Walking mechanism and detection recovery robot comprising same

Abstract

The utility model provides a walking mechanism and a detection and recovery robot comprising the same, relates to the technical field of detection equipment, and solves the technical problem that an exploration robot cannot efficiently work in an environment with a larger obstacle volume or a complex terrain. The walking mechanism comprises a multi-foot walking unit and a crawler walking unit which operate in an alternative mode so as to drive the walking mechanism to advance in a foot mode or a crawler mode. The detecting and recycling robot comprises a robot body and a walking mechanism. Six walking legs in the multi-foot walking unit are divided into two groups which are respectively arranged on two sides of the machine body; the crawler walking unit is arranged at the bottom of the body. A crawler-type advancing mode is adopted in a road section with fewer obstacles, and the robot can be switched to a foot-type advancing mode to cross the obstacles when encountering the obstacles with steps and larger sizes, so that the robot is suitable for various complex geological environments, can pass through complex terrains, can quickly and smoothly complete detection tasks, improves the working efficiency, and reduces the labor intensity of workers. And the time for complex terrain detection is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of detection equipment, in particular to a walking mechanism and a detection and recovery robot comprising the same. Background Art

[0002] With the development of science and technology, people's demand for exploring unknown areas is also increasing. People need more accurate and specific things and data to promote the development of their own fields. In China, the research on exploration robots started late, but it has received a high degree of attention. Great progress has also been made in recent years. Among them, wheeled exploration robots walk on rollers and are suitable for high-speed movement on flat roads, which has received widespread attention and application. However, the applicant found that the existing technology has at least the following technical problems:

[0003] Existing wheeled detection robots cannot work efficiently in environments with large obstacles or complex terrain, and may even be unable to reach the designated area, and thus cannot complete the detection task. In addition, existing survey robots on the market lack acquisition and collection functions, or even do not have the above functions, and their functions are relatively limited, and they cannot complete the detection task more efficiently. Utility Model Content

[0004] The purpose of the utility model is to provide a walking mechanism and a detection and recovery robot including the same, so as to solve the technical problem that the survey robot in the prior art cannot work efficiently in an environment with large obstacles or complex terrain. The various technical effects that can be produced by the preferred technical solution among the various technical solutions provided by the utility model are described in detail below.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The utility model provides a walking mechanism, which comprises a multi-leg walking unit and a crawler walking unit. The multi-leg walking unit and the crawler walking unit are operated in a selective manner to drive the walking mechanism to move in a foot-type manner or a crawler-type manner.

[0007] Furthermore, the multi-legged walking unit includes six walking legs, each of which includes a fixed seat, a thigh, a calf and a foot arranged in sequence, and the multi-legged walking unit also includes a first drive assembly, a second drive assembly and a third drive assembly which are respectively transmission-connected to the thigh, the calf and the foot.

[0008] Further, the thigh is sleeved on the end of the fixed seat, and the first driving component is arranged between the fixed seat and the thigh, which can drive the thigh to swing horizontally relative to the fixed seat; and / or, the calf is passed through the end of the thigh, and the second driving component is arranged between the thigh and the calf, which can drive the calf to swing vertically relative to the thigh; and / or, the foot is passed through the end of the calf, and the third driving component is arranged between the calf and the foot, which can drive the foot to swing vertically relative to the calf.

[0009] Furthermore, the crawler walking unit includes a body, track wheels and tracks, the track wheels are arranged on both sides of the body, and the track is sleeved on the track wheels and meshed with the track wheels for transmission; it also includes a fourth drive component that is transmission-connected to the two groups of track wheels.

[0010] Furthermore, the driving components in the multi-legged walking unit and the crawler walking unit both include servo motors.

[0011] The walking mechanism provided by the utility model comprises a multi-legged walking unit and a crawler walking unit. The multi-legged walking unit and the crawler walking unit operate in a selective manner. Through the above structural arrangement, the walking mechanism can selectively move in a foot-type manner or switch to a crawler-type manner. After the detection and recovery robot adopts the walking mechanism, the crawler-type travel mode is adopted in sections with fewer obstacles. When encountering steps or large obstacles, the robot can switch to the foot-type travel mode to cross the obstacles. Therefore, the robot is suitable for various complex geological environments, can pass through complex terrains, and quickly and smoothly complete the detection tasks, thereby improving the working efficiency and saving the time for detecting complex terrains.

[0012] The utility model provides a detection and recovery robot, comprising a body and a walking mechanism; six walking legs in the multi-legged walking unit are divided into two groups and respectively arranged on both sides of the body; the crawler walking unit is arranged at the bottom of the body.

