CN221091030U - Wheel foot double-form rescue robot - Google Patents

Abstract

The utility model discloses a wheel foot double-form rescue robot, and particularly relates to the field of rescue robots. According to the wheel-foot double-form rescue robot, most of the ground can move through the first base set, the moving mechanism moves downwards through the telescopic rod and the hydraulic rod, and the first base set is replaced by the moving mechanism to move through the friction driving wheel and the first transmission set, so that the purpose that the device can move in a sludge or sand area is achieved, and the practicability of the device is improved.

Description

Wheel foot double-form rescue robot

Technical Field

The utility model relates to the field of rescue robots, in particular to a wheel-foot double-form rescue robot.

Background

The existing mobile robot platforms in the market at present are roughly divided into three moving modes, namely wheel type, multi-foot type and crawler type, wherein the wheel type robot is simple in control mode, high in moving speed and high in flexibility, but has too high requirements on application scenes, and rescue tasks cannot be carried out in rugged terrains or complex environments; the control system of the multi-legged robot is complex, the speed is slow, and the carrying capacity and the structural strength are limited and are not used in the rescue robot; the chassis of most crawler robots leaks too much, when the robot climbs over complex terrains, the situation that the chassis is overhead or scratched seriously occurs easily, and meanwhile, the crawler overhead can possibly cause the robot to be unable to normally move, so that a wheel-foot double-form rescue robot is needed

The Chinese patent document CN219257545U discloses a multi-terrain rescue robot, which comprises a bottom plate, wherein motor fixing plates are arranged on the bottom plate, the number of the motor fixing plates is four, an M3508 motor is arranged on the outer side of each motor fixing plate, a NMRV speed reducer is arranged on the inner side of each M3508 motor, a rigid shaft is arranged at one end of an output shaft of each NMRV speed reducer, a driving sprocket is arranged on the outer side of each rigid shaft, a driven sprocket is arranged on one side of each driving sprocket, a chain is arranged between each driving sprocket and each driven sprocket, an inner plate is arranged in the middle of the bottom plate, the obstacle crossing capacity of the robot is greatly improved, four independent auxiliary tracks can be used for enabling the robot to run in complex terrains, the four auxiliary tracks can be conveniently dismounted, the chassis running is not influenced after the auxiliary tracks are dismounted, and various functional modules can be matched to realize autonomous navigation and image building, the center of gravity is low, the center is positioned in the center, and good movement accuracy and movement stability are achieved; but the following drawbacks remain in practice:

In the implementation process of the patent document, although the motion accuracy and the motion stability are achieved, the internal structure of the device is complex, and the device is difficult to move in a sludge or sand region, so that the practicability of the device is reduced.

Disclosure of utility model

The utility model mainly aims to provide a wheel foot double-form rescue robot which can effectively solve the problems that the internal structure of a device is complex and movement in a sludge or sand region is difficult.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a wheel foot bimorph rescue robot, includes the hydraulic stem, hydraulic stem output fixedly connected with moving mechanism, moving mechanism front portion fixedly connected with transmission group, hydraulic stem lower extreme fixedly connected with base group one, base group one front portion fixedly connected with friction drive wheel one, two telescopic links of symmetrical fixedly connected with around base group one middle part, four telescopic link upper end is common with moving mechanism middle part fixed connection.

Preferably, the first base group comprises a chassis, the front part of the upper end of the chassis and the rear part of the upper end are all symmetrically and fixedly connected with damping supports, the four inner cavities of the damping supports are all fixedly connected with motors, the two motor output ends on the same side are jointly connected with damping wheel shafts in a rotating mode, and the two ends of the damping wheel shafts are fixedly connected with wheels.

Preferably, the four lower ends of the telescopic rods are fixedly connected with the upper end of the chassis together, the lower ends of the hydraulic rods are fixedly connected with the middle part of the upper end of the chassis, and the inner cavities of round holes formed in the middle parts of opposite faces of the two shock absorption brackets on the same side are respectively connected with the left part and the right part of the outer surface of the shock absorption wheel shaft on the same side in a rotating way.

Preferably, the transmission group comprises a connecting block, two supporting rods are fixedly connected to the front part of the right end and the front part of the left end of the connecting block together, a friction driving wheel II is rotationally connected to the middle part of the outer surface of the supporting rod and positioned at the lower part of the connecting block, a friction driving wheel III is rotationally connected to the middle part of the outer surface of the supporting rod and positioned at the upper part of the connecting block, a supporting rotating frame is rotationally connected to the three side surfaces of the friction driving wheel II, bevel gear columns are rotationally connected to the left part and the right part of the inner cavity of the supporting rotating frame respectively, pulleys are fixedly connected to the opposite surfaces of the bevel gear columns together, and a driving belt is wound and connected to the inner cavity of each pulley and the three inner cavities of the friction driving wheel together.

