CN219311283U

CN219311283U - Broken robot of tearing open of emergency rescue

Info

Publication number: CN219311283U
Application number: CN202223484306.8U
Authority: CN
Inventors: 裴文良; 李东广; 刘国亮; 王炳南; 孙宁; 田亚军; 尤桂学; 杨政杰
Original assignee: CITIC HIC Kaicheng Intelligence Equipment Co Ltd
Current assignee: CITIC HIC Kaicheng Intelligence Equipment Co Ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2023-07-07
Anticipated expiration: 2032-12-27

Abstract

The utility model discloses an emergency rescue breaking and dismantling robot which comprises a chassis system, a control system, a sensor system and a mechanical arm system, wherein the control system, the sensor system and the mechanical arm system are fixedly connected with the chassis system; the chassis system is used as a carrying carrier and a transportation system of each functional part of the emergency rescue breaking and disassembling robot, a crawler-type travelling mechanism is adopted, and a power system and a transmission mechanism are arranged in the chassis system. The control system comprises a robot control center CPU, a driving element, an information feedback system and a monitoring system. The mechanical arm system comprises a hydraulic system and a mechanical arm body, wherein the mechanical arm body comprises a base device, a first arm, a second arm and a third arm, and consists of 6 joints and 1 hydraulic shearing and expanding device. The mechanical arm can realize adjustment of the multi-axis joint pose in space, and has wide working coverage, high mechanism flexibility and strong loading capacity of the hydraulic device; the robot has high intelligent degree, strong dynamic performance and high environment and target recognition capability.

Description

Broken robot of tearing open of emergency rescue

Technical Field

The utility model relates to the field of emergency rescue, in particular to an emergency rescue breaking and disassembling robot.

Background

The police can be directly exposed and easily hit by dangerous molecules in a long-distance space if the police is subjected to temporary blasting on site, and sometimes the barriers arranged by the dangerous molecules are complex, so that various tools are needed to break and disassemble, and the working efficiency of the police is seriously affected.

Under the background, the development of a mobile robot capable of being remotely controlled for carrying out operations such as field crushing, dismantling, rescue and the like in high-risk and severe environments such as high temperature, complex terrain, many barriers, chemical corrosion, inflammable and explosive, easy collapse and the like by replacing police and dry police becomes a main research hot spot at present.

Disclosure of Invention

The utility model aims to provide an emergency rescue breaking and dismantling robot which has high-efficiency, intelligent and flexible breaking, dismantling and removing functions, is suitable for various complex terrains on site, has high loading capacity and high safety, and can effectively improve the working efficiency and personal safety coefficient of police and dry polices.

In order to achieve the purpose, the utility model adopts the technical means that:

an emergency rescue breaking robot comprises a chassis system, a control system, a sensor system and a mechanical arm system;

the chassis system is a crawler-type travelling mechanism and is used as a carrying carrier and a conveying system of each functional component of the emergency rescue breaking and dismantling robot, the chassis system comprises a power system and a transmission mechanism, the power system provides energy for all moving components and sensors in the robot, and the transmission mechanism converts the energy of the power system into kinetic energy of crawler-type travelling.

The sensor system is fixedly arranged on the chassis system and is used for protecting the whole machine;

the control system is fixedly arranged on the chassis system and is positioned in the sensor system, and the control system receives the instruction of the handheld remote control terminal and controls the operation of the whole robot.

The mechanical arm system comprises a hydraulic system and a mechanical arm body, wherein the hydraulic system is fixedly arranged on the chassis system and provides power for the mechanical arm body;

the mechanical arm body is fixedly arranged on the chassis system, penetrates out of the sensor system and is used for cutting off a high-strength object, and the mechanical arm body comprises a base device, a first arm, a second arm and a third arm; the third arm is connected with the second arm, the second arm is connected with the first arm, the first arm is connected with the base device, and the base device is connected with the chassis system.

Preferably, the hydraulic system comprises an oil tank, a hydraulic motor, a radiator, a fan, a heat dissipation motor, a filter and a valve group I;

the oil tank and the hydraulic motor are respectively connected with the chassis system, the oil tank is connected with the hydraulic motor, and the oil tank and the hydraulic motor form a hydraulic station for providing power for the mechanical arm body;

the radiator is arranged on the chassis system, the fan is arranged on one side of the radiator, the fan is connected with the heat dissipation motor, the heat dissipation motor is connected with the chassis system, and the heat dissipation motor drives the fan to cool hydraulic oil passing through the inside of a hydraulic system of the radiator.