[0013] Furthermore, it also includes a collection device arranged on the fuselage for collecting and recovering samples.

[0014] Furthermore, the harvesting device includes a collecting bucket arranged on the top of the fuselage and a six-degree-of-freedom robot arm arranged on the front side of the fuselage.

[0015] Furthermore, the walking legs located at both ends of one side of the fuselage and the walking legs located in the middle of the other side of the fuselage are linked control structures.

[0016] Furthermore, it also includes an identification module arranged on the fuselage or the harvesting device.

[0017] The detection and recovery robot provided by the utility model is equipped with a walking mechanism that can switch the walking mode. It adopts a crawler-type travel mode on roads with fewer obstacles. When encountering steps or large obstacles, it can switch to a foot-type travel mode to cross the obstacles. Therefore, it is suitable for various complex geological environments, can pass through complex terrains, and quickly and smoothly complete the detection task, thereby improving work efficiency and saving time for complex terrain detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of a walking leg in a walking mechanism provided by a specific embodiment of the utility model;

[0020] Figure 2 It is a three-dimensional structural schematic diagram of a detection and recovery robot provided by a specific embodiment of the utility model;

[0021] Figure 3 It is a three-dimensional structural schematic diagram of a mechanical arm in a detection and recovery robot provided by a specific embodiment of the utility model;

[0022] Figure 4 This is a structural schematic diagram of a detection and recovery robot from another perspective provided by a specific embodiment of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of a detection and recovery robot provided by a specific embodiment of the utility model as viewed from the front side;

[0024] Figure 6 It is a top view of a detection and recovery robot provided by a specific embodiment of the utility model;

[0025] Figure 7 It is a front view of a walking leg in a walking mechanism provided by a specific embodiment of the utility model;

[0026] Figure 8 It is a structural schematic diagram of a walking leg in a walking mechanism provided by a specific implementation mode of the utility model from another perspective.

[0027] In the figure, 1 is the walking leg; 2 is the track; 3 is the track wheel; 4 is the body; 5 is the first drive assembly; 6 is the second drive assembly; 7 is the third drive assembly; 8 is the thigh; 9 is the calf; 10 is the foot; 11 is the collecting bucket; 12 is the mechanical arm; 13 is the first rotating joint; 14 is the second rotating joint; 15 is the third rotating joint; 16 is the first pitch joint; 17 is the second pitch joint; 18 is the third pitch joint. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0029] like Figure 2 , Figure 4-6 As shown, the utility model provides a walking mechanism, which can be installed on any equipment that needs to walk automatically. The following takes the equipment that needs to walk automatically as a detection robot as an example for specific description, and the following structure is described by installing the walking mechanism on the detection robot.

[0030] Specifically, in the present embodiment, the walking mechanism comprises a multi-legged walking unit and a crawler walking unit, and the multi-legged walking unit and the crawler walking unit are operated in an alternative manner to drive the walking mechanism to move in a foot-type manner or a crawler-type manner.

[0031] It should be further explained that the multi-legged walking unit refers to a structure having multiple feet 10 that can walk, so as to achieve foot-type movement. The multiple structures can be at least four, six, or eight, and an even number is recommended; the tracked walking unit is a structure that relies on tracks for walking. This part is the existing technology and will not be elaborated in detail.

[0032] In order to solve the problem that the robot cannot adapt to complex terrain, we use a hexapod mechanical structure combined with tracked walking in the motion module.

[0033] like Figure 1 , Figure 7 and Figure 8As shown, in the present embodiment, the multi-legged walking unit includes six walking legs 1. From the control point of view, each walking leg 1 can be controlled individually or in linkage. From the structural point of view, each walking leg 1 includes a fixed seat, a thigh 8, a calf 9 and a foot 10 which are arranged in sequence, and the thigh 8 can rotate relative to the fixed seat, the calf 9 can rotate relative to the thigh 8, and the foot 10 can rotate relative to the calf 9. The multi-legged walking unit also includes a first drive assembly 5, a second drive assembly 6 and a third drive assembly 7 which are respectively connected to the thigh 8, the calf 9 and the foot 10 in a transmission manner.

[0034] Specifically, the first driving assembly 5 is used to drive the thigh 8 to swing relative to the fixed seat, the second driving assembly 6 is used to drive the calf 9 to swing relative to the thigh 8, and the third driving assembly 7 is used to drive the foot 10 to swing relative to the calf 9.

