A hydraulic inspection robot with four legs

Abstract

The present application belongs to the technical field of inspection robots, and discloses a hydraulic inspection quadruped robot capable of carrying multiple sensing devices. The hydraulic inspection quadruped robot mainly comprises a body framework, a sensing and collecting system, a main controller, four mechanical legs, a hydraulic oil supply system, and a lithium battery, wherein the mechanical leg adopts an easy-to-protect mechanical leg structure layout of one main PSS transmission assembly cooperating with two auxiliary PSS transmission assemblies to drive the supporting leg, and through servo control of a direct current servo motor, the hydraulic cylinder can be provided with a stable hydraulic oil source, and the hydraulic oil supply system utilizes the sealing feature of the reversing valve to keep the position of the end of the supporting leg unchanged in the case of power failure. The hydraulic driving quadruped robot can provide a larger output torque, and the load capacity is greatly enhanced, so that the obstacle crossing ability and the anti-interference ability are strengthened; at the same time, the hydraulic driving quadruped robot can carry many sensing devices such as a thermal imager, a gas analyzer, a signal antenna, a high-fidelity noise reduction pickup, a laser radar, a danger alarm lamp, and a cloud platform depth camera to assist in inspection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of inspection robots, and particularly relates to a hydraulic inspection quadruped robot capable of carrying multiple sensing devices. BACKGROUND

[0002] At present, with the rapid development of technologies such as hydraulic drive, additive manufacturing and intelligent manufacturing, a high-mobility hydraulic quadruped robot that can carry supplies and move relatively fast in mountainous and jungle environments has become a new research hotspot.

[0003] Most of the current quadruped robots are driven by servo motors, which have absolute advantages in size, price, ease of use and precise control, but servo motors have small output torque due to size and weight limitations.

[0004] In view of the defects in the above-mentioned existing servo motor driven quadruped robot, in subsequent design, designers use high gear ratio gears to reduce basic speed to improve driving torque, but this improvement method also makes the whole machine have a large fixed motor shell and small running speed, so it is not suitable for high dynamic motion interaction in unpredictable terrain differences.

[0005] In addition, the quadruped robot in high temperature, high humidity, large dust and other harsh environments, part of the driver with the mechanical leg real-time swing is not easy to protect, high failure rate, low reliability, so that it is limited in the application in the field of rescue and mining inspection. In order to make the mining inspection carry many sensors and auxiliary human work heavy load equipment, go to the dangerous terrain such as fully mechanized mining face and transportation roadway to perform tasks, it is necessary to design a quadruped robot with high power, high running speed, easy protection and high load capacity to ensure the safety and reliability of the inspection. SUMMARY

[0006] In order to facilitate inspection in a mining environment with more dust, and to easily protect the exposed mechanical legs, in view of the defects of the servo motor driven quadruped robot in the above background technology and the reliable requirements of mining inspection, the present application designs a hydraulic inspection quadruped robot capable of carrying multiple sensing devices.

[0007] In order to achieve the above object, the following technical scheme is adopted: a hydraulic inspection quadruped robot capable of carrying multiple sensing devices, comprising a body framework and a sensing and collecting system, the body framework is assembled by a chassis, an outer shell and a top cover, four mechanical legs are respectively installed on the chassis, each mechanical leg is identical in structure and comprises a main PSS transmission assembly and two auxiliary PSS transmission assemblies symmetrically distributed on both sides thereof, the three are respectively hingedly connected with the supporting legs and are powered by three built-in magnetic displacement sensor hydraulic cylinders, the three built-in magnetic displacement sensor hydraulic cylinders are installed on the chassis through a triangular fixing frame, a hydraulic oil supply system is also installed on the chassis to provide the required hydraulic power for the twelve built-in magnetic displacement sensor hydraulic cylinders, the four mechanical legs drive the oil circuit of the hydraulic oil supply system to run through the main controller, and then cooperate with each other to realize the trajectory of foot end walking planning, the main controller is installed on the chassis through an electrical mounting bracket, a lithium battery for supplying power to the main controller and each system is also installed on the electrical mounting bracket, the sensing and collecting system comprises a thermal imager, a signal antenna, a laser radar and a cloud depth camera installed on the top cover, a gas analyzer is installed on the outer shell, the output end of the main controller is connected with the signal antenna and the electrical elements of the hydraulic oil supply system, the input end of the main controller is connected with the thermal imager, the gas analyzer, the laser radar and the cloud depth camera respectively, the thermal imager accurately detects the surface temperature of each device by capturing the thermal infrared radiation of the device and uploads the thermal image to the main controller to form a thermal image, which is convenient for quickly locating the high temperature fault point, the gas analyzer is used for detecting the toxic and harmful gases in the underground environment air and uploading the data to the main controller, the main controller is used for receiving and processing the real-time data information collected by the thermal imager and the gas analyzer, and transmitting the real-time data feedback of the scene to the ground base station through the signal antenna, the laser radar and the cloud depth camera are respectively used for collecting scene data information and image information and uploading the information to the main controller for information fusion and constructing a high-precision map, which provides path planning and obstacle avoidance for the quadruped robot.

