Fire-fighting quadruped robot with self-adaptive terrain adjustment function

Abstract

The invention relates to the technical field of robots, and discloses a fire fighting quadruped robot with a self-adaptive terrain adjustment function, supporting legs are arranged on the two sides of a robot body, and anti-skid assemblies are mounted at the lower ends of the supporting legs; the antiskid assembly comprises a compensation mechanism, a supporting piece is arranged below the compensation mechanism, an elastic piece, a cavity ring and an adsorption piece are arranged on the inner side of the supporting piece from outside to inside, a first ring groove, a second ring groove and a third ring groove are formed in the lower end face of the supporting piece from outside to inside, and an air groove is formed in the supporting piece in a penetrating mode. A through hole is formed in the cavity ring in a penetrating manner; the elastic piece comprises a distance ring slidably connected with the first annular groove, a plurality of connecting rods penetrating through the supporting piece are fixedly installed at the upper end of the distance ring, a partition plate is fixedly installed at the end, away from the distance ring, of each connecting rod, and an original water layer is converted into a water film, so that surface tension between water molecules can fill up micro gaps between the adsorption piece and the ground; the adsorption stability and the adsorption capacity are improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a fire-fighting quadruped robot with an adaptive terrain adjustment function. Background Art

[0002] With the continuous development of robotics technology, quadruped robots, with their flexible locomotion, are showing broad application prospects in firefighting, disaster relief, industrial inspection, and other fields. In firefighting scenarios, in particular, robots must navigate complex environments such as slippery stairs and flooded corridors. The adhesion and anti-slip properties of their feet are crucial factors in determining mission success. However, existing foot adhesion technology still has significant limitations when dealing with complex surfaces containing liquids, making it difficult to meet practical needs.

[0003] For example, a Chinese patent with prior art publication number CN218172425U discloses a leg mechanism of a quadruped robot and a quadruped robot. The first end of the calf side plate is provided with a buffer rubber column, which can imitate the heel area of a quadruped. The end of the buffer rubber column away from the ground is provided with a positioning hole, and a cylindrical pin passes through the positioning hole to fix the buffer rubber column to the calf side plate. The end of the buffer rubber column close to the ground is a variable diameter portion, and its diameter increases to increase the contact with the ground. The outer cylindrical surface of the variable diameter portion is used for contact with the ground.

[0004] Regarding the above-mentioned and existing related technologies, the inventors believe that the following defects often exist: when the rubber material comes into contact with the dry ground, the friction coefficient is high and the anti-slip performance is good. However, in the firefighting scene, there will inevitably be a large amount of water layer on the ground, which causes the friction coefficient between the rubber material and the ground to be greatly reduced. As a result, the stability of the quadruped robot during movement cannot be guaranteed, and accidents are very likely to occur, affecting the efficient rescue operations of firefighting. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the rubber feet of the quadruped robot in the existing technology cannot provide itself with sufficient stability when moving in firefighting scenarios, resulting in the shortcomings of poor practicality and unclear application prospects. For this reason, we propose a fire-fighting quadruped robot with adaptive terrain adjustment function.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: a fire-fighting quadruped robot with adaptive terrain adjustment function, including a robot body for carrying fire-fighting equipment, two sets of legs for movement are provided on both sides of the robot body, and the lower end bolts of the legs are installed with anti-slip components; the anti-slip component includes a compensation mechanism connected to the leg bolts, a support member is provided below the compensation mechanism, and the inner side of the support member is provided with an elastic member, a cavity ring and an adsorption member from the outside to the inside, and the lower end surface of the support member is provided with ring groove 1, ring groove 2 and ring groove 3 from the outside to the inside, and the support member is provided with a plurality of ring grooves. An air groove is provided inside, the ring groove three is connected with the ring groove two, the adsorption member is slidably connected to the surface of the ring groove three, the cavity ring is fixedly connected to the surface of the ring groove two, and a through hole is provided inside the cavity ring; the elastic member includes a spacer ring slidably connected to the ring groove one, and a plurality of connecting rods penetrating the support member are fixedly installed on the upper end of the spacer ring, and a partition is fixedly installed on the end of the connecting rod away from the spacer ring, and the partition is slidably connected to the inner wall of the cavity ring and fits tightly. During the movement, the elastic member will first come into contact with and abut against the ground to separate the water layer on the ground, and then the mass of the robot body and the fire-fighting equipment carried on the back will be generated. The downward pressure will be transmitted to the support member through the support legs, forcing the support member to move downward gradually. At the same time, the elastic member is gradually entering the interior of the support member, so that the partition ring drives the partition plate to gradually move upward along the inner wall of the cavity ring through the connecting rod, squeezing the gas in the ring groove 2, forcing the gas from the gas groove into the ring groove 3, that is, between the support member and the adsorption member. As the gas continues to increase, the adsorption member is pushed downward gradually. At the same time, due to the continuous upward movement of the partition plate on the other side, a suction effect is formed at the through hole, which sucks the internal water layer separated by the partition ring into the interior of the cavity ring below the partition plate, making the thicker The water layer is transformed into a thinner water film until the support part contacts the ground. At the same time, the adsorption part also undergoes a certain deformation, thereby forming a negative pressure adsorption effect between the adsorption part and the ground, thereby improving the stability of the robot body during movement. Moreover, since the original water layer is transformed into a water film, the surface tension between the water molecules can fill the microscopic gap between the adsorption part and the ground, forming a sealing effect similar to a "liquid gasket", which can greatly reduce the leakage rate between the adsorption part and the ground, improve the adsorption stability and adsorption force, and give itself sufficient stability when moving in firefighting scenarios, ensuring efficient firefighting and rescue operations.