Preferably, the moving mechanism comprises two bevel gears, the rear ends of the bevel gears are fixedly connected with curved bars, the outer surfaces of the curved bars are connected with a second base group in a rotating mode, the middle of the second base group is connected with two connecting columns in a meshed mode, the left part and the right part of the second base group are connected with two bionic groups in a point-force-giving mode, the front part and the rear part of the outer surface of the curved bars are respectively connected with one side, close to the second base group, of the two bionic groups on the same side in a rotating mode, and the front part and the rear part of the outer surface of the connecting columns are respectively connected with one side, close to the second base group, of the two bionic groups on the same side in a rotating mode.

Preferably, the second base group comprises a connecting plate, two thread grooves are symmetrically arranged at the left and right ends of the second base group, fixing grooves are symmetrically arranged at the left and right ends of the front end of the connecting plate, four round groove blocks are fixedly connected to the left and right ends of the connecting plate, U-shaped buckles are slidingly connected to the left and right ends of the round groove blocks, two square grooves are symmetrically arranged at the left and right ends of the connecting plate, and the two square grooves at the same side are located between the two thread grooves at the same side.

Preferably, the four inner cavities of the round groove blocks and the four U-shaped buckles on the same side are jointly connected with the outer surface of the bent rod on the same side in a rotating way, the rear parts of the inner cavities of the fixed grooves are respectively connected with the rear parts of the outer surfaces of the two connecting columns in a meshed way, the middle part of the lower end of the connecting plate is fixedly connected with the output end of the hydraulic rod, and the four upper ends of the telescopic rods are jointly fixedly connected with the lower end of the connecting plate.

Preferably, four bionic groups all include rotating the screw rod, four rotate screw rod surface lower part respectively with four thread groove inner chamber meshing connection, four it has the bent frame all to rotate screw rod surface upper portion, four it is connected with the landing leg all to rotate to keep away from one side upper portion of rotating the screw rod to rotate the frame surface, four the landing leg is kept away from one side inner chamber of bent frame all to rotate and is connected with the rotation and link up the bone, four it is connected with the rotation club all to rotate and link up the bone inner chamber all to rotate the club, four it is connected with the connection piece all to rotate to keep away from one side surface of rotating the bone club, four it is connected with the cover knot all to rotate to keep away from one side inner chamber of bent frame to rotate to link up the piece, same side two cover knot inner chamber and two rotate the inner chamber that link up the board and be located the middle part respectively jointly with same side bent rod surface front portion and surface rear portion, same side two rotate the inner chamber that link up the board and be located the lower part respectively with same side spliced pole surface front portion and surface rear portion rotate and four the side inner chamber that link up respectively are located four groove down.

Compared with the prior art, the utility model has the following beneficial effects:

1. The utility model has the first base set, the moving mechanism and the transmission set, the device can move on most of the ground through the first base set, the moving mechanism moves downwards through the telescopic rod and the hydraulic rod, and the moving mechanism replaces the first base set to move by matching with the friction transmission wheel and the transmission set, so that the purpose that the device can move in a sludge or sand area is achieved, and the practicability of the device is improved.

2. In the use process, the device can have stronger driving capability by installing four motors, the friction driving wheel I drives the friction driving wheel II to rotate by the friction driving wheel II, the belt pulley is driven by the driving belt to rotate and simultaneously drives the two bevel gear columns to rotate, and the bevel gear columns simultaneously rotate to drive the moving mechanism to replace the base group I to run on the bottom surface, so that the device has two moving modes, and the practicability of the device is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of a base set according to the present utility model;

FIG. 3 is a schematic diagram of a drive train of the present utility model;

FIG. 4 is a schematic view of a moving mechanism according to the present utility model;

FIG. 5 is a schematic diagram of a base set according to the present utility model;

fig. 6 is a schematic diagram of a biomimetic set according to the present utility model.