[0035] The first drive assembly 5, the second drive assembly 6 and the third drive assembly 7 all include servo motors, and the swinging of the components is controlled by the servo motors. Of course, in order to realize automatic control, a control module can be set. The control module adopts a PLC module of the prior art, with preset programming, and uses a program to control the motor, thereby realizing the movement of the walking leg 1.

[0036] For example, the first drive component 5 may include a thigh horizontal rotation motor, through which the walking leg 1 can be rotated horizontally to realize a half-step action; the second drive component 6 may include a calf vertical rotation motor, through which the walking leg 1 can be rotated vertically along the thigh 8 to realize a leg-lifting action; the third drive component 7 may include a foot 10 vertical rotation motor, through which the foot 10 can be extended or retracted in the vertical direction to realize the adjustment of the extended length spacing of the walking leg 1, so as to avoid obstacles.

[0037] Furthermore, in order to facilitate fixing and rotation, both ends of the thigh part 8 are U-shaped structures, one end of the U-shape is used to be sleeved on the end of the fixing seat, and the first driving component 5 is arranged between the fixing seat and the thigh part 8, which can drive the thigh part 8 to swing horizontally relative to the fixing seat;

[0038] One end of the calf part 9 is block-shaped, and the other end is U-shaped. One end of the block-shaped structure is inserted into the U-shaped end of the other end of the thigh part 8. The second driving component 6 is arranged between the thigh part 8 and the calf part 9, and can drive the calf part 9 to swing vertically relative to the thigh part 8.

[0039] One end of the foot 10 is block-shaped and is inserted into the U-shaped end of the calf 9 . The third driving assembly 7 is arranged between the calf 9 and the foot 10 , and can drive the foot 10 to swing vertically relative to the calf 9 .

[0040] Each walking leg 1 of this hexapod robot can achieve three degrees of freedom of movement, and the foot-style walking has a certain obstacle-crossing ability, which is also superior to the existing wheeled robots. It can reach places that traditional wheeled robots cannot reach, thereby improving the degree of search for the desired samples.

[0041] It should be noted that the walking leg 1 only needs to be able to lift the leg, step and stretch the leg, and the specific structure of the fixed seat, thigh 8, calf 9 and foot 10 is not specifically required by the present invention. Figure 1 This is just an example of an embodiment. If other simplified structures, walking-friendly and cost-saving structural improvements can be used to achieve this function, then all are acceptable.

[0042] Further, such as Figure 2 As shown, the crawler walking unit includes a body 4, crawler wheels 3 and crawler tracks, the crawler wheels 3 are arranged on both sides of the body 4, and the crawler tracks are arranged on the crawler wheels 3 and meshed with them for transmission; it also includes a fourth drive component that is transmission-connected to the two sets of crawler wheels 3.

[0043] It should be noted here that the fourth driving component may also include a servo motor.

[0044] The fourth driving assembly is installed inside the body 4, and then the output shaft of the fourth driving assembly is connected to the synchronous rotating shafts of the two track wheels 3 to drive the robot to achieve track-type travel.

[0045] Since the crawler walking unit is a prior art, it will not be described in detail in this embodiment.

[0046] The walking mechanism provided by the utility model comprises a multi-legged walking unit and a crawler walking unit. The multi-legged walking unit and the crawler walking unit operate in a selective manner. Through the above structural arrangement, the walking mechanism can selectively move in a foot-type manner or switch to a crawler-type manner. After the detection and recovery robot adopts the walking mechanism, the crawler-type travel mode is adopted in sections with fewer obstacles. When encountering steps or large obstacles, the robot can switch to the foot-type travel mode to cross the obstacles. Therefore, the robot is suitable for various complex geological environments, can pass through complex terrains, and quickly and smoothly complete the detection tasks, thereby improving the working efficiency and saving the time for detecting complex terrains.

[0047] like Figure 2 As shown, the utility model also provides a detection and recovery robot, which includes a body and a walking mechanism installed on the body as described in the previous embodiment.

[0048] The detection and recovery robot provided by the utility model is equipped with a walking mechanism that can switch the walking mode. It adopts a crawler-type travel mode on roads with fewer obstacles. When encountering steps or large obstacles, it can switch to a foot-type travel mode to cross the obstacles. Therefore, it is suitable for various complex geological environments, can pass through complex terrains, and quickly and smoothly complete the detection task, thereby improving work efficiency and saving time for complex terrain detection.