[0008] As a further explanation and limitation of the above technical solution, the main PSS transmission assembly includes a first ball joint connecting nut threadedly connected to the end of the push rod of one of the built-in magnetic displacement sensor hydraulic oil cylinders, a first flange side is welded on the first ball joint connecting nut and connected with a first flange ball joint, the first flange ball joint is fixedly connected to the side flange ball joint of the middle part of the first connecting rod through a first ball joint connecting rod, the two auxiliary PSS transmission assemblies are structurally identical and each include a cylindrical column with a circular hole welded on the bottom end of a triangular fixed frame and hingedly connected to one end of a second connecting rod, the other end of the second connecting rod is hingedly connected to one end of the first connecting rod, one end of two third connecting rods is commonly hingedly connected to the middle part of the second connecting rod, and the other end is commonly hingedly connected to one end of a fourth connecting rod, the other end of the first connecting rod and the fourth connecting rod is respectively hingedly connected to one end and the middle part of the leg, a second ball joint connecting nut is threadedly connected to the end of the push rod of the other two built-in magnetic displacement sensor hydraulic oil cylinders, a second flange side is welded on each of the second ball joint connecting nuts and connected with a second flange ball joint, a second ball joint connecting rod is connected to each of the second flange ball joints, and the two second ball joint connecting rods are hingedly connected to the middle parts of the two third connecting rods through a third flange ball joint.

[0009] As a further explanation and limitation of the above technical solution, the hydraulic oil supply system includes an oil tank, an oil inlet distributor, two low-pressure collectors and a high-pressure distributor, three hydraulic gear pumps, and a direct-current servo motor rigidly connected through a shaft coupling, the three direct-current servo motors are respectively mounted on the three hydraulic gear pumps through a motor fixing frame, the oil outlet of the oil tank is connected with the oil inlet distributor through a main oil supply path, the oil outlet of the oil inlet distributor is connected with the oil inlets of the three hydraulic gear pumps through three branches of a second hydraulic quick connector, the oil outlets of each hydraulic gear pump are respectively connected with the oil inlets of an oil outlet collector through a one-way valve and a pressure sensor, the oil outlet of the oil outlet collector is divided into two branches through a first hydraulic quick connector, one branch is connected with the oil inlet of a pilot electromagnetic overflow valve, and the oil outlet thereof is connected with an oil return pipeline, the pilot electromagnetic overflow valve is mounted on the chassis through an overflow valve support, the other branch is a main oil supply pipeline connected with a filter, the filter is fixedly connected with the chassis through a filter support, and the oil outlet thereof is connected with the three built-in magnetic displacement sensor hydraulic oil cylinders through twelve three-position five-way electrically controlled reversing valves, the twelve three-position five-way electrically controlled reversing valves are installed on the chassis in two groups through a reversing valve fixing frame, the three-position five-way electrically controlled reversing valves are connected with the oil tank through a low-pressure collector, thereby forming a closed oil supply circuit for providing the required hydraulic power for the mechanical leg.

[0010] As the further supplementary description of the above technical scheme, the three-position five-way electrically controlled reversing valve has five interface holes of R, R exhaust port, P pressure port, A hydraulic cylinder oil inlet and B hydraulic cylinder oil outlet, wherein the R and R exhaust ports are connected to the pipe interface of the low-pressure collector through the converging oil way, the oil outlet of the low-pressure collector is connected to the oil tank through the oil way, the P pressure port is connected to the pipe interface of the high-pressure distributor through the diverging oil way, the A hydraulic cylinder oil inlet is connected to the oil inlet of the built-in magnetic displacement sensor hydraulic cylinder through the oil way, and the B hydraulic cylinder oil outlet is connected to the oil outlet of the built-in magnetic displacement sensor hydraulic cylinder through the pipeline.

[0011] As the further supplementary description of the above technical scheme, the hydraulic oil supply system further comprises a cooling fan, the cooling fan is connected to the output end of the main controller and is controlled to operate to assist the four-legged robot in heat dissipation.

