Fire water monitor quadruped robot capable of realizing switching between buffer connection and rigid connection

Abstract

The invention discloses a fire-fighting water cannon quadruped robot capable of realizing switching between buffer connection and rigid connection. The fire-fighting water cannon quadruped robot comprises a quadruped robot body, and a water cannon mechanism is arranged on the top surface of the quadruped robot body; rear leg thighs of the quadruped robot body are disconnected from the middle to form a root connecting section and a joint connecting section, and a connecting state switching part is arranged between the root connecting section and the joint connecting section: when the water cannon mechanism is started, the root connecting section and the joint connecting section are elastically connected through the connecting state switching part; recoil force generated when the water cannon mechanism sprays water is buffered; and when the water cannon mechanism is closed, the root connecting section and the joint connecting section are locked by the connecting state switching part, so that the root connecting section and the joint connecting section form rigid connection. The robot can buffer recoil force generated by water spraying of the water cannon during water spraying operation, rigid connection is formed during non-water-spraying operation, stable walking is kept, and the problem that an existing four-footed fire-fighting robot is poor in balance during water spraying and walking is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robot applications, and more particularly to a fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection. Background Art

[0002] In the field of modern firefighting and rescue, quadruped firefighting robots have gradually become an important force in firefighting operations, especially when dealing with complex and dangerous fire scenes. Their flexibility and adaptability are obvious advantages. However, existing quadruped firefighting robots have some problems that need to be solved in practical applications.

[0003] When a quadruped firefighting robot uses a water cannon to spray water, the reaction force generated by the cannon's spray can significantly affect the robot's overall balance. This reaction force can cause the robot to recoil, tilt, or even topple over while spraying water, affecting the efficiency and accuracy of firefighting operations and potentially causing the robot to lose control of its posture. This balance issue is particularly prominent when spraying at high or distant fire sources.

[0004] Further analysis revealed design limitations in the leg structure of existing quadruped firefighting robots. On the one hand, during water spraying operations, a leg connection method that can effectively buffer the reaction force is required to mitigate the impact on the robot's overall stability. On the other hand, during normal walking or non-water spraying operations, the leg structure must provide sufficient rigidity to ensure the robot's stability and movement efficiency on complex terrain.

[0005] Current quadruped firefighting robots on the market haven't yet adequately addressed this dilemma. They provide a cushioned connection during water-spraying operations, but switch to a rigid connection when not. This results in existing robots either being prone to imbalance during water-spraying due to a lack of cushioning, or suffering from insufficiently rigid leg connections during walking, which compromises maneuverability and stability.

[0006] Therefore, designing a fire-fighting water cannon quadruped robot that can switch between buffer connection and rigid connection so that it can maintain good balance and stability under different working conditions has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the Invention

[0007] In view of this, the present invention provides a fire water cannon quadruped robot that can switch between buffer connection and rigid connection, aiming to solve the above technical problems.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection, comprising a quadruped robot body, wherein a water cannon mechanism is provided on the top surface of the quadruped robot body;

[0010] The thigh of the hind leg of the quadruped robot body is disconnected from the middle to form a root connection section and a joint connection section. A connection state switching portion is provided between the root connection section and the joint connection section. The connection state switching portion can realize the switching between the following two states:

[0011] a. When the water cannon mechanism is activated, the connection state switching portion enables an elastic connection between the root connection section and the joint connection section, thereby buffering the recoil force of the water cannon mechanism when spraying water;

[0012] b. When the water cannon mechanism is closed, the connection state switching portion locks the root connection section and the joint connection section, so that the root connection section and the joint connection section form a rigid connection.

[0013] Through the above technical solution, the present invention sets a connection state switching part on the thigh of the hind leg, so that the robot can buffer the recoil force generated by the water cannon during water spraying operation, form a rigid connection during non-water spraying operation, maintain stable walking, and effectively solve the problem of poor balance of existing four-legged fire-fighting robots when spraying water and walking.

[0014] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, a fracture is formed between the root connection segment and the joint connection segment, and the fracture of the root connection segment has a root connection section, and the fracture of the joint connection segment has a joint connection section, and an elastic buffer gap is formed between the root connection section and the joint connection section. The fracture and elastic buffer gap design between the root connection segment and the joint connection segment provide a structural foundation for buffering during water spraying, effectively absorbing impact force, protecting the robot structure, reducing wear, and extending service life.