[0049] Specifically, Figure 2 As shown, in this embodiment, the six walking legs 1 in the multi-legged walking unit are divided into two groups and arranged on both sides of the fuselage, that is, three walking legs 1 are arranged on each side of the fuselage, and the three walking legs 1 are arranged at the front end, middle and rear end of one side of the fuselage respectively; the three walking legs 1 on the other side are arranged symmetrically with the three walking legs 1 on this side. When in use, the thigh 8 can be controlled to swing horizontally and the calf 9 can be controlled to swing vertically to achieve the foot 10 supporting the ground and the leg stepping action. In order to achieve good support and stable walking, in this embodiment, the six walking legs 1 are divided into two walking groups, and a triangular gait is adopted to move forward, that is, the left front and rear walking legs 1 and the right middle walking legs 1 are divided into a first action group as a linkage control structure, and the right front and rear walking legs 1 and the left middle walking legs 1 are divided into a second action group as a linkage control structure. When moving, the first walking group steps forward, and at this time, the second walking group remains motionless to stabilize the center of gravity between the triangles formed by the second walking group. When the first walking group lands, it remains motionless, and at this time, the second walking group steps forward to repeat.

[0050] The crawler walking unit is arranged at the bottom of the fuselage.

[0051] Further, such as Figure 2 As shown, in order to facilitate sample recovery and collection, a collection device for collecting and recovering samples is also included, which is arranged on the fuselage.

[0052] Specifically, in the present embodiment, the harvesting device includes a collection bucket 11-shaped topless collection bucket 11 (for collecting samples) arranged on the top of the fuselage and a six-degree-of-freedom robotic arm (for collecting samples) arranged on the front side of the fuselage. Specifically, after scanning and identifying by the camera, the required samples can be grabbed by the robotic arm 12 through movement and coordination and recovered through specified actions. Among them, the six-degree-of-freedom robotic arm 12 includes a base, 3 R joints (horizontal rotation joints, with a rotation angle of 306°) and 3 P joints (pitch joints, with a swing angle of 180°) and a robotic claw. When in use, the robotic arm 12 detects the specific location of the required collection object through the identification module, and accurately grabs it through the pre-loaded program and notifies the set action to recover the sample into the topless collection bucket 11, completing the collection and collection process, improving the operation method and improving the sampling efficiency.

[0053] The six-degree-of-freedom mechanical arm 12 includes a base, an upper arm, and a lower arm. The upper arm and the base are connected by a first rotating joint 13 to realize horizontal circular rotation of the upper arm relative to the base; the lower arm is rotationally connected to the upper arm by a second rotating joint 14, thereby realizing 360-degree rotation of the lower arm relative to the end of the upper arm; the mechanical claw is rotationally connected to the end of the lower arm by a third rotating joint 15, thereby realizing 360-degree circular rotation of the mechanical claw relative to the lower arm; the upper arm is composed of three sections, and two adjacent sections are connected by a first pitch joint 16 and a second pitch joint 17; thereby realizing The vertical swing of each section of the upper arm. It should be noted here that each section of the upper arm is located in the same vertical plane when swinging, and will not be tilted left or right; the third rotating joint 15 is connected to the end of the lower arm through the third pitch joint 18, so that the third rotating joint 15 can swing vertically relative to the end of the lower arm; three R joints (horizontal rotating joints, with a rotation angle of 306°) and three P joints (pitch joints, with a swing angle of 180°) are used to achieve six degrees of freedom of spatial movement, and the robot claw cooperates to work. The robot 12 adopts a variety of motion forms, including linear motion, rotational motion, extension and contraction motion, lifting motion and compound motion. Linear motion is carried out in a specific direction in a specified coordinate system; rotational motion rotates at a specified center point, so that the robot 12 can adjust its posture in three-dimensional space; telescopic motion is that the lower arm changes the working radius of the robot 12 by changing the joint length; compound motion is that the upper and lower arms of the robot 12 combine multiple motion forms at the same time to complete the task.

[0054] It should be noted that the six-degree-of-freedom robot arm 12 used in this embodiment can be implemented using products in the prior art, such as Figure 3 shown.

[0055] Furthermore, in order to facilitate sample position identification and sample collection, an identification module is also included which is arranged on the fuselage or the collection device.

[0056] It should be noted here that the recognition module can use image acquisition (camera), infrared acquisition or other forms of acquisition equipment, or a combination of multiple devices. Since various devices can be purchased on the market, they will not be described in detail in this embodiment.

[0057] When the robot walks, the walking mechanism can optionally adopt foot-type or track-type walking mode. After the detection and recovery robot adopts this walking mechanism, it adopts track-type walking mode on sections with fewer obstacles. When encountering steps or large obstacles, it can switch to foot-type walking mode to cross the obstacles. It is suitable for various complex geological environments, can pass through complex terrain, and complete the detection task quickly and smoothly, which improves work efficiency and saves time for complex terrain detection.