The first valve group and the filter are respectively connected with the chassis system, the filter is used for filtering impurities of hydraulic oil, and the first valve group controls movement of the first swing cylinder and the first oil cylinder.

Preferably, the sensor system comprises an obstacle avoidance sensor, an illuminating lamp, a front-end camera, a shield, a supporting frame, an alarm, an emergency stop button, an antenna, a ball machine bracket and a ball machine;

the obstacle avoidance sensor, the illuminating lamp and the front-end camera are positioned on one side of the shield, the obstacle avoidance sensor is positioned below the front-end camera, the illuminating lamp is positioned on one side of the obstacle avoidance sensor, the obstacle avoidance sensor is used for detecting an obstacle at the front end of the robot, the illuminating lamp is used for increasing the field illumination intensity, and the front-end camera is used for acquiring image information in front of the robot;

the alarm, the emergency stop button and the antenna are positioned on the other side of the shield, the alarm is positioned below the emergency stop button, the alarm is used for carrying out audible and visual alarm prompt according to the site situation, the emergency stop button enables the robot to stop moving in the emergency situation, the antenna is connected with the chassis system, the antenna penetrates out of the shield, and the antenna is used for wireless communication;

the support frame is connected with the chassis system, is positioned in the middle of the shield, penetrates out of the shield and is used for supporting the mechanical arm body;

the ball machine support is connected with the chassis system, the ball machine support is located on one side, close to the emergency stop button, of the shield, the ball machine support penetrates out of the shield, the ball machine is arranged on the ball machine support, and the ball machine is used for collecting image information around the robot.

Preferably, the control system comprises a robot control center CPU, a driving element, an information feedback system and a monitoring system.

The robotic arm system includes a base device, a first arm, a second arm, and a third arm.

Preferably, the base device comprises a fixed base, a first tilt cylinder, a rotary base, a connecting rod component and a first shaft;

the encoder is arranged in the fixed base, the rotating angle of the first swing cylinder can be fed back in real time, the first swing cylinder is connected with the fixed base, the rotating base is connected with the first swing cylinder, the connecting rod component, the first shaft and the rotating base are connected, the encoder is arranged at one end of the first shaft, and the rotating angle of the first arm main body relative to the rotating base can be fed back in real time.

Preferably, the first arm comprises a first oil cylinder, a second oil cylinder, a first arm main body and a second shaft;

the first oil cylinder and one end of the second oil cylinder are respectively connected with the first arm main body in a rotating mode, the other end of the first oil cylinder is connected with the connecting rod component in a rotating mode, the other end of the second oil cylinder is connected with the second arm in a rotating mode, one end of the first arm main body is connected with the first shaft in a rotating mode, the second shaft is arranged at the other end of the first arm main body, the encoder is arranged at one end of the second shaft, and the rotating angle of the second arm main body relative to the first arm main body can be fed back in real time.

Preferably, the second arm comprises a second shaft connecting piece, a third oil cylinder, a third shaft, a second arm main body and a second swing cylinder;

the second swing cylinder is respectively connected with the second shaft connecting piece and the second arm main body, and the second shaft connecting piece is respectively connected with the second oil cylinder and the second shaft in a rotating way; one end of the third oil cylinder is rotationally connected with the second arm main body, the other end of the third oil cylinder is connected with the third arm, the third shaft is installed at one end of the second arm main body, and an encoder is installed at one end of the third shaft, so that the rotating angle of the third arm relative to the second arm can be fed back in real time.

The third arm comprises a third shaft connecting piece, a third tilt cylinder, a third arm main body, a hydraulic shearing and expanding device and a mechanical arm camera;

the third shaft connecting piece is connected with the third tilt cylinder and is respectively connected with the third oil cylinder and the third shaft in a rotating way, and an encoder is arranged in the third shaft connecting piece and can feed back the rotating angle of the third tilt cylinder in real time; the third swing cylinder, the hydraulic shearing and expanding device and the mechanical arm camera are respectively connected with the third arm main body, and the hydraulic shearing and expanding device can complete shearing action under the drive of hydraulic pressure; the mechanical arm camera is arranged above the hydraulic shearing and expanding device and can acquire image information in front of the hydraulic shearing and expanding device;

and a valve group III is arranged in the second arm main body, and is used for receiving instructions of the control system and controlling the movement of the third swing cylinder and the hydraulic shear expander.