[0015] Preferably, in the above-mentioned fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection, the root connection section has a sliding sleeve inside, the sliding sleeve is fixed to the root connection section, and the root connection section has a first through hole corresponding to the sliding sleeve; a central sliding column is fixed to the joint connection section, the central sliding column passes through the first through hole and is slidably connected to the sliding sleeve, and a buffer spring is sleeved on the central sliding column, and the buffer spring is pressed tightly between the root connection section and the joint connection section. The combination of the sliding sleeve, the central sliding column, and the buffer spring realizes an elastic connection between the root connection section and the joint connection section, has a good buffering effect, a simple and reliable structure, and is easy to maintain and replace.

[0016] Preferably, in the fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection, a limiting elongated hole is axially provided on the side wall of the sliding sleeve, and a radially protruding limiting block is provided on the side wall of the central sliding column. The limiting block is slidably connected to the limiting elongated hole, and under the elastic action of the buffer spring, the limiting block is pressed against one end of the limiting elongated hole near the joint connection section. The design of the limiting elongated hole and the limiting block limits the range of motion of the joint connection section, preventing excessive displacement. At the same time, under the action of the buffer spring, the joint connection section is ensured to provide stable buffering when spraying water, thereby improving the stability of the robot.

[0017] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, a micromotor is fixed to the interior of the root connection section via a bracket, the micromotor is located above the sliding sleeve, a downwardly extending threaded rod is connected to the power output end of the micromotor, the top sliding sleeve of the sliding sleeve is provided with a locking sleeve, the outer wall of the locking sleeve is slidably connected to the inner wall of the root connection section, and the threaded rod passes through the top wall of the locking sleeve and is threadedly connected to the top wall of the locking sleeve. The cooperation of the micromotor, threaded rod, and locking sleeve enables precise control of the connection state between the root connection section and the joint connection section. The micromotor drives the locking sleeve to move, achieving switching between elastic and rigid connections, with a high degree of automation and convenient operation.

[0018] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, a slide groove is axially defined on the inner wall of the root connection segment, and a radially extending slide rod is formed on the outer wall of the locking sleeve, the end of which is slidably connected to the slide groove. The design of the slide groove and slide rod provides guidance for the movement of the locking sleeve, ensuring smooth and accurate movement of the locking sleeve when switching between connection states, thereby improving the reliability of the connection state switching.

[0019] Preferably, in the above-mentioned fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection, when the locking sleeve is located above the limiting long strip hole under the drive of the micromotor, the limiting block is in a free state, so that the root connection section and the joint connection section are elastically connected. When the locking sleeve covers the limiting long strip hole under the drive of the micromotor and abuts against the limiting block, the root connection section and the joint connection section are locked to form a rigid connection. The connection state of the root connection section and the joint connection section when the locking sleeve is in different positions is clarified, so that the two are in an elastic connection to buffer the impact force during water spraying operation, and form a rigid connection to provide stable support in the non-water spraying state, meeting the needs of different working conditions.

[0020] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, the portion of the limit block exposed from the limit elongated hole has a slot for engaging with the bottom edge of the sliding sleeve. The slot design provides for a more secure engagement between the limit block and the bottom edge of the sliding sleeve.

[0021] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, the bottom surface of the root connection section has a guide post, the interior of the joint connection section has a guide sleeve, the guide sleeve is fixed to the joint connection section, the joint connection section has a second through hole corresponding to the guide sleeve, and the guide post passes through the second through hole and is slidably connected to the guide sleeve. The design of the guide post and guide sleeve guides the relative movement of the root connection section and the joint connection section, ensuring smooth movement, while further improving the buffering effect and enhancing the overall stability of the robot.

[0022] Preferably, in the aforementioned fire-fighting water monitor quadruped robot capable of switching between a buffered connection and a rigid connection, a corrugated telescopic panel is connected between the edge of the root connection section and the edge of the joint connection section. The connection of the corrugated telescopic panel effectively protects internal components from the ingress of dust and debris, while allowing relative movement between the root connection section and the joint connection section, adapting to structural changes in different connection states and improving the robot's environmental adaptability.

[0023] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection, which has the following beneficial effects:

[0024] 1. Improved balance: By setting a connection state switching part on the thigh of the hind leg, the robot can buffer the recoil generated by the water cannon during water spraying operation, reducing imbalance phenomena such as recoil and tilting; when not spraying water, the leg structure can form a rigid connection to ensure the stability of the robot's normal walking and movement.