[0007] Preferably, a cavity rod is fixedly mounted on the surface of the annular groove three, and the adsorption component includes a pressure plate which is sleeved on and slidably connected to the outer wall of the cavity rod, a sleeve is fixedly mounted on the lower end of the pressure plate, and a suction cup is fixedly mounted on the outer wall of the sleeve, and the outer wall of the pressure plate is tightly fitted with the inner wall of the annular groove three. After the gas flows through the gas groove, it will enter the annular groove three between the support member and the pressure plate. As the gas continues to increase, the pressure plate is pushed to drive the sleeve and the suction cup to move downward synchronously until the suction cup comes into contact with the ground, and discharges the excess gas between the suction cup and the ground through its own deformation, thereby fitting tightly with the ground, forming a negative pressure to produce an adsorption effect, and the water film between the suction cup and the ground can fill the microscopic gap between the adsorption component and the ground, thereby improving the adsorption force and enhancing the stability.

[0008] Preferably, the outer wall of the cavity rod is symmetrically provided with a slide groove, and the inner wall of the pressure plate is symmetrically installed with a slider, which matches the slide groove and is slidably connected, so that the adsorption part as a whole cannot rotate during the vertical movement process, thereby ensuring the adsorption effect and stability between the suction cup and the ground.

[0009] Preferably, the outer walls of the pressure plate and the partition are coated with a rubber coating, which can effectively improve the fit with the three surfaces of the ring groove and the inner wall surface of the cavity ring, avoiding gas leakage, which makes it impossible to achieve the anti-slip effect of the anti-slip component normally.

[0010] Preferably, a spring is sleeved on the outer side of the connecting rod, the upper end of the spring is fixedly connected to the surface of the ring groove, and the lower end of the spring is fixedly connected to the spacer ring. As the spacer ring gradually enters the inside of the ring groove, it will squeeze and compress the spring, so that when the support leg drives the anti-slip component to lift up, the elastic part as a whole is prompted to return to the initial position under the reset force of the spring, and the synchronous adsorption part also returns to the initial position, and the partition squeezes out the water inside the cavity ring, waiting for the next time, so that the quadruped robot can be very stable even if it is affected by the ground water layer and the heavy objects carried on the back during the movement in the fire scene.

[0011] Preferably, a filter is fixedly installed at the port of the through hole. During the water absorption process, impurities in the water layer will tend to gather towards the through hole, thereby effectively reducing the amount of impurities between the suction cup and the ground, further improving the adsorption effect and stability, and through the setting of the filter, the impurities in the water layer can be effectively filtered to prevent impurities from entering the interior of the cavity ring.

[0012] Preferably, a valve is fixedly installed on the inner wall of the sleeve, and a micro air pump is fixedly installed on the middle part of the upper end of the support. When the robot body controls the legs to drive the anti-slip component to move forward, the external gas is transported to the cavity rod through the micro air pump, and then enters the sleeve from the cavity rod, and finally squeezes the valve open to enter between the suction cup and the ground, releasing the adsorption effect, thereby not affecting the subsequent leg-lifting action, so that it does not affect the smoothness of the movement of the quadruped robot, and can ensure the stability during movement. The start and stop control of the micro air pump can be added during the programming process of the quadruped robot.