[0012] As the further supplementary description of the above technical scheme, a porous structure is formed on the shell to facilitate heat dissipation of the hydraulic pipeline.

[0013] As the further supplementary description of the above technical scheme, the gimbal depth camera is installed on the 360-degree rotating gimbal, so that the range of collectable images on site is increased.

[0014] As the further supplementary description of the above technical scheme, the sensing and collecting system further comprises a high-fidelity noise reduction microphone and a danger alarm lamp which are respectively installed on the top cover and are connected to the input end and the output end of the main controller, the high-fidelity noise reduction microphone is used to collect the sound on site and transmit the sound to the ground workstation, when the noise frequency is higher than a certain value, the controller sends a warning through the danger alarm lamp and changes the waveform color to remind the staff, so that the staff can quickly and intuitively find the abnormality.

[0015] As the further supplementary description of the above technical scheme, a foot rubber sleeve is arranged at the end of each leg, so as to prevent slipping.

[0016] As the further supplementary description of the above technical scheme, two handles are fixedly connected to the top cover, which facilitates carrying.

[0017] Compared with the existing four-legged robot driven by a servo motor, the four-legged robot designed in the application has the following advantages:

[0018] 1. The hydraulic inspection four-legged robot designed in the application proposes an easy-to-protect mechanical leg structure layout with a main PSS transmission assembly cooperating with two auxiliary PSS transmission assemblies to drive the legs, which adopts an internal magnetic displacement sensor linear movement mode of a hydraulic cylinder to drive the leg movement, abandoning the traditional rotary servo motor driving scheme; meanwhile, by using the sealing characteristics of the reversing valve in the hydraulic oil supply system, the position of the leg end can be kept unchanged in the case of power failure.

[0019] 2. The hydraulic oil supply system designed in the application adopts a design scheme of a direct-current servo motor dragging a gear pump, which can provide a stable hydraulic oil source for the hydraulic cylinder through servo control of the direct-current servo motor. Compared with the traditional fuel engine driving scheme, the hydraulic oil supply system designed in the application can ensure high efficiency and reasonable layout of the size while making the operation noise small. In addition, compared with the whole machine electric servo driving, the hydraulic driving of the four-legged robot can provide a larger output torque, so that the load capacity will be greatly enhanced.

[0020] 3. The hydraulic inspection four-legged robot designed in the application can carry out detailed inspection of the mine site by using the high load-carrying capacity of the hydraulic driving, and the high output torque can also enhance the obstacle crossing ability and anti-interference ability, so as to effectively ensure the safety and reliability of the whole inspection process. DETAILED DESCRIPTION

[0021] Figure 1 It is a southwest shaft side view of the four-legged robot in the embodiment of the application.

[0022] Figure 2 It is a northeast shaft side view of the four-legged robot in the embodiment of the application.

[0023] Figure 3 It is the structure of the mechanical leg in the embodiment of the application. Figure 1 ;

[0024] Figure 4 It is the structure of the mechanical leg in the embodiment of the application. Figure 2 ;

[0025] Figure 5 It is the structure of the mechanical leg in the embodiment of the application. Figure 3 ;

[0026] Figure 6 It is a structure diagram of the four-legged robot in the embodiment of the application.

[0027] Figure 7 It is the internal structure of the four-legged robot in the embodiment of the application. Figure 1 ;

[0028] Figure 8 It is the internal structure of the four-legged robot in the embodiment of the application. Figure 2 ;

[0029] Figure 9 The internal structure of the four-legged robot in the embodiment of the application is exploded view;

[0030] Figure 10 The assembly view of the low-voltage bus and the high-voltage shunt in the embodiment of the application is shown in the figure;

[0031] Figure 11 The structure view of the three-position five-way electrically controlled reversing valve in the embodiment of the application is shown in the figure;

[0032] Figure 12 The connection block diagram of the hydraulic oil supply system in the embodiment of the application is shown in the figure;

[0033] Figure 13 The connection schematic diagram of the built-in magnetic displacement sensor hydraulic cylinder and the three-position five-way electrically controlled reversing valve in the embodiment of the application is shown in the figure.

[0034] In the figure: body skeleton 1, sensing and collecting system 2, main controller 3, mechanical leg 4, lithium battery 5, hydraulic oil supply system 6, electrical mounting rack 7, handle 8.

[0035] The body skeleton includes chassis 101, shell 102, and top cover 103.

[0036] The sensing and collecting system includes thermal imager 201, gas analyzer 202, signal antenna 203, high-fidelity noise reduction microphone 204, laser radar 205, danger alarm lamp 206, cloud platform depth camera 207, and rotating cloud platform 208.