[0058] The detection and recovery robot of the utility model is a detection and recovery robot with a complete collection and gathering device and an additional all-terrain walking mechanism, and is equipped with a geological scanning and recovery system. The robot and the geological scanning and recovery system have the functions of identifying and analyzing the landforms and transmitting the obtained information. In addition, the integrated action algorithm can collect and recover the samples needed by people in unknown or dangerous areas, bear the danger of the operation for people, and provide people with the ability of remote exploration more conveniently.

[0059] The advantages of the crawler-type six-legged detection and recovery robot provided by the utility model are reflected in: (1) rapid detection of environmental data and providing information to the detection personnel to facilitate sample collection; (2) monitoring environmental changes at any time to prevent danger to the detection personnel. (3) The collection bucket 11-type design allows the robot to occupy space more compactly when processing materials, which helps to optimize the layout and space utilization of the production line. The robot can adapt to different material shapes, sizes and weights to meet the needs of different production scenarios. It is a multifunctional product that integrates data collection, environmental modeling, search, and real-time collection. At the same time, it also provides a certain safety guarantee for detection personnel to enter dangerous environments.

[0060] First of all, it should be explained here that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0061] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A walking mechanism, characterized in that: It comprises a multi-legged walking unit and a crawler walking unit, wherein the multi-legged walking unit and the crawler walking unit are operated in a selective manner to drive the walking mechanism to move in a foot-type manner or a crawler-type manner; The multi-legged walking unit includes six walking legs, each of which includes a fixed seat, a thigh, a calf and a foot arranged in sequence, and the multi-legged walking unit also includes a first drive assembly, a second drive assembly and a third drive assembly which are respectively connected to the thigh, the calf and the foot in a transmission manner; The thigh is sleeved on the end of the fixing seat, and the first driving assembly is arranged between the fixing seat and the thigh, and can drive the thigh to swing horizontally relative to the fixing seat; and / or, the calf is passed through the end of the thigh, and the second driving assembly is arranged between the thigh and the calf, and can drive the calf to swing vertically relative to the thigh; and / or, the foot is passed through the end of the calf, and the third driving assembly is arranged between the calf and the foot, and can drive the foot to swing vertically relative to the calf; Both ends of the thigh are U-shaped structures, one end of the U-shape is used to be sleeved on the end of the fixing seat, and the first driving component is arranged between the fixing seat and the thigh, and can drive the thigh to swing horizontally relative to the fixing seat; One end of the calf is block-shaped, and the other end is U-shaped, one end of the block-shaped structure is inserted into the U-shaped end of the other end of the thigh, and the second driving component is arranged between the thigh and the calf, and can drive the calf to swing vertically relative to the thigh; One end of the foot is block-shaped and is inserted into the U-shaped end of the calf. The third driving component is arranged between the calf and the foot, and can drive the foot to swing vertically relative to the calf.

2. The walking mechanism according to claim 1, characterized in that: The crawler walking unit includes a body, crawler wheels and crawler tracks, wherein the crawler wheels are arranged on both sides of the body, and the crawler tracks are sleeved on the crawler wheels and meshed with the crawler wheels for transmission; and also includes a fourth driving component which is transmission-connected to the two sets of crawler wheels.

3. The walking mechanism according to claim 1, characterized in that: The driving components in the multi-legged walking unit and the crawler walking unit both include servo motors.

4. A detection and recovery robot, characterized in that: It comprises a fuselage and a walking mechanism as described in any one of claims 1 to 3; the six walking legs in the multi-legged walking unit are divided into two groups and are respectively arranged on both sides of the fuselage; the crawler walking unit is arranged at the bottom of the fuselage.

5. The detection and recovery robot according to claim 4, characterized in that: The utility model also comprises a collecting device which is arranged on the fuselage and is used for collecting and recovering samples.

6. The detection and recovery robot according to claim 5, characterized in that: The harvesting device comprises a collecting bucket arranged on the top of the fuselage and a six-degree-of-freedom robot arm arranged on the front side of the fuselage.

7. The detection and recovery robot according to claim 6, characterized in that: The walking legs located at the two ends of one side of the fuselage and the walking legs located in the middle of the other side of the fuselage form a linkage control structure.

8. The detection and recovery robot according to claim 7, characterized in that: It also includes an identification module arranged on the fuselage or the harvesting device.

Images