In the figure: 1. friction driving wheel I; 2. a first base set; 21. a chassis; 22. damping wheel axle; 23. a motor; 24. a wheel; 25. a shock absorbing bracket; 3. a telescopic rod; 4. a hydraulic rod; 5. a moving mechanism; 51. a second base set; 511. a connecting plate; 512. u-shaped buckles; 513. a thread groove; 514. round groove blocks; 515. a fixing groove; 516. a square groove; 52. a connecting column; 53. bevel gears; 54. a curved bar; 55. a bionic group; 551. a support leg; 552. a curved frame; 553. a connecting sheet; 554. rotating the screw; 555. rotating the sleeve buckle; 556. rotating the connecting plate; 557. rotating the cue; 558. rotating and connecting to bone; 6. a transmission group; 61. a connecting block; 62. a support rod; 63. friction driving wheel II; 64. friction driving wheel III; 65. a drive belt; 66. conical tooth column; 67. a support turret; 68. a belt pulley.

Detailed Description

The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.

As shown in fig. 1-6, the wheel foot double-form rescue robot comprises a hydraulic rod 4, wherein the output end of the hydraulic rod 4 is fixedly connected with a moving mechanism 5, the front part of the moving mechanism 5 is fixedly connected with a transmission group 6, the lower end of the hydraulic rod 4 is fixedly connected with a base group I2, the front part of the base group I2 is fixedly connected with a friction transmission wheel I1, two telescopic rods 3 are symmetrically and fixedly connected in front of the middle part of the base group I2, and the upper ends of the four telescopic rods 3 are fixedly connected with the middle part of the moving mechanism 5 together.

It should be noted that, the specific installation method of the hydraulic rod 4, the connection method of the circuit and the control method of the hydraulic rod are all conventional designs, and are conventional design means for designers.

Through installation hydraulic stem 4 and telescopic link 3, be convenient for remove mechanism 5 and go up and down, through installation friction drive wheel 1, played and drive group 6 and carry out pivoted effect.

In order to achieve the purpose that the device can move on most of the ground and has enough driving force, as shown in fig. 2, the first base group 2 comprises a chassis 21, the front part of the upper end of the chassis 21 and the rear part of the upper end are symmetrically and fixedly connected with fixing frames 25, the inner cavities of the four fixing frames 25 are fixedly connected with motors 23, the output ends of the two motors 23 on the same side are jointly connected with rotating shafts 22 in a rotating way, the two ends of the two rotating shafts 22 are fixedly connected with wheels 24, the lower ends of the four telescopic rods 3 are jointly fixedly connected with the upper end of the chassis 21, the lower end of a hydraulic rod 4 is fixedly connected with the middle part of the upper end of the chassis 21, and the inner cavities of round holes formed in the middle parts of the opposite surfaces of the two fixing frames 25 on the same side are respectively connected with the left part and the right part of the outer surface of the rotating shaft 22 on the same side in a rotating way.

It should be noted that, the specific installation method of the motor 23, the connection method of the circuit and the control method of the utility model are all conventional designs, and are conventional design means for designers.

First, four fixing frames 25 are installed on the upper portion of the chassis 21, and each fixing frame 25 is provided with a motor 23, and each two motors 23 jointly drive a rotating shaft 22 to drive two wheels 24 on the same side to enable the bottom surface of the device to move, so that the device has enough driving force, and the purposes of enabling the device to move on most of the ground and having enough driving force are achieved.

In order to achieve the purpose of driving the moving mechanism 5 to move, as shown in fig. 3, the transmission set 6 comprises a connection block 61, two support rods 62 are fixedly connected at the front part of the right end and the front part of the left end of the connection block 61 together, a friction driving wheel two 63 is rotatably connected at the middle part of the outer surface of the lower support rod 62, a friction driving wheel three 64 is rotatably connected at the middle part of the outer surface of the upper support rod 62, the side surface of the friction driving wheel three 64 is rotatably connected with the side surface of the friction driving wheel two 63, a supporting rotating frame 67 is fixedly connected at the middle part of the upper end of the connection block 61, a bevel post 66 is rotatably connected at the left part of the inner cavity of the supporting rotating frame 67 and the right part of the inner cavity, a belt pulley 68 is fixedly connected at the opposite surfaces of the two bevel posts 66 together, and a transmission belt 65 is windingly connected at the inner cavity of the belt 68 and the inner cavity of the friction driving wheel three 64 together.

The front part of the moving mechanism 5 in the installation of the transmission group 6 is driven to rotate by the connection block 61 and then the friction transmission wheel II 63 is driven to rotate by the rotation of the friction transmission wheel I1, the friction transmission wheel III 64 is driven to rotate by the rotation of the friction transmission wheel II 63, the transmission belt 65 is driven to rotate by the friction transmission wheel III 64, the belt pulley 68 is driven to rotate, the bevel columns 66 on two sides of the belt pulley 68 are driven to rotate simultaneously, and finally the moving mechanism 5 is driven to operate by the rotation of the two bevel columns 66, so that the purpose of driving the moving mechanism 5 to move is achieved.