[0037] The mechanical leg includes main PSS transmission assembly 401, auxiliary PSS transmission assembly 402, support leg 403, built-in magnetic displacement sensor hydraulic cylinder 404, triangular fixed frame 405, and foot end rubber sleeve 406.

[0038] The main PSS transmission assembly includes first ball pair connecting nut 4011, first flange ball pair 4012, first ball pair connecting rod 4013, and No. 1 connecting rod 4014.

[0039] The auxiliary PSS transmission assembly includes column with round hole 4021, No. 2 connecting rod 4022, No. 3 connecting rod 4023, No. 4 connecting rod 4024, second ball pair connecting nut 4025, second flange ball pair 4026, second ball pair connecting rod 4027, and third flange ball pair 4028.

[0040] The hydraulic oil supply system comprises an oil tank 601, an oil inlet distributor 602, a low-pressure collector 603, a filter 604, a direct-current servo motor 605, a shaft coupling 606, a hydraulic gear pump 607, a one-way valve 608, a pressure sensor 609, an oil outlet collector 610, a pilot-operated electromagnetic overflow valve 611, a filter support 612, a three-position five-way electrically-controlled reversing valve 613, a reversing valve fixing frame 614, a high-pressure distributor 615, a motor fixing frame 616, a first hydraulic quick connector 617, an overflow valve support 618, a cooling fan 619, and a second hydraulic quick connector 620. DETAILED DESCRIPTION

[0041] In order to further illustrate the technical scheme of the present application, the hydraulic inspection four-legged robot designed by the present application is further described below by three embodiments in combination with the accompanying drawings.