[0025] 2. Significant buffering effect: The elastic buffer gap, buffer spring and other designs can effectively absorb the impact energy during water spraying operations, reduce the damage to the overall stability of the robot, and improve the stability and accuracy of fire extinguishing operations.

[0026] 3. Enhanced stability: In the rigid connection state, the locking sleeve abuts against the limit block to form a stable locking structure, ensuring that the robot's leg connection is stable during non-water spraying operations and providing sufficient support. When walking on complex terrain, the robot's maneuverability and stability are not easily affected by insufficient rigidity of the leg connection.

[0027] 4. High degree of automation: The cooperation of micro motor, threaded rod and locking sleeve realizes the automatic switching of connection status, improves the automation and intelligence level of the robot, and reduces manual intervention.

[0028] 5. Compact and reasonable structure: The layout of various components is reasonable, such as the guiding function of the slide and slide rod, the protection and guiding function of the corrugated telescopic enclosure, etc., so that the robot can achieve the buffering and rigidity switching functions while maintaining the compactness and stability of the structure.

[0029] 6. Extended service life: The buffer structure can reduce the damage to robot components caused by the impact force of water spraying, reduce the wear and fatigue of components, and extend the service life of the robot.

[0030] 7. Improved adaptability: This design enables the robot to maintain good balance and stability under different working conditions. Whether it is spraying water to extinguish a fire or walking normally, the robot can adapt to the corresponding working conditions and environmental requirements, and has strong adaptability and reliability.

[0031] 8. Convenience of operation: Through simple control instructions (such as controlling the start and stop of the micromotor), the switching between buffer connection and rigid connection can be achieved. The operation is convenient and fast, which can meet the rapid response requirements in actual fire fighting operations.

[0032] 9. Improved safety: When spraying water to extinguish fires, the robot can effectively buffer the recoil force, reducing dangerous situations such as tipping over due to imbalance, thereby improving the safety of the robot working in complex and dangerous fire scenes.

[0033] 10. Innovative Solution: This paper provides an innovative structural design for a quadruped firefighting robot, which effectively solves the contradiction in the existing technology of the quadruped firefighting robot's poor balance when spraying water and walking. It is of great significance to promote the technological development of quadruped firefighting robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0035] Figure 1 The accompanying drawing is a schematic structural diagram of the front angle of the fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection provided by the present invention;

[0036] Figure 2The accompanying drawing is a schematic structural diagram of the rear angle of a fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection provided by the present invention;

[0037] Figure 3 The accompanying drawing is a schematic structural diagram of the hind leg thigh provided by the present invention;

[0038] Figure 4 The accompanying drawing is a schematic structural diagram of a connection state switching unit provided by the present invention;

[0039] Figure 5 The accompanying drawing is a schematic diagram of the internal structure of the connection state switching unit provided by the present invention;

[0040] Figure 6 The accompanying drawing is a schematic structural diagram of the joint connection section provided by the present invention;

[0041] Figure 7 The accompanying drawing is a schematic structural diagram of the root connecting section provided by the present invention;

[0042] Figure 8 The accompanying drawing is a cross-sectional view of the rear thigh portion of the present invention in a buffer connection state;

[0043] Figure 9 The accompanying drawing is a cross-sectional view of the rigidly locked state of the thigh portion of the hind leg provided by the present invention.

[0044] in:

[0045] 1-Quadruped robot body;

[0046] 11-hind leg thigh; 111-root connecting section; 1111-root connecting section; 1112-first through hole; 1113-slot; 112-joint connecting section; 1121-joint connecting section; 1122-second through hole; 113-fracture;

[0047] 2- Water cannon mechanism;

[0048] 21-Water monitor bracket; 22-Water monitor nozzle; 23-Angle adjustment telescopic rod; 24-Water pipe interface;

[0049] 3-connection status switching unit;

[0050] 31 - sliding sleeve; 311 - limiting long hole; 32 - central sliding column; 321 - limiting block; 3211 - slot; 33 - buffer spring; 34 - bracket; 35 - micromotor; 36 - threaded rod; 37 - locking sleeve; 371 - sliding rod; 38 - guide column; 39 - guide sleeve;