In order to achieve the purpose that the device can move in a sludge or sand region, as shown in fig. 4, the moving mechanism 5 comprises two bevel gears 53, the rear ends of the two bevel gears 53 are fixedly connected with curved bars 54, the outer surfaces of the two curved bars 54 are jointly connected with a second base group 51 in a rotating manner, the middle part of the second base group 51 is connected with two connecting columns 52 in a meshed manner, the left part and the right part of the second base group 51 are respectively connected with two bionic groups 55 in a point force-giving manner, the front part and the rear part of the outer surface of the curved bars 54 on the same side are respectively connected with one side, close to the second base group 51, of the two bionic groups 55 on the same side in a rotating manner, and the front part and the rear part of the outer surface of the connecting columns 52 on the same side are respectively connected with one side, close to the second base group 51, of the two bionic groups 55 on the same side in a rotating manner.

Firstly, through telescopic link 3 and hydraulic rod 4, make mobile mechanism 5 and base group one 2 install, it drives respectively to drive two bevel gears 53 to rotate when two awl tooth posts 66 rotate, rotate through two bevel gears 53, drive two curved bars 54 and rotate on base group two 51, cooperate two spliced pole 52 that install in base group two 51 again through the rotation of two curved bars 54, make four bionic groups 55 of base group two 51 upper portion installation move, bionic group 55 can remove in mud or sand area, and then reached the purpose that makes the device can remove in mud or sand area.

Further, as shown in fig. 5, the second base set 51 includes a connecting plate 511, two threaded grooves 513 are symmetrically formed in the upper end of the second base set 51, a fixing groove 515 is symmetrically formed in the middle of the front end of the connecting plate 511, four round groove blocks 514 are symmetrically and fixedly connected in the left and right directions at the upper end of the connecting plate 511, two square grooves 516 are symmetrically formed in the upper end of the connecting plate 511, the two square grooves 516 are located between the two threaded grooves 513 at the same side, the inner cavities of the four round groove blocks 514 and the inner cavities of the four U-shaped blocks 512 at the same side are rotatably connected with the outer surfaces of the curved bars 54 at the same side, the rear portions of the inner cavities of the two fixing grooves 515 are respectively meshed with the rear portions of the outer surfaces of the two connecting columns 52, the middle of the lower end of the connecting plate 511 is fixedly connected with the output end of the hydraulic rod 4, and the upper ends of the four telescopic rods 3 are fixedly connected with the lower end of the connecting plate 511.

Through seting up two fixed slots 515 in connecting plate 511 front end and seting up four square grooves 516, make things convenient for two spliced pole 52 to install and supplementary bionic group 55 to move, through seting up four thread grooves 513 on connecting plate 511, conveniently install bionic group 55, through installation U-shaped knot 512 cooperation circular slot piece 514, make things convenient for two curved bars 54 to install to do not influence two bionic group 55 and rotate, reached the effect of connecting whole moving mechanism 5 inner structure.

Further, as shown in fig. 6, the four bionic sets 55 include rotating screws 554, the lower parts of the outer surfaces of the four rotating screws 554 are respectively engaged with the inner cavities of the four threaded grooves 513, the upper parts of the outer surfaces of the four rotating screws 554 are respectively rotationally connected with curved frames 552, the upper parts of the side, away from the rotating screws 554, of the outer surfaces of the four curved frames 552 are respectively rotationally connected with supporting legs 551, the inner cavities of the side, away from the curved frames 552, of the four supporting legs 551 are respectively rotationally connected with rotating connecting rods 558, the inner cavities of the side, away from the rotating connecting rods 558, of the four rotating rods 557 are respectively rotationally connected with rotating connecting plates 556, the lower parts of the outer surfaces, close to the rotating screws 554, of the side, of the four curved frames 552 are respectively rotationally connected with connecting pieces 553, the inner cavities of the side, away from the curved frames 552 are respectively rotationally connected with rotating buckles 555, the inner cavities of the side, which are located in the middle, are respectively rotationally connected with the front parts of the outer surfaces of the curved rods 54, the outer surfaces of the side, the inner cavities of the side, two rotating connecting plates 556 are located at the lower parts of the side, are respectively connected with the rotating connecting plates 516, the front parts of the outer surfaces of the side connecting plates 516, which are respectively located at the front parts of the outer surfaces of the side connecting plates, and the outer surfaces of the side, respectively, and the outer surfaces of the rotating plates are respectively located at the positions of the rotating plates.