The mechanical arm system is powered by the hydraulic system, and is controlled by the control system, so that the movement and rotation of six degrees of freedom in space can be completed, and the tail end hydraulic shearing and expanding device can shear high-strength objects.

The utility model at least comprises the following beneficial effects:

the chassis of the emergency rescue breaking robot adopts a crawler-type structure, so that various complex terrains on the scene can be overcome, and the emergency rescue breaking robot can be adapted to rapid deployment of various terrains; the mechanical arm consists of 6 hydraulic driving devices and a hydraulic shearing and expanding device, has 6+1 degrees of freedom, compared with a mechanical device with less freedom, the mechanical arm can realize the change of any pose in space, has high flexibility, strong loading capacity of the hydraulic device, strong safety, stable and reliable control, high environment and target identification capacity, quick and accurate positioning and can greatly improve the working efficiency and personal safety coefficient of public security dry polices.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model.

Drawings

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

FIG. 2 is a schematic diagram of the internal structure of the present utility model;

FIG. 3 is a schematic diagram of the structure of the hydraulic system of the present utility model;

FIG. 4 is a schematic view (front view) of the sensor system of the present utility model;

FIG. 5 is a schematic view (back side) of the sensor system of the present utility model;

FIG. 6 is a schematic view of the structure of the base unit of the present utility model;

FIG. 7 is a schematic view of a first arm assembly structure according to the present utility model;

FIG. 8 is a schematic view of a second arm assembly structure according to the present utility model;

fig. 9 is a schematic view of the third arm assembly structure of the present utility model.

Description of the reference numerals

In the figure, 1, a chassis system; 2. a control system; 3. a hydraulic system; 31. an oil tank; 32. a hydraulic motor; 33. a heat sink; 34. a fan; 35. a heat dissipation motor; 36. a first valve group; 37. a filter; 4. a sensor system; 41. an obstacle avoidance sensor; 42. a lighting lamp; 43. a front-end camera; 44. a shield; 45. a support frame; 46. an alarm; 47. an emergency stop button; 48. an antenna; 49. a ball machine bracket; 410. a ball machine; 5. a robotic arm system; 51. a base device; 511. a fixed base; 512. a first tilt cylinder; 513. a rotating base; 514. a link member; 515. a first shaft; 52. a first arm; 521. a first cylinder; 522. a second cylinder; 523. a first arm body; 524. a second shaft; 53. a second arm; 531. a second shaft connection; 532. a third cylinder; 533. a third shaft; 534. a second arm body; 535. a second tilt cylinder; 54. a third arm; 541. a third shaft connection; 542. a third tilt cylinder; 543. a third arm body; 544. a hydraulic shearing and expanding device; 545. and a robot arm camera.

Detailed Description

The following description of the technical solution in the embodiments of the present utility model is clear and complete. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present utility model is not limited to the specific embodiments disclosed below.

As shown in fig. 1 and 2, an emergency rescue breaking robot comprises a chassis system 1, a control system 2, a sensor system 4 and a mechanical arm system.

The chassis system 1 is used as a carrying carrier and a conveying system of each functional component of the robot, a crawler-type travelling mechanism is adopted, a carrying platform is used as the carrying carrier, and the chassis system 1 internally comprises a power system and a transmission mechanism, so that the robot can travel for a long distance. The power system provides energy for all moving parts and sensors in the robot, and the transmission mechanism converts the energy of the power system into kinetic energy of crawler walking. The power system in the chassis system 1 takes a battery as a power source, the transmission mechanism adopts a motor to drive a speed reducer, and the speed reducer drives a crawler wheel, so as to drive a crawler transmission mode and a robot motion transmission mode; the power system provides power for the motor of the mechanical arm system besides providing power for crawler travel, so as to provide power for the operation of the mechanical arm; in addition to the above, the energy required by other electrical components of the robot comes from the battery. Crawler-type running mechanisms are only preferred embodiments of the present utility model, and are not intended to limit the present utility model, and other forms such as wheeled platforms are within the scope of the present application.

The control system 2 is fixedly arranged on the chassis system 1 and is positioned in the sensor system 4, and the control system 2 is used for receiving instructions of a handheld remote control terminal and controlling the operation of the whole emergency rescue breaking and dismantling robot.