[0051] 4-Corrugated telescopic panels. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] See attached Figure 1 To the attached Figure 5 The embodiment of the present invention discloses a fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection, comprising a quadruped robot body 1, a water cannon mechanism 2 being provided on the top surface of the quadruped robot body 1;

[0054] The thigh portion 11 of the hind leg of the quadruped robot body 1 is disconnected from the middle to form a root connection section 111 and a joint connection section 112. A connection state switching portion 3 is provided between the root connection section 111 and the joint connection section 112. The connection state switching portion 3 can realize the switching between the following two states:

[0055] a. When the water cannon mechanism 2 is activated, the connection state switching portion 3 makes the root connection section 111 and the joint connection section 112 elastically connected, thereby buffering the recoil force of the water cannon mechanism 2 when spraying water;

[0056] b. When the water monitor mechanism 2 is closed, the connection state switching portion 3 locks the root connection section 111 and the joint connection section 112 , so that the root connection section 111 and the joint connection section 112 form a rigid connection.

[0057] In order to further optimize the above technical solution, a fracture 113 is formed between the root connecting segment 111 and the joint connecting segment 112, and the fracture 113 of the root connecting segment 111 has a root connecting section 1111, and the fracture 113 of the joint connecting segment 112 has a joint connecting section 1121, and an elastic buffer gap is formed between the root connecting section 1111 and the joint connecting section 1121.

[0058] See attached Figure 6 and attached Figure 7 The root connecting section 111 has a sliding sleeve 31 inside, and the sliding sleeve 31 is fixed to the root connecting section 1111. The root connecting section 1111 has a first through hole 1112 corresponding to the sliding sleeve 31; a central sliding column 32 is fixed on the joint connecting section 1121, and the central sliding column 32 passes through the first through hole 1112 and is slidably connected to the sliding sleeve 31. A buffer spring 33 is sleeved on the central sliding column 32, and the buffer spring 33 is tightly pressed between the root connecting section 1111 and the joint connecting section 1121.

[0059] In order to further optimize the above technical solution, a limiting long strip hole 311 is axially opened on the side wall of the sliding sleeve 31, and the side wall of the central sliding column 32 has a radially protruding limiting block 321. The limiting block 321 is slidably connected in the limiting long strip hole 311. Under the elastic action of the buffer spring 33, the limiting block 321 is pressed against one end of the limiting long strip hole 311 close to the joint connection section 112.

[0060] In order to further optimize the above technical solution, a micromotor 35 is fixed inside the root connecting section 111 through a bracket 34. The micromotor 35 is located above the sliding sleeve 31. The power output end of the micromotor 35 is connected to a downward threaded rod 36. The top sliding sleeve of the sliding sleeve 31 is provided with a locking sleeve 37. The outer wall of the locking sleeve 37 is slidably connected to the inner wall of the root connecting section 111, and the threaded rod 36 passes through the top wall of the locking sleeve 37 and is threadedly connected to the top wall of the locking sleeve 37.

[0061] In order to further optimize the above technical solution, a sliding groove 1113 is axially opened on the inner wall of the root connecting section 111, and the outer wall of the locking sliding sleeve 37 has a radially extending sliding rod 371, and the end of the sliding rod 371 is slidingly connected to the sliding groove 1113.

[0062] In this embodiment, when the locking sleeve 37 is located above the limiting long hole 311 under the drive of the micromotor 35, the limiting block 321 is in a free state, so that the root connecting section 111 and the joint connecting section 112 are elastically connected. When the locking sleeve 37 covers the limiting long hole 311 under the drive of the micromotor 35 and abuts against the limiting block 321, the root connecting section 111 and the joint connecting section 112 are locked to form a rigid connection.

[0063] In order to further optimize the above technical solution, the portion of the limiting block 321 exposed outside the limiting elongated hole 311 has a clamping groove 3211 , and the clamping groove 3211 is used to clamp with the bottom edge of the sliding sleeve 31 .

[0064] In order to further optimize the above technical solution, the bottom surface of the root connection section 1111 has a guide column 38, and the interior of the joint connection section 112 has a guide sleeve 39, which is fixed to the joint connection section 1121. The joint connection section 1121 has a second through hole 1122 corresponding to the guide sleeve 39, and the guide column 38 passes through the second through hole 1122 and is slidably connected to the guide sleeve 39.

[0065] In order to further optimize the above technical solution, a corrugated telescopic panel 4 is connected between the edge of the root connection section 1111 and the edge of the joint connection section 1121.