[0042] Embodiment One

[0043] As shown in the accompanying drawings, Figures 1 to 11As shown, a hydraulic inspection four-legged robot with portable sensing devices comprises a body skeleton 1, a sensing and collecting system 2, a main controller 3, four mechanical legs 4, a matching hydraulic oil supply system 6, and a lithium battery 5 for power supply, etc. The body skeleton 1 is assembled by a chassis 101, an outer shell 102, and a top cover 103. Two handles 8 are fixedly connected to the top cover 103 for convenient carrying. Four mechanical legs 4 are respectively installed on the chassis 101. Each mechanical leg 4 is identical in structure and comprises a main PSS transmission assembly 401 and two auxiliary PSS transmission assemblies 402 symmetrically distributed on both sides thereof. The three are hingedly connected with a supporting leg 403 and powered by three built-in magnetic displacement sensor hydraulic oil cylinders 404. The three built-in magnetic displacement sensor hydraulic oil cylinders 404 are installed on the chassis 101 through a triangular fixing frame 405. A foot rubber sleeve 406 is arranged at the end of each supporting leg 403 to prevent slipping. The main PSS transmission assembly 401 comprises a first ball joint connecting nut 4011 threadedly connected to the end of the push rod of one of the built-in magnetic displacement sensor hydraulic oil cylinders 404. A first flange side is welded to the first flange ball joint 4012. The first flange ball joint 4012 is fixedly connected to the side flange ball joint in the middle of a No. 1 connecting rod 4014 through a first ball joint connecting rod 4013. Two auxiliary PSS transmission assemblies 402 are identical in structure and each comprises a round-hole stand column 4021 welded to the bottom end of the triangular fixing frame 405 and hingedly connected to one end of a No. 2 connecting rod 4022. The other end of the No. 2 connecting rod 4022 is hingedly connected to one end of the No. 1 connecting rod 4014. One end of two No. 3 connecting rods 4023 is hingedly connected to the middle of the No. 2 connecting rod 4022, and the other end thereof is hingedly connected to one end of a No. 4 connecting rod 4024. The other ends of the No. 1 connecting rod 4014 and the No. 4 connecting rod 4024 are hingedly connected to one end and the middle of the supporting leg 403, respectively. Second ball joint connecting nuts 4025 are threadedly connected to the ends of the push rods of the other two built-in magnetic displacement sensor hydraulic oil cylinders 404. Second flange sides are welded to second flange ball joints 4026. Second ball joint connecting rods 4027 are connected to the second flange ball joints 4026. The two second ball joint connecting rods 4027 are hingedly connected to the middle of the two No. 3 connecting rods 4023 through third flange ball joints 4028. A hydraulic oil supply system 6 is installed on the chassis 101 to provide required hydraulic power for the twelve built-in magnetic displacement sensor hydraulic oil cylinders 404.The hydraulic oil supply system 6 includes an oil tank 601, an oil inlet distributor 602, two low-pressure collectors 603, a high-pressure distributor 615, three hydraulic gear pumps 607, and direct-current servo motors 605 rigidly connected through shafts 606, three of which are installed on the three hydraulic gear pumps 607 through motor fixing frames 616, the oil outlet of the oil tank 601 is connected with the oil inlet distributor 602 through a main oil supply line, the oil outlet of the oil inlet distributor 602 is connected with the oil inlets of the three hydraulic gear pumps 607 through three branches of a second hydraulic quick connector 620, the oil outlets of each hydraulic gear pump 607 are connected with the oil inlets of an oil outlet collector 610 through three branches of a one-way valve 608 and a pressure sensor 609, respectively, the oil outlet of the oil outlet collector 610 is divided into two branches through a first hydraulic quick connector 617, one of which is connected with the oil inlet of a pilot-operated electromagnetic overflow valve 611, the oil outlet of which is connected with an oil return line, the pilot-operated electromagnetic overflow valve 611 is installed on the chassis 101 through an overflow valve support 618, the other branch is a main oil supply line connected with a filter 604, the filter 604 is fixedly connected with the chassis 101 through a filter support 612, the oil outlet thereof is connected with three built-in magnetic displacement sensor hydraulic cylinders 404 through twelve three-position five-way electrically controlled reversing valves 613, the twelve three-position five-way electrically controlled reversing valves 613 are installed on the chassis 101 in two groups through reversing valve fixing frames 614, the three-position five-way electrically controlled reversing valves 613 are connected with the oil tank 601 through the low-pressure collectors 603, four mechanical legs 4 provide the required hydraulic power transmission for the operation of the mechanical legs 4 by controlling the oil circuit of the hydraulic oil supply system 6, and then cooperate to realize the trajectory of the foot walking planning, the main controller 3 is installed on the chassis 101 through an electrical mounting frame 7, and a lithium battery 5 for supplying power to the main controller 3 and each system is also installed on the electrical mounting frame 7, the sensing and collecting system 2 includes a thermal imager 201, a signal antenna 203, a laser radar 205, and a cloud platform depth camera 207 installed on the top cover 103, and a gas analyzer 202 is installed on the shell 102, the output end of the main controller 3 is connected with the signal antenna 203 and the electrical elements of the hydraulic oil supply system 6, and the input end of the main controller 3 is connected with the thermal imager 201, the gas analyzer 202, the laser radar 205, and the cloud platform depth camera 207, respectively, the cloud platform depth camera 207 is installed on a 360° rotating cloud platform 208 to increase the range of collectable images on site, the thermal imager 201 accurately detects the surface temperature of each device by capturing the thermal infrared radiation of the device and uploads it to the main controller 3 to form a thermal image, which facilitates rapid positioning of high-temperature fault points,The gas analyzer 202 is used to detect toxic and harmful gases in the underground ambient air and upload the data to the main controller 3. The main controller 3 receives and processes real-time data collected by the thermal imager 201 and the gas analyzer 202, and transmits the data back to the ground base station in real time via the signal antenna 203. The lidar 205 and the gimbal depth camera 207 are used to collect on-site data and image information, respectively, and upload them to the main controller 3 for information fusion to construct a high-precision map, providing path planning and obstacle avoidance for the quadruped robot.

[0044] Furthermore, as a specific connection implementation method for the key component, the three-position five-way electrically controlled directional valve, in the above embodiments, it is shown in the attached figure. Figures 12 to 13 As shown in the diagram, the three-position five-way electrically controlled directional valve 613 has five interface holes: R1 and R2 exhaust ports, P pressure port, A hydraulic cylinder inlet port, and B hydraulic cylinder outlet port. The R1 and R2 exhaust ports are connected to the pipe interface of the low-pressure manifold 603 through a manifold oil circuit. The outlet port of the low-pressure manifold 603 is connected to the oil tank 601 through an oil circuit. The P pressure port is connected to the pipe interface of the high-pressure manifold 615 through a split oil circuit. The A hydraulic cylinder inlet port is connected to the inlet port of the built-in magnetic displacement sensor hydraulic cylinder 404 through an oil circuit. The B hydraulic cylinder outlet port is connected to the outlet port of the built-in magnetic displacement sensor hydraulic cylinder 404 through a pipe, thus forming a closed-loop oil supply circuit.