The control system 2 comprises a robot control center CPU, a driving element, an information feedback system and a monitoring system. The control system 2 receives the instruction of the remote control terminal and controls the operation of the whole emergency rescue breaking and dismantling robot.

The device mainly comprises two parts: the chassis control system and the mechanical arm control system; the chassis control system is mainly used for controlling the forward, backward and steering of the chassis and other robot sensing components; the mechanical arm control system is used for controlling the operation of the whole mechanical arm and comprises a motor for controlling the mechanical arm body to provide power, a hydraulic part, a motor of a heat dissipation system, a control of a mechanical arm electromagnetic valve, and processing and feedback of encoder signals, and is used for operating 6-axis linkage, pose adjustment and terminal operation of the mechanical arm.

The mechanical arm system comprises a hydraulic system 3 and a mechanical arm body 5, wherein the hydraulic system 3 is fixedly arranged on the chassis system 1, and the hydraulic system 3 provides power for the mechanical arm body 5.

As shown in fig. 3, the hydraulic system 3 includes an oil tank 31, a hydraulic motor 32, a radiator 33, a fan 34, a heat dissipation motor 35, a valve group one 36, and a filter 37; the oil tank 31, the hydraulic motor 32, the valve group I36 and the filter 37 are respectively connected with the chassis system 1; the radiator 33 is arranged in cooperation with the fan 34, the fan 34 is connected with the heat radiation motor 35, and the heat radiation motor 35 is connected with the chassis system 1. The oil tank 31 and the hydraulic motor 32 form a hydraulic station, and the hydraulic station provides power for the mechanical arm body 5; the heat radiation motor 35 drives the fan 34 to reduce the temperature of the hydraulic oil passing through the radiator 33; the first valve bank 36 receives the instruction of the control system 2 and controls the movement of the first tilt cylinder 512 and the first oil cylinder 521; the filter 37 is used for filtering impurities in the hydraulic oil. The fan 34, the oil tank 31, the radiator 33 and the like are power parts of the mechanical arm system, provide power for the execution action of the mechanical arm, and are used as a part of the whole technical scheme for improving the integrity of the robot.

As shown in fig. 4 and 5, the sensor system 4 is fixedly arranged on the chassis system 1, and the sensor system 4 is used for protecting the whole machine; the sensor system 4 comprises an obstacle avoidance sensor 41, an illuminating lamp 42, a front-end camera 43, a shield 44, a supporting frame 45, an alarm 46, an emergency stop button 47, an antenna 48, a dome camera bracket 49 and a dome camera 410; the obstacle avoidance sensor 41, the illumination lamp 42, the front-end camera 43, the alarm 46 and the emergency stop button 47 are arranged on the shield 44; the obstacle avoidance sensor 41, the illumination lamp 42 and the front end camera 43 are positioned on one side of the shield 44, the obstacle avoidance sensor 41 is positioned below the front end camera 43, the illumination lamp 42 is positioned on one side of the obstacle avoidance sensor 41, and the obstacle avoidance sensor 41 is used for detecting an obstacle at the front end of the robot; the illumination lamp 42 is used to increase the field illumination intensity; the front-end camera 43 is used for collecting image information in front of the robot; the alarm 46, the emergency stop button 47 and the antenna 48 are positioned on the other side of the shield 44, the alarm 46 is positioned below the emergency stop button 47, and the alarm 46 is used for audible and visual alarm prompt; the emergency stop button 47 can stop the robot in case of emergency; the support frame 45 and the antenna 48 are connected with the chassis system 1, the support frame 45 is positioned in the middle of the shield 44, the support frame 45 penetrates out of the shield 44, the support frame 45 is used for supporting the mechanical arm body 5, the antenna 48 penetrates out of the shield 44, and the antenna 48 is used for wireless communication and information transmission; the ball machine 410 is connected with a ball machine bracket 49, the ball machine bracket 49 is connected with the chassis system 1, the ball machine bracket 49 is positioned on one side of the shield 44 close to the emergency stop button 47, and the ball machine bracket 49 penetrates out of the shield 44; the rotatable ball machine 410 is used to collect image information around the robot. The sensing system formed by the sensors is an essential key part of the robot as a whole, and can highlight the intelligence of the robot.