[0013] Preferably, an anti-slip groove is provided on the lower end surface of the support member to further improve stability during movement.

[0014] Preferably, a plurality of connecting buckles are fixedly installed on the upper end of the support member, the compensation mechanism includes a load-bearing plate connected to the support leg bolts, a plurality of groups of damping rods are fixedly installed on the lower end of the load-bearing plate, a ball joint is fixedly installed on the lower end of the damping rod, and the connecting buckle is sleeved on the outside of the ball joint and movably connected. During the movement, even if the ground has a certain inclination, the inclination angle can be compensated by setting the damping rod and the ball joint, thereby improving the robot's ability to cope with complex ground environments.

[0015] Preferably, the damping rod includes a fixed ring fixedly connected to the supporting plate, a driven rod is slidably installed on the inner side of the fixed ring, the lower end of the driven rod is fixedly connected to the ball joint, and a driven disk is fixedly installed on the upper end of the driven rod. A hole is opened through the inside of the driven disk, and the fixed ring is filled with damping fluid. The driven disk is driven by the driven rod to move vertically in the fixed ring, so that the damping fluid flows through the hole, thereby forming a damping effect, which can effectively buffer the vibration impact generated when the robot moves.

[0016] The technical effects and advantages of the present invention are as follows: a suction effect is formed at the through hole, and the internal water layer separated by the partition ring is sucked into the interior of the cavity ring below the partition, so that the thicker water layer is transformed into a thinner water film until the support part abuts against the ground. At the same time, the adsorption part also undergoes a certain deformation, thereby forming a negative pressure adsorption effect between the adsorption part and the ground, thereby improving the stability of the robot body during movement. Moreover, since the original water layer is transformed into a water film, the surface tension between the water molecules can fill the microscopic gap between the adsorption part and the ground, forming a sealing effect similar to a "liquid gasket", which can greatly reduce the air leakage rate between the adsorption part and the ground, improve the adsorption stability and adsorption force, and give itself sufficient stability when moving in firefighting scenarios, thereby ensuring efficient firefighting rescue operations.

[0017] In the present invention, the main innovation is a simple working principle: during the movement, the elastic part will first come into contact and abut with the ground, separating the water layer on the ground, and then the downward pressure generated by the mass of the robot body and the fire-fighting equipment carried on its back will be transmitted to the support part through the support legs, forcing the support part to gradually move downward. At the same time, the elastic part is also gradually entering the interior of the support part, so that the partition ring drives the partition along the inner wall of the cavity ring through the connecting rod to gradually move upward, squeezing the gas in the ring groove two, forcing the gas from the gas groove into the ring groove three, that is, between the support part and the adsorption part. As the gas continues to increase, the adsorption part is pushed to move gradually downward. At the same time, due to the continuous upward movement of the partition on the other side, a suction is formed at the through hole. The suction effect sucks the internal water layer separated by the partition ring into the inside of the cavity ring below the partition, turning the thicker water layer into a thinner water film until the support part contacts the ground. At the same time, the adsorption part also undergoes a certain deformation, thereby forming a negative pressure adsorption effect with the ground, thereby improving the stability of the robot body during movement. Moreover, since the original water layer is transformed into a water film, the surface tension between water molecules can fill the microscopic gap between the adsorption part and the ground, forming a sealing effect similar to a "liquid gasket", which can greatly reduce the air leakage rate between the adsorption part and the ground, improve the adsorption stability and adsorption force, and give it sufficient stability when moving in firefighting scenarios, thereby ensuring efficient firefighting rescue operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 drawings, the same reference numerals are used to refer to the same components: Figure 1 It is a schematic top view of the overall structure of the present invention; Figure 2 It is a bottom view schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic structural diagram of the anti-slip assembly of the present invention; Figure 4 It is a schematic cross-sectional view of the anti-skid assembly structure of the present invention; Figure 5 Schematic diagram of the explosion of the anti-skid component structure of the present invention Figure 1 ; Figure 6 Schematic diagram of the explosion of the anti-skid component structure of the present invention Figure 2 ; Figure 7 It is a schematic cross-sectional view of the compensation mechanism structure of the present invention.