The bionic group 55 and the base group II 51 are installed through the rotating screw 554, the rotating sleeve buckle 555 and the bent rod 54 are installed, the middle part of the rotating connecting plate 556 and the bent rod 54 are installed, the lower part of the rotating connecting plate 556 and the connecting column 52 are installed, when the two bent rods 54 rotate, the four rotating sleeve buckles 555 and the four rotating connecting plates 556 are driven to move simultaneously, the four connecting plates 553 are driven to move through the four rotating sleeve buckles 555, the four bent frames 552 are driven to rotate on the four rotating screw 554, the four supporting legs 551 are driven to operate, the rotating connecting plates 556 move while the rotating sleeve buckles 555 move, the four rotating connecting plates 556 are driven to move through the four rotating connecting plates 556, the four supporting legs 551 are driven to move up and down, the bionic group 55 moves like a spider leg through the cooperation of the rotating connecting plates 558 and the bent frames 552, and the purpose that the bionic group 55 can move in a sludge or sand region is achieved.

The working principle of the utility model is as follows: firstly, the motor 23 is started, every two motors 23 jointly drive one rotation shaft 22 to drive two wheels 24 on the same side to enable the bottom surface of the device to move, when the device inconvenient to move in a region where sludge or sand is encountered, the hydraulic rod 4 is started, the hydraulic rod 4 drives the telescopic rod 3 to retract and simultaneously enable the moving mechanism 5 and the transmission group 6 to descend to a proper position, the motor 23 drives the rotation shaft 22 to enable the friction driving wheel 1 to rotate, the friction driving wheel 1 is matched with the friction driving wheel 1 to rotate, the friction driving wheel 63 is driven to rotate, the friction driving wheel three 64 is driven to rotate through the friction driving wheel three 64 to drive the transmission belt 65 to rotate and simultaneously drive the pulleys 68 to rotate, then the bevel posts 66 on two sides of the pulleys 68 to simultaneously rotate, finally, the two bevel posts 66 are driven to simultaneously move through the rotation of the two bevel posts 54, the four rotation buckles 555 and the four rotation connecting plates 556 are driven to simultaneously move through the four rotation buckles 555, the four connection plates 552 are driven to simultaneously rotate on the four rotation connecting plates 554, the four legs 551 are driven to simultaneously move on the four rotation connecting plates 554, the four rotation buckles 551 are driven to simultaneously move the four rotation connecting plates 55down, the four rotation shafts 55down the four rotation connecting plates 55down to move like the four rotation shafts 55, the rotation shafts 55 are driven to simultaneously move the four rotation connecting plates 55 and the four rotation shafts 55 to simultaneously move like the joint connection rods 55 and the four rotation rods to move.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (8)

1. The utility model provides a wheel foot bimorph rescue robot, includes hydraulic stem (4), its characterized in that: the hydraulic rod (4) output fixedly connected with moving mechanism (5), moving mechanism (5) anterior fixedly connected with transmission group (6), hydraulic rod (4) lower extreme fixedly connected with base group one (2), base group one (2) anterior fixedly connected with friction drive wheel one (1), symmetrical fixedly connected with two telescopic links (3) around base group one (2) middle part, four telescopic links (3) upper end jointly with moving mechanism (5) middle part fixed connection.

2. The biped wheel-foot rescue robot of claim 1, wherein: the first base group (2) comprises a chassis (21), the front part of the upper end of the chassis (21) and the rear part of the upper end are symmetrically and fixedly connected with shock-absorbing brackets (25), the inner cavities of the shock-absorbing brackets (25) are fixedly connected with motors (23), the output ends of the motors (23) on the same side are jointly connected with shock-absorbing wheel shafts (22) in a rotating mode, and the two shock-absorbing wheel shafts (22) are fixedly connected with wheels (24).

3. A biped wheel-foot rescue robot as defined in claim 2, wherein: the four lower ends of the telescopic rods (3) are fixedly connected with the upper end of the chassis (21) together, the lower ends of the hydraulic rods (4) are fixedly connected with the middle part of the upper end of the chassis (21), and the inner cavities of round holes formed in the middle parts of opposite surfaces of two damping brackets (25) on the same side are respectively connected with the left part and the right part of the outer surface of a damping wheel shaft (22) on the same side in a rotating way.