As shown in fig. 6 to 9, the mechanical arm body 5 is fixedly arranged on the chassis system 1, the mechanical arm body 5 penetrates out of the sensor system 4, the mechanical arm body 5 is used for cutting off a high-strength object, and the mechanical arm body 5 comprises a base device 51, a first arm 52, a second arm 53 and a third arm 54; the third arm 54 is connected to the second arm 53, the second arm 53 is connected to the first arm 52, the first arm 52 is connected to the base unit 51, and the base unit 51 is fixedly connected to the chassis system 1.

The base unit 51 includes a fixed base 511, a first tilt cylinder 512, a rotary base 513, a link member 514, and a first shaft 515. The first arm 52 includes a first cylinder 521, a second cylinder 522, a first arm body 523, and a second shaft 524; the second arm 53 includes a second shaft connector 531, a third cylinder 532, a third shaft 533, a second arm body 534, and a second tilt cylinder 535; the third arm 54 includes a third shaft connection 541, a third tilt cylinder 542, a third arm body 543, a hydraulic shear-expander 544, and a robotic arm camera 545.

As shown in fig. 6, the fixed base 511 passes through the shroud 44, the first tilt cylinder 512 is connected with the fixed base 511, and an encoder is installed in the fixed base 511, so that the rotation angle of the first tilt cylinder 512 can be fed back in real time; the rotary base 513 is connected with the first tilt cylinder 512, and the first tilt cylinder 512 can perform rotary motion under the driving of hydraulic pressure; the link member 514 and the first shaft 515 are connected to the rotation base 513, and an encoder is installed at one end of the first shaft 515 to feed back the rotation angle of the first arm body 523 with respect to the rotation base 513 in real time.

The encoder in the present application adopts a commercially available encoder, which is a prior art and will not be described herein.

As shown in fig. 7, one end of the first cylinder 521 and one end of the second cylinder 522 are respectively rotatably connected to the first arm body 523, the other end of the first cylinder 521 is rotatably connected to the link member 514, the other end of the second cylinder 522 is rotatably connected to the second shaft connector 531, and the first cylinder 521 and the second cylinder 522 are driven by hydraulic pressure to linearly move so that the first arm body 523 and the second arm body 534 respectively complete the pitching operation. One end of the first arm body 523 is rotatably connected with the first shaft 515, the other end of the first arm body 523 is provided with a second shaft 524, one end of the second shaft 524 is provided with an encoder, and the rotation angle of the second arm body 534 relative to the first arm body 523 can be fed back in real time.

As shown in fig. 8, the second tilt cylinder 535 is connected to the second shaft connector 531 and the second arm body 534, respectively, and the second shaft connector 531 is rotatably connected to the second cylinder 522 and the second shaft 524, respectively; one end of the third oil cylinder 532 is rotatably connected with the second arm body 534, the other end of the third oil cylinder 532 is connected with the third shaft connecting piece 541, the third shaft 533 is arranged at one end of the second arm body 534, and an encoder is arranged at one end of the third shaft 533 and can feed back the rotation angle of the third arm 54 relative to the second arm 53 in real time; the third cylinder 532 is driven by hydraulic pressure to move linearly, so that the third arm 54 can complete pitching; the second arm body 534 is internally provided with a third valve group which receives the instruction of the control system 2 and controls the movement of the third swing cylinder 542 and the hydraulic shear expander 544.

As shown in fig. 9, the third shaft connecting member 541 is connected to the third tilt cylinder 542, and the third tilt cylinder 542 is driven by hydraulic pressure to perform a rotational movement; the third shaft connecting piece 541 is respectively and rotatably connected with the third oil cylinder 532 and the third shaft 533, and an encoder is arranged in the third shaft connecting piece 541 and can feed back the rotation angle of the third tilt cylinder 542 in real time; the third swing cylinder 542, the hydraulic shearing and expanding device 544 and the mechanical arm camera 545 are respectively connected with the third arm main body 543, and the hydraulic shearing and expanding device 544 can complete shearing action under the hydraulic drive; the mechanical arm camera 545 is arranged above the hydraulic shearing and expanding device 544, and the mechanical arm camera 545 can collect image information in front of the hydraulic shearing and expanding device 544.

The robot in this application uses the caterpillar base plate as the carrier to the arm system is executive device, and the arm uses hydraulic pressure as driving power, and bearing capacity is strong, and arm body 5 is 6 degrees of freedom, and 6 are free wherein 3 be pendulum jar drive, and 3 are driven by sharp hydro-cylinder in addition, still include 1 execution shear spreader.

