A quadruped robot active avoidance device for smart grid security

Abstract

The present invention relates to the technical field of quadruped robots, and in particular to an active avoidance device of a quadruped robot for smart grid security, comprising a robot body, an inspection device, a protective cover, a first limiting structure and a second limiting structure; a mounting groove is provided on the robot body, a side wall of the mounting groove is an opening, the inspection device is installed in the mounting groove, and the protective cover is sleeved on the inspection device; the first limiting structure comprises a card interface, a landing interface and a baffle, the card interface and the landing interface are respectively arranged on both sides of the opening of the mounting groove, and the baffle passes through the landing interface and the card interface; the second limiting structure comprises a positioning groove, a linkage component, an abutment structure and a positioning plate, the linkage component is installed in the positioning groove and connected between the abutment structure and the positioning plate, the abutment structure abuts against the inspection device, and the positioning plate is connected to the protective cover; the present invention is used to overcome the defect that the inspection equipment of the existing robot is easily damaged and falls off. The present invention can improve the connection stability between the inspection equipment and the robot, and improve the inspection operation efficiency and operation quality.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robots, and in particular to a quadruped robot active avoidance device for smart grid security. Background Art

[0002] During power grid security inspections, robots can assist or replace human operators in completing dangerous, arduous, and complex tasks, thereby improving efficiency, quality, and safety. To enhance the robots' flexibility during inspections, they are often equipped with inspection equipment such as cameras, infrared sensors, and ultrasonic rangefinders. This allows them to flexibly avoid obstacles and enhances the reliability of inspections. However, as the robots continue to move during operations, the inspection equipment installed on existing robots is prone to damage or detachment, hindering inspection work. Existing protective covers are also inconvenient to remove and install. Summary of the Invention

[0003] In order to overcome the defects of the above-mentioned prior art that the inspection equipment installed on the robot is easily damaged and falls off during the inspection process, the present invention provides a four-legged robot active avoidance device for smart grid security, which can effectively improve the connection stability between the inspection equipment and the robot, and improve the inspection operation efficiency and operation quality.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a quadruped robot active avoidance device for smart grid security, comprising a robot body, an inspection device, a protective cover, a first limiting structure and a second limiting structure;

[0005] The robot body is provided with a mounting groove, one side wall of which is an opening, the inspection device is installed in the mounting groove, the protective cover is sleeved on the inspection device, the first limiting structure is provided on the opening side of the mounting groove, and the second limiting structure is provided on the side opposite to the opening side of the mounting groove;

[0006] The first limiting structure includes a card interface, a landing interface and a blocking bar, wherein the card interface and the landing interface are respectively provided on the robot body and located on both sides of the opening of the mounting slot, and the blocking bar sequentially passes through the landing interface and the card interface;

[0007] The second limiting structure includes a positioning groove, a linkage component, an abutment structure and a positioning plate. The positioning groove is arranged on the robot body, the linkage component is installed in the positioning groove, the linkage component is arranged between the abutment structure and the positioning plate, the abutment structure abuts against the inspection device, and the positioning plate is detachably connected to the protective cover.

[0008] Furthermore, a clamping block is provided on the blocking bar, and the clamping block abuts against the inside of the card interface.

[0009] Furthermore, a cavity is provided inside the baffle, and a push block, a first spring and a push plate are provided in the cavity. The push block and the first spring are respectively arranged on opposite sides of the push plate, and the push block extends from the cavity to abut against the inspection device.

[0010] Furthermore, a separator is provided in the cavity, one end of the separator is connected to the inner wall of the cavity, an air port is left between the other end of the separator and the inner wall of the cavity, a groove is provided on the clamping block, an air bag is provided in the groove, an air nozzle is connected between the air bag and the cavity, and the air nozzle is connected to the air port.

[0011] Furthermore, the linkage assembly includes a box body and a connecting rod structure, the box body is provided with a partition, the partition divides the box body into a first chamber and a second chamber, the connecting rod structure is provided in the second chamber, and the positioning plate is connected to one end of the connecting rod structure;

[0012] The abutment structure includes a second spring, a abutment block and a push block; the push block is slidably arranged in the first chamber, the second spring and the abutment block are respectively arranged on opposite sides of the push block, the other end of the connecting rod structure extends from the partition into the second chamber and is connected to the push block, and the abutment block extends from the box body and abuts against the inspection device.

[0013] Furthermore, a connecting groove is provided on the protective cover, and the positioning plate is inserted into the connecting groove.

[0014] Furthermore, the inspection device includes a mounting block, a connecting structure, a camera, an ultrasonic rangefinder, an infrared sensor and a driving structure, the mounting block is arranged in the mounting groove, a through hole is provided on the bottom surface of the mounting block, the connecting structure is rotatably arranged in the through hole, the camera and the ultrasonic rangefinder are respectively installed at both ends of the connecting structure, the driving structure is connected to the connecting structure, the protective cover is detachably connected to the mounting block, and the infrared sensor is arranged on the protective cover.

[0015] Furthermore, the driving structure includes a motor and a worm, and the connecting structure includes a rotating rod, a disc and a gear. The motor is installed in the mounting recess, the driving end of the motor is connected to the worm, the rotating rod passes through the through hole on the bottom surface of the mounting recess, the disc and the gear are respectively mounted on the rotating rod, the worm is engaged with the gear, the camera is connected to the disc, and the ultrasonic rangefinder is connected to the other end of the rotating rod.

[0016] Furthermore, the outside of the ultrasonic rangefinder is sequentially covered with a protective cover, a rubber ring and a resistance ring, the protective cover is provided with a notch and a movable groove, the notch and the movable groove are spaced apart, a movable block is provided in the movable groove, the movable block is connected to the ultrasonic rangefinder, and a third spring is provided between the movable block and the movable groove.