[0019] Legend: 1. Robot body; 2. Legs; 3. Anti-slip assembly; 31. Compensation mechanism; 311. Loading plate; 312. Damping rod; 3121. Fixing ring; 3122. Follower rod; 3123. Follower plate; 3124. Hole; 313. Ball joint; 32. Support member; 321. Ring groove three; 322. Ring groove two; 323. Ring groove one; 324. Connector; 325. Micro air pump. 326. Cavity rod; 3261. Slide groove; 327. Anti-slip groove; 328. Air groove; 33. Elastic member; 331. Spacer ring; 332. Connecting rod; 333. Partition; 334. Spring; 34. Cavity ring; 342. Filter screen; 343. Through hole; 35. Adsorption member; 351. Pressure plate; 3511. Rubber coating; 352. Sleeve; 353. Suction cup; 354. Valve; 355. Slider. DETAILED DESCRIPTION

[0020] 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.

[0021] Reference Figures 1-6As shown, the present invention provides a technical solution: a fire-fighting quadruped robot with adaptive terrain adjustment function, comprising a robot body 1 for carrying fire-fighting equipment, two sets of legs 2 for movement are provided on both sides of the robot body 1, and the lower ends of the legs 2 are bolted with anti-slip components 3; the anti-slip components 3 include a compensation mechanism 31 bolted to the legs 2, a support member 32 is provided below the compensation mechanism 31, and an elastic member 33 and a cavity ring 3 are provided on the inner side of the support member 32 from the outside to the inside. 4 and the adsorption member 35, the lower end surface of the support member 32 is respectively provided with a ring groove 1 323, a ring groove 2 322 and a ring groove 321 from the outside to the inside, the interior of the support member 32 is provided with an air groove 328, the ring groove 321 and the ring groove 2 322 are connected, the adsorption member 35 is slidably connected to the surface of the ring groove 321, the cavity ring 34 is fixedly connected to the surface of the ring groove 2 322, and the interior of the cavity ring 34 is provided with a through hole 343; the elastic member 33 includes a spacer ring 331 slidably connected to the ring groove 1 323, The upper end of the spacer ring 331 is fixedly provided with a plurality of connecting rods 332 that pass through the support member 32, and the end of the connecting rod 332 away from the spacer ring 331 is fixedly provided with a partition 333, which is slidably connected and tightly fitted with the inner wall of the cavity ring 34. During the movement, the elastic member 33 will first come into contact with and abut the ground, separating the water layer on the ground. Then, the downward pressure generated by the mass of the robot body 1 and the carried fire-fighting equipment will be transmitted to the support member 32 through the support legs 2, forcing the support member 32 to gradually move downward. At the same time, the elastic member 33 is also gradually entering the interior of the support member 32, so that the spacer ring 331 drives the partition 333 to gradually move upward along the inner wall of the cavity ring 34 through the connecting rod 332, squeezing the gas in the ring groove 2 322, forcing the gas from the gas groove 328 into the ring groove 321, that is, between the support member 32 and the adsorption member 35. As the gas continues to increase The suction part 35 is pushed downward gradually. At the same time, due to the continuous upward movement of the partition 333 on the other side, a suction effect is formed at the through hole 343, and the internal water layer separated by the partition ring 331 is sucked into the interior of the cavity ring 34 below the partition 333, so that the thicker water layer is transformed into a thinner water film until the support part 32 contacts the ground. At the same time, the suction part 35 also undergoes a certain deformation, thereby forming a negative pressure adsorption effect between the ground, thereby improving the stability of the robot body 1 during movement. Moreover, since the original water layer is transformed into a water film, the surface tension between the water molecules can fill the microscopic gap between the suction part 35 and the ground, forming a sealing effect similar to a "liquid gasket", which can greatly reduce the air leakage rate between the suction part 35 and the ground, improve the adsorption stability and adsorption force, and give itself sufficient stability when moving in firefighting scenarios, thereby ensuring efficient firefighting and rescue operations.

[0022] Reference Figure 5-Figure 6As shown, in this embodiment: a cavity rod 326 is fixedly installed on the surface of the annular groove three 321, and the adsorption member 35 includes a pressure plate 351 which is sleeved on the outer wall of the cavity rod 326 and slidably connected. A sleeve 352 is fixedly installed on the lower end of the pressure plate 351, and a suction cup 353 is fixedly installed on the outer wall of the sleeve 352. The outer wall of the pressure plate 351 is tightly fitted with the inner wall of the annular groove three 321. After the gas flows through the gas groove 328, it will enter the annular groove three 321 between the support member 32 and the pressure plate 351. As the gas continues to increase, it pushes the pressure plate 351 to drive the sleeve 352 and the suction cup 353 to move downward synchronously until the suction cup 353 comes into contact with the ground and discharges the excess gas between the ground and the ground through its own deformation, thereby closely fitting with the ground, forming a negative pressure to produce an adsorption effect, and the water film between the suction cup 353 and the ground can fill the microscopic gap between the adsorption member 35 and the ground, thereby improving the adsorption force and enhancing the stability.