The working process of the utility model is as follows:

when the emergency rescue breaking robot executes a task, the sensor system 4 feeds back the on-site state to an operator, the operator gives a command through a handheld remote control, and the control system 2 in the robot receives the command of the handheld remote control terminal to control the operation of the whole robot; the chassis system 1 is used as a carrying carrier and a transport system of each functional component of the robot, receives the instruction of the control system 2 and completes the walking action; the base device 51, the first arm 52, the second arm 53 and the third arm 54 form a mechanical arm system together, the hydraulic system 3 provides power for the mechanical arm system, the mechanical arm system is controlled by the control system 2, the movement and rotation of six degrees of freedom in space can be completed, and under the control of the control system 2, the tail end hydraulic shearing and expanding device 544 can shear high-strength objects; the obstacle avoidance sensor 41 may detect an obstacle at the front end of the robot; the illumination lamp 42 may increase the field illumination intensity; the front-end camera 43, the mechanical arm camera 545 and the rotatable ball camera 410 are used for collecting image information around the robot and assisting the mechanical arm system to complete tasks; the alarm 46 can carry out audible and visual alarm prompt according to the site situation; the emergency stop button 47 can stop the robot in case of emergency; the antenna 48 is used for wireless communication between the control system 2 and the hand-held remote control terminal.

Although embodiments of the utility model have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present utility model. Additional modifications will readily occur to those skilled in the art. Therefore, the utility model is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims

1. The emergency rescue breaking and dismantling robot is characterized by comprising a chassis system (1), a control system (2), a sensor system (4) and a mechanical arm system;

the chassis system (1) is a crawler-type travelling mechanism and serves as a carrying carrier and a conveying system of each functional component, and the chassis system (1) comprises a power system and a transmission mechanism;

the sensor system (4) is fixedly arranged on the chassis system (1);

the control system (2) is fixedly arranged on the chassis system (1) and is positioned in the sensor system (4), and the control system (2) receives instructions of a handheld remote control terminal and controls the operation of the whole emergency rescue breaking and dismantling robot;

the mechanical arm system comprises a hydraulic system (3) and a mechanical arm body (5), and the hydraulic system (3) is fixedly arranged on the chassis system (1);

the mechanical arm body (5) is fixedly arranged on the chassis system (1), the mechanical arm body (5) penetrates out of the sensor system (4), and the mechanical arm body (5) comprises a base device (51), a first arm (52), a second arm (53) and a third arm (54); the third arm (54) is connected with the second arm (53), the second arm (53) is connected with the first arm (52), the first arm (52) is connected with the base device (51), and the base device (51) is connected with the chassis system (1).

2. The emergency rescue breaking robot according to claim 1, wherein the hydraulic system (3) comprises an oil tank (31), a hydraulic motor (32), a radiator (33), a fan (34), a heat dissipation motor (35), a valve group one (36) and a filter (37);

the oil tank (31) and the hydraulic motor (32) are respectively connected with the chassis system (1), the oil tank (31) is connected with the hydraulic motor (32), and the oil tank (31) and the hydraulic motor (32) form a hydraulic station;

the radiator (33) is arranged on the chassis system (1), the fan (34) is arranged on one side of the radiator (33), the fan (34) is connected with the heat dissipation motor (35), the heat dissipation motor (35) is connected with the chassis system (1), and the heat dissipation motor (35) drives the fan (34) to cool hydraulic oil passing through the radiator (33);

the first valve group (36) and the filter (37) are respectively connected with the chassis system (1), and the first valve group (36) controls the base device (51) and the first arm (52) to move.

3. The emergency rescue break-open robot according to claim 1, wherein the sensor system (4) comprises a obstacle avoidance sensor (41), an illuminating lamp (42), a front-end camera (43), a shield (44), a support frame (45), an alarm (46), an emergency stop button (47), an antenna (48), a ball machine bracket (49) and a ball machine (410);

the obstacle avoidance sensor (41), the illuminating lamp (42) and the front-end camera (43) are positioned on one side of the shield (44), the obstacle avoidance sensor (41) is positioned below the front-end camera (43), and the illuminating lamp (42) is positioned on one side of the obstacle avoidance sensor (41);

the alarm (46), the emergency stop button (47) and the antenna (48) are positioned on the other side of the shield (44), the alarm (46) is positioned below the emergency stop button (47), the emergency stop button (47) stops the robot from moving in an emergency, the antenna (48) is connected with the chassis system (1), and the antenna (48) penetrates out of the shield (44);

the support frame (45) is connected with the chassis system (1), the support frame (45) is positioned in the middle of the shield (44), and the support frame (45) penetrates out of the shield (44);

the ball machine support (49) is connected with the chassis system (1), the ball machine support (49) is located on one side, close to the emergency stop button (47), of the shield (44), the ball machine support (49) penetrates out of the shield (44), and the ball machine (410) is arranged on the ball machine support (49).