[0066] In order to further improve the use effect, the guide column 38 can be provided with an auxiliary spring to increase the buffering force and improve the stability.

[0067] At the same time, the inner side of the corrugated telescopic enclosure 4 can be connected to a positioning ring, and the positioning ring is allowed to pass through the guide column 38, so that the corrugated telescopic enclosure 4 has a certain telescopic guiding property.

[0068] In this embodiment, the water cannon mechanism 2 includes a water cannon bracket 21, the front end of the water cannon bracket 21 is hinged with a water cannon nozzle 22, and an angle-adjusting telescopic rod 23 is installed on the water cannon bracket 21. The telescopic end of the angle-adjusting telescopic rod 23 is hinged to the water cannon nozzle 22 for adjusting the spray angle of the water cannon nozzle 22. The rear end of the water cannon bracket 21 has a water pipe interface 24. After the water pipe interface 24 is connected to a high-pressure water pipe, it is connected to a high-pressure water source and supplied to the water cannon nozzle 22 for spraying water to extinguish the fire.

[0069] The working principle of this embodiment is as follows:

[0070] 1. Buffer connection principle during water spraying operation:

[0071] When the water cannon mechanism 2 is activated and begins spraying water, the connection state switching unit 3 places the root connection section 111 and the joint connection section 112 of the hind leg thigh 11 in an elastic connection state. Specifically, the fracture 113 between the root connection section 111 and the joint connection section 112 forms an elastic buffer gap. The central sliding column 32 passes through the first through hole 1112 of the root connection section 111 and is slidably connected to the sliding sleeve 31. The buffer spring 33 on the central sliding column 32 is tightened between the root connection section 1111 and the joint connection section 1121. When the water cannon sprays and generates recoil, the hind leg thigh 11 is stressed, and the joint connection section 112 moves relative to the root connection section 111, compressing the buffer spring 33. The elastic deformation of the buffer spring 33 absorbs part of the impact energy, thereby effectively buffering the recoil of the water cannon during water spraying, reducing the overall imbalance of the robot such as recoil and tilt, and ensuring the stability and accuracy of the firefighting operation.

[0072] 2. Rigid connection principle during non-water spraying operation:

[0073] When the water cannon mechanism 2 is deactivated and the robot is in normal walking or non-spraying operation, the micromotor 35 drives the locking sleeve 37 downward, covering the limiting elongated hole 311 and abutting against the limiting block 321. The threaded connection between the threaded rod 36 and the locking sleeve 37 forms a stable locking structure, preventing the limiting block 321 from sliding within the limiting elongated hole 311, thereby locking the root connecting section 111 and the joint connecting section 112 into a rigid connection. This rigid connection ensures the stability of the leg structure when the robot walks on complex terrain, providing sufficient support and stability, and ensuring the robot's normal movement performance and maneuverability.

[0074] One advantage of this embodiment is that, because the interior space of the hind leg thigh portion 11 is very small, the integration of the connection state switching unit 3 requires consideration of the overall structural layout. The most critical difficulty lies in ensuring the stability of the locking structure. In this embodiment, locking is achieved using a locking sleeve 37, which poses a challenge in terms of stability after locking. Furthermore, controlling the movement of the locking sleeve 37 also poses a challenge. As mentioned above, the interior space of the hind leg thigh portion 11 is very small, so the driving components used cannot be too large. However, if the driving components are too large, they cannot provide sufficient driving force, making locking stability difficult to ensure.

[0075] When the locking sleeve 37 is in the locked state, the micromotor 35 can move downwards to release the locking sleeve 37, and the locking sleeve 37 can move downwards to release the locking sleeve 37. When the locking sleeve 37 is in the locked state, the micromotor 35 can move downwards to release the locking sleeve 37, and the micromotor 35 can move downwards to release the locking sleeve 37. When the locking sleeve 37 is in the locked state, the micromotor 35 can move downwards to release the locking sleeve 37, and the locking sleeve 37 can move downwards to release the locking sleeve 37.

[0076] It can be seen that the structural design of the connection state switching portion 3 of this embodiment satisfies the requirement of using the micro motor 35 in a narrow space, while ensuring the effective driving of the micro motor 35 and the stability of the locking state.