[0023] Reference Figure 5-Figure 6 As shown, in this embodiment: the outer wall of the cavity rod 326 is symmetrically provided with a slide groove 3261, and the inner wall of the pressure plate 351 is symmetrically installed with a slider 355, and the slider 355 matches the slide groove 3261 and is slidably connected, so that the adsorption part 35 as a whole cannot rotate during the vertical movement process, thereby ensuring the adsorption effect and stability between the suction cup 353 and the ground.

[0024] Reference Figure 5-Figure 6 As shown, in this embodiment: the outer walls of the pressure plate 351 and the partition 333 are coated with a rubber coating 3511, which can effectively improve the degree of fit with the surface of the ring groove 321 and the inner wall surface of the cavity ring 34, avoid gas leakage, and make the anti-slip effect of the anti-slip component 3 unable to be normally achieved.

[0025] Reference Figure 5-Figure 6 As shown, in this embodiment: a spring 334 is sleeved on the outer side of the connecting rod 332, and the upper end of the spring 334 is fixedly connected to the surface of the ring groove 323, and the lower end of the spring 334 is fixedly connected to the spacer ring 331. As the spacer ring 331 gradually enters the inside of the ring groove 323, it will squeeze and compress the spring 334, so that when the support leg 2 drives the anti-slip component 3 to lift up, under the reset force of the spring 334, the elastic part 33 is prompted to return to the initial position as a whole, and the synchronous adsorption part 35 also returns to the initial position, and the partition 333 squeezes out the water inside the cavity ring 34, waiting for the next time, so that the quadruped robot can be very stable even if it is affected by the ground water layer and the heavy objects on the back during the movement in the fire scene.

[0026] Reference Figure 5-Figure 6As shown, in this embodiment: a filter screen 342 is fixedly installed at the port of the through hole 343. During the water absorption process, impurities in the water layer will tend to gather toward the through hole 343, thereby effectively reducing the amount of impurities between the suction cup 353 and the ground, further improving the adsorption effect and stability, and through the setting of the filter screen 342, the impurities in the water layer can be effectively filtered to prevent impurities from entering the interior of the cavity ring 34.

[0027] Reference Figure 5-Figure 6 As shown, in this embodiment: a valve 354 is fixedly installed on the inner wall of the sleeve 352, and a micro air pump 325 is fixedly installed on the middle part of the upper end of the support member 32. When the robot body 1 controls the support leg 2 to drive the anti-slip component 3 to advance, the external gas is transported to the cavity rod 326 through the micro air pump 325, and then enters the sleeve 352 from the cavity rod 326, and finally squeezes the valve 354 to enter between the suction cup 353 and the ground, releasing the adsorption effect, thereby not affecting the subsequent leg lifting action, so that it does not affect the smoothness of the movement of the quadruped robot, and can ensure the stability during movement. The start and stop control of the micro air pump 325 can be added during the programming process of the quadruped robot.

[0028] Reference Figure 6 As shown, in this embodiment: the lower end surface of the support member 32 is provided with an anti-slip groove 327 to further improve the stability during the movement.

[0029] Reference Figure 5-Figure 7 As shown, in this embodiment: a plurality of connecting buckles 324 are fixedly installed on the upper end of the support member 32, the compensation mechanism 31 includes a load-bearing plate 311 bolted to the support leg 2, a plurality of damping rods 312 are fixedly installed on the lower end of the load-bearing plate 311, a ball joint 313 is fixedly installed on the lower end of the damping rod 312, and the connecting buckle 324 is sleeved on the outside of the ball joint 313 and movably connected. During the movement, even if the ground has a certain inclination, the inclination angle can be compensated by setting the damping rod 312 and the ball joint 313, thereby improving the robot's ability to cope with complex ground environments.

[0030] Reference Figure 7 As shown, in this embodiment: the damping rod 312 includes a fixed ring 3121 fixedly connected to the supporting plate 311, a driven rod 3122 is slidably installed on the inner side of the fixed ring 3121, the lower end of the driven rod 3122 is fixedly connected to the ball joint 313, and the upper end of the driven rod 3122 is fixedly installed with a driven disk 3123, and a hole 3124 is opened through the interior of the driven disk 3123. The fixed ring 3121 is filled with damping fluid, and the driven disk 3123 is driven by the driven rod 3122 to move vertically in the fixed ring 3121, so that the damping fluid flows through the hole 3124, thereby forming a damping effect, which can effectively buffer the vibration impact generated when the robot moves.