[0045] Example 2

[0046] In Embodiment 1, to better adapt the quadruped robot to complex inspection environments and alert staff to potential hazards, the quadruped robot's sensor acquisition system 2 includes sensors such as a thermal imager 201, a gas analyzer 202, a lidar 205, and a gimbal depth camera 207. It also includes a high-fidelity noise-canceling microphone 204 and a hazard alarm light 206, respectively installed on the top cover 103. These are connected to the input and output terminals of the main controller 3, respectively. The high-fidelity noise-canceling microphone 204 collects ambient sound and transmits it to the ground workstation. When the noise frequency exceeds a certain value, the controller issues a warning via the hazard alarm light and changes the waveform color to alert staff, enabling them to quickly and intuitively detect abnormalities.

[0047] Example 3

[0048] In the embodiment one or the embodiment two, because the long time driving of the direct current servo motor to provide the hydraulic power for the walking of the built-in magnetic displacement sensor hydraulic cylinder causes the heat of the self and various oil lines to be concentrated, and the heat generated by the main controller 3 cannot be released in time, in order to avoid the influence of the heat concentration on the operation of the whole quadruped robot, we make the following two aspects of heat dissipation design: one is to open a porous structure on the shell 102 to facilitate the heat dissipation of the hydraulic pipeline, and the other is to increase the cooling fan 619, wherein the cooling fan 619 is connected with the output end of the main controller 3 and is controlled to operate by the main controller 3, so as to assist the heat dissipation of the quadruped robot.

[0049] The working principle is as follows:

[0050] The main controller 3 collects the feedback rotation angle, speed and torque information of the direct current servo motor 605 and the data of each pressure sensor 609, analyzes the collected information to adjust the pilot operated relief valve 611 to maintain stable hydraulic pressure in special circumstances, so that the hydraulic oil supply system 6 can quickly release pressure in unexpected situations, and provide stable oil pressure for the quadruped robot system. Under the instruction of the main controller 3, the three direct current servo motors 605 drive the corresponding hydraulic gear pumps 607 to divide the oil into three branches through the oil inlet divider 602, and then the oil is collected into the oil outlet collector 610 through the straight-through check valve 608. The check valve 608 is used to prevent the backflow of oil, and the main oil supply pipeline is used to concentrate the oil into the filter 604 to ensure the cleanliness of the oil. Then the oil enters the left and right high-pressure dividers 615 in turn, and the 12 pipe interfaces of the high-pressure dividers 615 can divide the oil into twelve three-position five-way electrically controlled reversing valves 613. The twelve three-position five-way electrically controlled reversing valves 613 deliver the oil to the oil inlets of the twelve built-in magnetic displacement sensor hydraulic cylinders 404 under the action of the controller. The oil outlets of the twelve built-in magnetic displacement sensor hydraulic cylinders 404 enter the 12 pipe interfaces of the left and right low-pressure collectors 603 and finally flow into the oil tank 601 through the oil return pipeline. The hydraulic quick connector 617 and 620 are respectively installed on the oil inlet divider 602 and the oil outlet collector 610 to facilitate the connection with the hydraulic pump station, so as to realize the oil replacement in the closed loop hydraulic circuit system.

[0051] The specific working principle of the three-position five-way electrically controlled reversing valve 613 is as follows: when neither of the left and right electromagnetic valves is powered, the oil supply port P and the built-in magnetic displacement sensor hydraulic cylinder 404 inlet and outlet ports are closed at the same time, the pressure of the built-in magnetic displacement sensor hydraulic cylinder 404 cannot be discharged, and the push rod remains in the power-off position, so that the quadruped robot can remain in the leg power-off position when charging or accidentally falling down; when the main controller 3 instructs the left relay to be powered and the right relay to be powered off, the pressure port P is connected with the built-in magnetic displacement sensor hydraulic cylinder 404 inlet port A, the exhaust ports R1 and R2 are connected with the built-in magnetic displacement sensor hydraulic cylinder 404 outlet port B, and the cylinder push rod is retracted; when the main controller 3 instructs the right relay to be powered and the left relay to be powered off, the pressure port P is connected with the built-in magnetic displacement sensor hydraulic cylinder 404 outlet port B, the exhaust ports R1 and R2 are connected with the built-in magnetic displacement sensor hydraulic cylinder 404 inlet port A, and the cylinder push rod is extended. The main controller 3 adjusts the torque of the direct-current servo motor 605 in combination with the position information fed back by the three hydraulic cylinders of each easily protected mechanical leg, so that the three hydraulic cylinders move by a specified distance, and the desired motion trajectory of the mechanical leg end can be realized.

