first linkage rod (22) extends to the inner side of the damping cavity (10) and is connected to the end of the first piston rod (11). The second piston rod (17) is movably connected to the inner side of the second pressure chamber (16), and the lower end of the second piston rod (17) extends to the inner side of the foot part (5) and is connected to the top of the upper lifting frame (19).

6. The quadruped fire-fighting robot with damping buffer legs according to claim 5, characterized in that: A second linkage rod (23) corresponding to the rack (15) is provided on the side of the piston block (13) facing away from the first linkage rod (22). One end of the second linkage rod (23) extends to the inner side of the locking chamber (14) and is connected to the rack (15), so that the first piston rod (11) pushes the rack (15) to displace through the first linkage rod (22), the piston block (13), and the second linkage rod (23).

7. The quadruped fire-fighting robot with damping buffer legs according to claim 5, characterized in that: Hydraulic oil is provided at one end of the first pressure chamber (12) close to the locking chamber (14) and on the inner side of the second pressure chamber (16).

8. The quadruped fire-fighting robot with damping buffer legs according to claim 4, characterized in that: An expansion rod (24) is provided between the anti-slip rubber claw (28) and the upper lifting frame (19), and a fourth elastic structure (35) is provided at one end of the expansion rod (24).

9. The quadruped fire-fighting robot with damping buffer legs according to claim 4, wherein: At least two guide rods (29) are provided on the inner side of the foot part (5), and both the upper lifting frame (19) and the lower lifting frame (20) are movably sleeved outside the guide rods (29).

10. The quadruped fire-fighting robot with damping buffer legs according to claim 1, characterized in that: The first elastic structure (9) is a spring, and the spring is sleeved on the part of the first piston rod (11) between the lower buffer plate (6).

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