[0031] Working principle: During the movement, the elastic member 33 will first come into contact with and abut the ground, separating the water layer on the ground. Then, the downward pressure generated by the mass of the robot body 1 and the fire-fighting equipment carried on its back will be transmitted to the support member 32 through the support legs 2, forcing the support member 32 to gradually move downward. At the same time, the elastic member 33 is also gradually entering the interior of the support member 32, so that the partition ring 331 drives the partition plate 333 to gradually move upward along the inner wall of the cavity ring 34 through the connecting rod 332, squeezing the gas in the annular groove 2 322, forcing the gas from the gas groove 328 into the annular groove 321, that is, between the support member 32 and the adsorption member 35. As the gas continues to increase, the adsorption member 35 is pushed to move downward gradually. At the same time, due to the continuous upward movement of the partition plate 333 on the other side, the passage is prompted A suction effect is formed at the hole 343, which sucks the internal water layer separated by the partition ring 331 into the interior of the cavity ring 34 below the partition 333, so that the thicker water layer is transformed into a thinner water film until the support member 32 contacts the ground. At the same time, the adsorption member 35 also undergoes a certain deformation, thereby forming a negative pressure adsorption effect between the adsorption member 35 and the ground, thereby improving the stability of the robot body 1 during movement. Moreover, since the original water layer is transformed into a water film, the surface tension between the water molecules can fill the microscopic gap between the adsorption member 35 and the ground, forming a sealing effect similar to a "liquid gasket", which can greatly reduce the leakage rate between the adsorption member 35 and the ground, improve the adsorption stability and adsorption force, and give itself sufficient stability when moving in firefighting scenarios, thereby ensuring efficient firefighting rescue operations.

[0032] 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 fire-fighting quadruped robot with adaptive terrain adjustment function, characterized in that: The cam is provided with a plurality of connecting rods, each of which is connected to the support frame, and the connecting rod has a plurality of connecting rods extending therefrom, and the connecting rod has a plurality of connecting rods extending therefrom.

2. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 1, characterized in that: A cavity rod is fixedly installed on the surface of the annular groove three, and the adsorption component includes a pressure plate that is sleeved on the outer wall of the cavity rod and slidably connected. A sleeve is fixedly installed on the lower end of the pressure plate, and a suction cup is fixedly installed on the outer wall of the sleeve. The outer wall of the pressure plate is tightly fitted with the inner wall of the annular groove three.

3. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 2, characterized in that: The outer wall of the cavity rod is symmetrically provided with sliding grooves, and the inner wall of the pressure plate is symmetrically provided with sliding blocks, which match the sliding grooves and are slidably connected.

4. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 3, characterized in that: The outer walls of the pressure plate and the partition are both coated with rubber coating.

5. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 1, characterized in that: A spring is sleeved on the outer side of the connecting rod, the upper end of the spring is fixedly connected to a surface of the ring groove, and the lower end of the spring is fixedly connected to the spacer ring.

6. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 1, characterized in that: A filter is fixedly installed at the port of the through hole.

7. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 2, characterized in that: A valve is fixedly installed on the inner wall of the sleeve, and a micro air pump is fixedly installed on the middle part of the upper end of the support member.

8. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 1, characterized in that: The lower end surface of the support member is provided with an anti-slip groove to further improve the stability during movement.

9. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 1, characterized in that: A plurality of connecting buckles are fixedly installed on the upper end of the support member, and the compensation mechanism includes a bearing plate connected to the support leg bolts, a plurality of damping rods are fixedly installed on the lower end of the bearing plate, and a ball joint is fixedly installed on the lower end of the damping rod, and the connecting buckle is sleeved on the outside of the ball joint and movably connected.

10. The fire-fighting quadruped robot with adaptive terrain adjustment function according to claim 9, characterized in that: The damping rod includes a fixing ring fixedly connected to the supporting plate, a driven rod is slidably mounted on the inner side of the fixing ring, the lower end of the driven rod is fixedly connected to the ball joint, and a driven disk is fixedly mounted on the upper end of the driven rod, a hole is opened through the interior of the driven disk, and the fixing ring is filled with damping fluid.

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