[0077] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0078] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire-fighting water cannon quadruped robot capable of switching between a buffer connection and a rigid connection, comprising a quadruped robot body (1), wherein a water cannon mechanism (2) is provided on the top surface of the quadruped robot body (1); and characterized in that: The thigh portion (11) of the hind leg of the quadruped robot body (1) is disconnected from the middle to form a root connection section (111) and a joint connection section (112). A connection state switching section (3) is provided between the root connection section (111) and the joint connection section (112). The connection state switching section (3) can realize switching between the following two states: a. When the water cannon mechanism (2) is activated, the connection state switching portion (3) enables an elastic connection between the root connection section (111) and the joint connection section (112), thereby buffering the recoil force of the water cannon mechanism (2) when spraying water; b. When the water cannon mechanism (2) is closed, the connection state switching portion (3) locks the root connection section (111) and the joint connection section (112), so that the root connection section (111) and the joint connection section (112) form a rigid connection.

2. A fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 1, characterized in that: A fracture (113) is formed between the root connection section (111) and the joint connection section (112), and the fracture (113) of the root connection section (111) has a root connection section (1111), and the fracture (113) of the joint connection section (112) has a joint connection section (1121), and an elastic buffer gap is formed between the root connection section (1111) and the joint connection section (1121).

3. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 2, characterized in that: The root connection section (111) has a sliding sleeve (31) inside, the sliding sleeve (31) is fixed to the root connection section (1111), and the root connection section (1111) has a first through hole (1112) corresponding to the sliding sleeve (31); a central sliding column (32) is fixed on the joint connection section (1121), the central sliding column (32) passes through the first through hole (1112) and is slidably connected to the sliding sleeve (31), and a buffer spring (33) is sleeved on the central sliding column (32), and the buffer spring (33) is pressed tightly between the root connection section (1111) and the joint connection section (1121).

4. A fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 3, characterized in that: A limiting long strip hole (311) is axially opened on the side wall of the sliding sleeve (31), and a radially protruding limiting block (321) is provided on the side wall of the central sliding column (32). The limiting block (321) is slidably connected in the limiting long strip hole (311). Under the elastic action of the buffer spring (33), the limiting block (321) is pressed against one end of the limiting long strip hole (311) close to the joint connection section (112).

5. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 4, characterized in that: A micromotor (35) is fixed inside the root connecting section (111) through a bracket (34), and the micromotor (35) is located above the sliding sleeve (31). The power output end of the micromotor (35) is connected to a downward threaded rod (36), and the top sliding sleeve of the sliding sleeve (31) is provided with a locking sliding sleeve (37). The outer wall of the locking sliding sleeve (37) is slidably connected to the inner wall of the root connecting section (111) in an upward and downward manner, and the threaded rod (36) passes through the top wall of the locking sliding sleeve (37) and is threadedly connected to the top wall of the locking sliding sleeve (37).

6. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 5, characterized in that: The inner wall of the root connecting section (111) is axially provided with a sliding groove (1113), and the outer wall of the locking sliding sleeve (37) is provided with a radially extending sliding rod (371), and the end of the sliding rod (371) is slidably connected to the sliding groove (1113).

7. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 6, characterized in that: When the locking sleeve (37) is located above the limiting strip hole (311) under the drive of the micromotor (35), the limiting block (321) is in a free state, so that the root connecting section (111) and the joint connecting section (112) are elastically connected. When the locking sleeve (37) covers the limiting strip hole (311) under the drive of the micromotor (35) and abuts against the limiting block (321), the root connecting section (111) and the joint connecting section (112) are locked to form a rigid connection.

8. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 7, characterized in that: The portion of the limiting block (321) exposed outside the limiting long strip hole (311) has a clamping groove (3211), and the clamping groove (3211) is used to clamp with the bottom edge of the sliding sleeve (31).

9. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 2, characterized in that: The bottom surface of the root connection section (1111) is provided with a guide column (38), the interior of the joint connection section (112) is provided with a guide sleeve (39), the guide sleeve (39) is fixed to the joint connection section (1121), the joint connection section (1121) has a second through hole (1122) corresponding to the guide sleeve (39), and the guide column (38) passes through the second through hole (1122) and is slidably connected to the guide sleeve (39).

10. The fire-fighting water monitor quadruped robot capable of switching between a buffer connection and a rigid connection according to claim 2, characterized in that: A corrugated telescopic enclosure (4) is connected between the edge of the root connection section (1111) and the edge of the joint connection section (1121).

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