4. The emergency rescue break-open robot according to claim 1, wherein the control system (2) comprises a robot control center CPU, a driving element, an information feedback system and a monitoring system.

5. The emergency rescue break-open robot of claim 1 wherein the base means (51) comprises a fixed base (511), a first tilt cylinder (512), a swivel base (513), a link member (514) and a first shaft (515);

an encoder is arranged in the fixed base (511), the rotation angle of the first swing cylinder (512) can be fed back in real time, the first swing cylinder (512) is connected with the fixed base (511), the rotating base (513) is connected with the first swing cylinder (512), and the connecting rod component (514) and the first shaft (515) are connected with the rotating base (513);

the first arm (52) includes a first cylinder (521), a second cylinder (522), a first arm body (523), and a second shaft (524);

an encoder is mounted at one end of the first shaft (515) and can feed back the rotation angle of the first arm main body (523) relative to the rotation base (513) in real time.

6. The emergency rescue break-open robot of claim 5 wherein the first arm (52) comprises a first cylinder (521), a second cylinder (522), a first arm body (523), and a second shaft (524);

one end of the first oil cylinder (521) and one end of the second oil cylinder (522) are respectively and rotatably connected with the first arm main body (523), the other end of the first oil cylinder (521) is rotatably connected with the connecting rod member (514), the other end of the second oil cylinder (522) is rotatably connected with the second arm (53), one end of the first arm main body (523) is rotatably connected with the first shaft (515), and the second shaft (524) is arranged at the other end of the first arm main body (523);

the second arm (53) comprises a second shaft connecting piece (531), a third oil cylinder (532), a third shaft (533), a second arm main body (534) and a second swing cylinder (535);

an encoder is arranged at one end of the second shaft (524) and can feed back the rotating angle of the second arm main body (534) relative to the first arm main body (523) in real time.

7. The emergency rescue break-open robot of claim 6 wherein the second arm (53) comprises a second shaft connector (531), a third cylinder (532), a third shaft (533), a second arm body (534), and a second tilt cylinder (535);

the second swing cylinder (535) is respectively connected with the second shaft connecting piece (531) and the second arm main body (534), and the second shaft connecting piece (531) is respectively connected with the second oil cylinder (522) and the second shaft (524) in a rotating way; one end of the third oil cylinder (532) is rotationally connected with the second arm main body (534), the other end of the third oil cylinder (532) is connected with the third arm (54), the third shaft (533) is installed at one end of the second arm main body (534), and an encoder is installed at one end of the third shaft (533) and can feed back the rotation angle of the third arm (54) relative to the second arm (53) in real time.

8. The emergency rescue break-open robot of claim 7 wherein the third arm (54) comprises a third shaft connector (541), a third tilt cylinder (542), a third arm body (543), a hydraulic shear spreader (544), and a mechanical arm camera (545);

the third shaft connecting piece (541) is connected with the third tilt cylinder (542), the third shaft connecting piece (541) is respectively and rotatably connected with the third oil cylinder (532) and the third shaft (533), and an encoder is arranged in the third shaft connecting piece (541) and can feed back the rotating angle of the third tilt cylinder (542) in real time; the third swing cylinder (542), the hydraulic shearing and expanding device (544) and the mechanical arm camera (545) are respectively connected with the third arm main body (543), and the hydraulic shearing and expanding device (544) can complete shearing action under the drive of hydraulic pressure; the mechanical arm camera (545) is arranged above the hydraulic shearing and expanding device (544), and the mechanical arm camera (545) can acquire image information in front of the hydraulic shearing and expanding device (544);

and a valve group III is arranged in the second arm main body (534), and is used for receiving the instruction of the control system (2) and controlling the movement of the third swing cylinder (542) and the hydraulic shear expander (544).