[0052] In the sensing and collecting system 2 carried on the quadruped robot, the thermal imager 201 accurately detects the surface temperature of each device by capturing the thermal infrared radiation of the device and forms a thermal image, which intuitively displays the temperature distribution of the device and quickly locates the high-temperature fault point. The laser radar 205 can fuse data with the gimbal depth camera 207 and construct a high-precision map, which provides path planning and obstacle avoidance for the quadruped robot. The high-fidelity noise reduction microphone 204 can collect on-site sound and transmit the sound to the ground workstation. When the noise frequency is higher than a certain value, the software will timely alarm and change the waveform color to remind the staff, and the danger alarm lamp 206 issues a warning, so that personnel can quickly and intuitively find abnormalities. The gas analyzer 202 can detect toxic and harmful gases in the air, especially has strong sensitivity to CH4, CO, CO2 and other gases. The signal antenna 203 can enhance the robot's ability to receive signals through walls, ensuring that the quadruped robot can feedback on-site data to the ground base station at any time.

[0053] The main features and advantages of the present application are shown and described above, and it is obvious for those skilled in the art that the specific embodiments of the present application are not limited to the details of the above exemplary embodiments, and the inventive idea and design concept of the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the scope of the present application should be limited by the appended claims rather than the above description, and it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims.

[0054] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A hydraulic inspection quadruped robot capable of carrying multiple sensing devices, comprising a body skeleton (1) and a sensing acquisition system (2), the body skeleton (1) is assembled by a chassis (101), an outer shell (102) and a top cover (103), four mechanical legs (4) are installed on the chassis (101), characterized in that: Each of the mechanical legs (4) is structurally identical and includes a main PSS transmission assembly (401) and two auxiliary PSS transmission assemblies (402) symmetrically distributed on both sides thereof, which are respectively hingedly connected with a supporting leg (403) and powered by three built-in magnetic displacement sensor hydraulic oil cylinders (404), the three built-in magnetic displacement sensor hydraulic oil cylinders (404) are installed on the chassis (101) through a triangular fixing frame (405), and a hydraulic oil supply system (6) is also installed on the chassis (101) to provide the required hydraulic power for the twelve built-in magnetic displacement sensor hydraulic oil cylinders (404), the four mechanical legs (4) are driven to operate by controlling the oil circuit of the hydraulic oil supply system (6) through the main controller (3), and then cooperate with each other to realize the trajectory of foot end walking planning, the main controller (3) is installed on the chassis (101) through an electrical mounting frame (7), and a lithium battery (5) for supplying power to the main controller (3) and respective systems is also installed on the electrical mounting frame (7), the sensing and collecting system (2) includes a thermal imager (201) installed on a top cover (103), a signal antenna (203), a laser radar (205) and a cloud platform depth camera (207), a gas analyzer (202) is installed on the shell (102), the output end of the main controller (3) is connected with the electrical elements of the signal antenna (203) and the hydraulic oil supply system (6), and the input end of the main controller (3) is connected with the thermal imager (201), the gas analyzer (202), the laser radar (205) and the cloud platform depth camera (207) respectively, the thermal imager (201) accurately detects the surface temperature of each device by capturing the thermal infrared radiation of the device and uploads the thermal image to the main controller (3) to form a thermal image, which facilitates rapid positioning of high temperature fault points, the gas analyzer (202) is used for detecting toxic and harmful gases in the air of the underground environment and uploading the data to the main controller (3), the main controller (3) is used for receiving and processing real-time data information collected by the thermal imager (201) and the gas analyzer (202), and transmitting the real-time data of the scene to the ground base station through the signal antenna (203), the laser radar (205) and the cloud platform depth camera (207) are respectively used for collecting scene data information and image information and uploading the information to the main controller (3) for information fusion and constructing a high-precision map, which provides path planning and obstacle avoidance for the quadruped robot; The main PSS drive assembly (401) includes a threaded connection of the first ball joint connecting nut (4011) at the end of the push rod of one of the built-in magnetic displacement sensor hydraulic oil cylinder (404), the first flange side is welded on the first ball joint connecting nut (4011) and connected with the first flange ball joint (4012), the first flange ball joint (4012) is fixedly connected on the side flange ball joint of the middle part of the first connecting rod (4014) through the first ball joint connecting rod (4013), the two auxiliary PSS drive assemblies (402) are the same structure, and each includes a cylindrical column (4021) with a round hole welded on the bottom end of the triangular fixed frame (405), and the other end of the second connecting rod (4022) is hingedly connected with the one end of the second connecting rod (4022), the other end of the second connecting rod (4022) is hingedly connected with the one end of the first connecting rod (4014), the one end of the third connecting rod (4023) is hingedly connected on the middle part of the second connecting rod (4022), and the other end thereof is hingedly connected on the one end of the fourth connecting rod (4024), the other end of the first connecting rod (4014) and the fourth connecting rod (4024) is hingedly connected with the one end and the middle part of the supporting leg (403), respectively, the second ball joint connecting nut (4025) is threaded connected on the end of the push rod of the other two built-in magnetic displacement sensor hydraulic oil cylinder (404), the second flange side is welded on the second ball joint connecting nut (4025) and connected with the second flange ball joint (4026), the second ball joint connecting rod (4027) is connected on the second flange ball joint (4026), and the two second ball joint connecting rods (4027) are hingedly connected on the middle part of the third connecting rod (4023) through the third flange ball joint (4028).

2. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices according to claim 1, characterized in that: The hydraulic oil supply system (6) comprises an oil tank (601) mounted on the chassis (101), an oil inlet distributor (602), two low-pressure collectors (603) and a high-pressure distributor (615), three hydraulic gear pumps (607), and a direct-current servo motor (605) rigidly connected through a shaft coupling (606), three of the direct-current servo motors (605) are respectively mounted on the three hydraulic gear pumps (607) through a motor fixing frame (616), the oil outlet of the oil tank (601) is connected with the oil inlet distributor (602) through a main oil supply path, the oil outlet of the oil inlet distributor (602) is connected with the oil inlets of the three hydraulic gear pumps (607) through three branch flows of a second hydraulic quick connector (620), the oil outlets of each of the hydraulic gear pumps (607) are connected with the oil inlets of an oil outlet collector (610) through three branch flows of a one-way valve (608) and a pressure sensor (609), the oil outlet of the oil outlet collector (610) is divided into two branch flows through a first hydraulic quick connector (617), one of the branch flows is connected with the oil inlet of a pilot-operated electromagnetic overflow valve (611), the oil outlet thereof is connected with an oil return pipeline, the pilot-operated electromagnetic overflow valve (611) is mounted on the chassis (101) through an overflow valve support (618), the other branch flow is a main oil supply pipeline connected with a filter (604), the filter (604) is fixedly connected with the chassis (101) through a filter support (612), the oil outlet thereof is connected with three built-in magnetic displacement sensor hydraulic cylinders (404) through twelve three-position five-way electrically-controlled reversing valves (613), the twelve three-position five-way electrically-controlled reversing valves (613) are mounted on the chassis (101) through two groups of reversing valve fixing frames (614), the three-position five-way electrically-controlled reversing valves (613) are connected with the oil tank (601) through the low-pressure collectors (603), thereby forming a closed-loop oil supply circuit for providing the required hydraulic power for the mechanical legs (4).

3. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices according to claim 2, characterized in that: There are R1, R2 exhaust ports, a P pressure port, an A hydraulic cylinder oil inlet port, and a B hydraulic cylinder oil outlet port on the three-position five-way electrically-controlled reversing valve (613), wherein the R1 and R2 exhaust ports are respectively connected with the pipe interfaces of the low-pressure collectors (603) through a collector oil path, the oil outlet of the low-pressure collector (603) is connected with the oil tank (601) through an oil path, the P pressure port is connected with the pipe interface of the high-pressure distributor (615) through a distributor oil path, the A hydraulic cylinder oil inlet port is connected with the oil inlet of the built-in magnetic displacement sensor hydraulic cylinder (404) through an oil path, and the B hydraulic cylinder oil outlet port is connected with the oil outlet of the built-in magnetic displacement sensor hydraulic cylinder (404) through a pipeline.

4. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices according to claim 3, wherein: The hydraulic oil supply system (6) further comprises a cooling fan (619), the cooling fan (619) is connected with the output end of the main controller (3) and is controlled to operate by the main controller (3) to assist the four-legged robot in heat dissipation.

5. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices of claim 4, wherein: A plurality of holes are formed on the shell (102) to facilitate heat dissipation of the hydraulic pipeline.

6. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices of claim 5, wherein: The gimbal depth camera (207) is installed on a 360° rotating gimbal (208) to increase the range of images that can be captured on site.

7. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices of claim 6, wherein: The sensing and collecting system (2) further comprises a high-fidelity noise reduction microphone (204) and a danger alarm lamp (206) installed on the top cover (103), which are connected to the input end and the output end of the main controller (3) respectively.

8. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices of claim 7, wherein: A rubber sleeve (406) is arranged at the end of each leg (403) to prevent slipping.

9. The hydraulic inspection quadruped robot capable of carrying multiple sensing devices of claim 8, wherein: Two handles (8) are fixedly connected to the top cover (103) to facilitate carrying.

Images