4. The biped wheel-foot rescue robot of claim 1, wherein: the transmission group (6) comprises a connecting block (61), two supporting rods (62) are fixedly connected to the front part of the right end and the front part of the left end of the connecting block (61), two friction driving wheels (63) are rotationally connected to the middle part of the outer surface of each supporting rod (62), three friction driving wheels (64) are rotationally connected to the middle part of the outer surface of each supporting rod (62), the side surfaces of the three friction driving wheels (64) are rotationally connected to the side surfaces of the two friction driving wheels (63), a supporting rotating frame (67) is fixedly connected to the middle part of the upper end of the connecting block (61), a bevel gear post (66) is rotationally connected to the left part of an inner cavity of the supporting rotating frame (67) and the right part of the inner cavity, a belt pulley (68) is fixedly connected to opposite surfaces of the bevel gear post (66), and a driving belt (65) is wound on the inner cavity of the belt pulley (68) and the inner cavity of the three friction driving wheels (64).

5. The biped wheel-foot rescue robot of claim 4, wherein: the moving mechanism (5) comprises two bevel gears (53), wherein the rear ends of the bevel gears (53) are fixedly connected with curved bars (54), the outer surfaces of the curved bars (54) are jointly connected with a base group II (51) in a rotating mode, two connecting columns (52) are connected in a meshed mode in the middle of the base group II (51), two bionic groups (55) are connected to the left portion and the right portion of the base group II (51) in a point force giving mode, the front portion and the rear portion of the outer surface of the curved bars (54) are respectively connected with one side, close to the base group II (51), of the same side in a rotating mode, and the front portion and the rear portion of the outer surface of the connecting columns (52) are respectively connected with one side, close to the base group II (51), of the same side, of the two bionic groups (55) in a rotating mode.

6. The biped wheel-foot rescue robot of claim 5, wherein: the base group II (51) comprises a connecting plate (511), two thread grooves (513) are formed in the upper end of the base group II (51) in a bilateral symmetry mode, fixing grooves (515) are formed in the middle of the front end of the connecting plate (511) in a bilateral symmetry mode, four round groove blocks (514) are fixedly connected to the upper end of the connecting plate (511), U-shaped buckles (512) are connected to the left end and the right end of the round groove blocks (514) in a sliding mode, two square grooves (516) are formed in the upper end of the connecting plate (511) in a bilateral symmetry mode, and the square grooves (516) are located between the two thread grooves (513) on the same side.

7. The biped wheel-foot rescue robot of claim 6, wherein: the four inner cavities of the round groove blocks (514) and the four inner cavities of the U-shaped buckles (512) on the same side are connected with the outer surface of the curved rod (54) on the same side in a rotating way, the rear parts of the inner cavities of the two fixing grooves (515) are respectively connected with the rear parts of the outer surfaces of the two connecting columns (52) in a meshed mode, the middle parts of the lower ends of the connecting plates (511) are fixedly connected with the output ends of the hydraulic rods (4), and the four upper ends of the telescopic rods (3) are connected with the lower ends of the connecting plates (511) in a fixed mode.

8. The biped wheel-foot rescue robot of claim 7, wherein: the four bionic groups (55) all comprise rotating screw rods (554), the lower parts of the outer surfaces of the four rotating screw rods (554) are respectively connected with the inner cavities of four thread grooves (513) in a meshed mode, the upper parts of the outer surfaces of the four rotating screw rods (554) are respectively connected with curved frames (552) in a rotating mode, the upper parts of one sides of the outer surfaces of the four curved frames (552) far away from the rotating screw rods (554) are respectively connected with supporting legs (551), the inner cavities of one sides of the four supporting legs (551) far away from the curved frames (552) are respectively connected with rotating connecting rods (558), the inner cavities of the four rotating connecting rods (558) are respectively connected with rotating connecting plates (556) in a rotating mode, the lower parts of the outer surfaces of one sides of the four curved frames (552) close to the rotating screw rods (554) are respectively connected with connecting plates (553) in a rotating mode, the inner cavities of one sides of the four curved frames (552) far away from the rotating screw rods (552) are respectively connected with rotating buckles (555) in a rotating mode, the inner cavities of one side of the same side of the curved frames (552) are respectively connected with rotating shafts (52), the two inner cavities of the same side of the rotating shafts (52) are respectively connected with the outer surfaces of the same rotating shaft parts of the rotating shaft bodies (52), and the lower parts of the four rotary connecting plates (556) are respectively positioned in the inner cavities of the four square grooves (516).