[0017] Furthermore, a limiting strip is provided on the side wall of the installation recess, and a limiting groove is provided on the side wall of the installation groove, and the limiting strip is embedded in the limiting groove.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention provides a four-legged robot active avoidance device for smart grid security. When in use, the card interface, the overlap interface and the baffle of the first limiting structure are used to block the opening of the installation slot to prevent the inspection device from sliding out after being installed in the installation slot. At the same time, the linkage component, the positioning plate and the abutment structure of the second limiting structure are used to position the inspection device and the protective cover, which is equivalent to using the first limiting structure and the second limiting structure to position the inspection device from two relative directions, thereby improving the connection stability between the inspection device and the robot body and preventing the inspection device from falling off. Moreover, when the operator removes the protective cover, it is necessary to first release the positioning restriction of the abutment structure on the inspection device, and then use the linkage component to release the positioning restriction of the positioning plate on the protective cover before removing the protective cover. This improves the connection stability between the protective cover and the inspection device and prevents the inspection device from being damaged by collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Attachment Figure 1 Schematic diagram of the structure of the active avoidance device of the quadruped robot in the present invention;

[0021] Attachment Figure 2 This is a schematic diagram of the structure of the robot body of the present invention without the inspection device;

[0022] Attachment Figure 3 This is a schematic diagram of the structure of the baffle and the clamping block in the present invention;

[0023] Attachment Figure 4 Schematic diagram of the structure of the second limiting structure in the present invention;

[0024] Attachment Figure 5 This is a schematic diagram of the structure of the installation of the concave block in the present invention;

[0025] Attachment Figure 6 This is a schematic diagram of the structure of the ultrasonic rangefinder installed at the bottom of the robot body in the present invention;

[0026] Attachment Figure 7 Schematic diagram of the driving structure of the inspection device in the present invention;

[0027] Attachment Figure 8 It is a structural diagram of the connection structure of the inspection device in the present invention;

[0028] Attachment Figure 9 It is a structural schematic diagram of the protective cover in the present invention.

[0029] Figure 1: 1- robot body; 2- camera; 3- ultrasonic rangefinder; 4- infrared sensor; 5- mounting slot; 6- limiting slot; 7- mounting recess; 8- limiting strip; 9- motor; 10- worm; 11- rotating rod; 12- disc; 13- gear; 14- blocking ring; 15- protective cover; 16- notch; 17- movable slot; 18- movable block; 19- plug-in hole; 20- plug-in column; 21- protective cover; 22- sealing ring; 23- card interface; 24- overlap interface; 25- blocking strip; 26- card block; 27- box Body; 28-slide groove; 29-slider; 30-limiting plate; 31-positioning plate; 32-active cavity; 33-moving block; 34-first concave connecting member; 35-partition plate; 36-push block; 37-resistance block; 38-push rod; 39-second concave connecting member; 40-transmission rod; 41-connecting groove; 42-second spring; 43-sealing pad; 44-cavity; 45-separator; 46-airbag; 47-air nozzle; 48-first spring; 49-push block; 50-top block; 51-rubber ring; 52-third spring; 53-push plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The present invention will be further described below in conjunction with specific implementation methods. Among them, the drawings are only for illustrative purposes and represent only schematic diagrams rather than physical drawings, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0031] like Figure 1-2 As shown, this embodiment provides a quadruped robot active avoidance device for smart grid security, including a robot body 1, an inspection device, a protective cover 21, a first limiting structure and a second limiting structure;

[0032] The robot body 1 is provided with a mounting groove 5, one side wall of which is an opening. The inspection device is installed in the mounting groove 5, and the protective cover 21 is sleeved on the inspection device. The first limiting structure is provided on the opening side of the mounting groove 5, and the second limiting structure is provided on the side opposite to the opening side of the mounting groove 5;

[0033] The first limiting structure includes a card interface 23, a landing interface 24 and a blocking bar 25. The card interface 23 and the landing interface 24 are respectively provided on the robot body 1 and located on both sides of the opening of the mounting slot 5. The blocking bar 25 passes through the landing interface 24 and the card interface 23 in sequence.

[0034] The second limiting structure includes a positioning groove, a linkage component, an abutment structure and a positioning plate 31. The positioning groove is set on the robot body 1, the linkage component is installed in the positioning groove, the linkage component is set between the abutment structure and the positioning plate 31, the abutment structure abuts against the inspection device, and the positioning plate 31 is detachably connected to the protective cover 21.

[0035] It should be noted that the robot body 1 is used to drive the inspection device to move, and the protective cover 21 is used to cover the inspection device inside to protect the inspection device. The protective cover 21 can be designed to be a transparent material to avoid hindering the inspection device from obtaining the surrounding environment. At the same time, in order to facilitate the flexible disassembly and assembly of the inspection device to the robot body 1, in this embodiment, it is preferred to set one side wall of the installation groove 5 as an opening, that is, the right side wall of the installation groove 5 is designed to be an opening, so as to facilitate the inspection device to be directly placed from the right side opening of the installation groove 5. At the same time, the first limiting structure is used to lock the opening of the installation groove 5, and the second limiting structure is used to abut the inspection device on the opposite side of the opening of the installation groove 5, so that the two opposite sides of the inspection device are fixed by the first limiting structure and the second limiting structure respectively, thereby improving the installation stability of the inspection device and the robot body 1.

[0036] Specifically, if Figure 3 As shown, for the first limiting structure, the side wall of the robot body 1 is fixedly connected with a card interface 23 and a docking interface 24, and the card interface 23 and the docking interface 24 are respectively arranged on both sides of the opening of the installation groove 5, and the inner side of the docking interface 24 is slidably connected with a baffle 25. The baffle 25 in the docking interface 24 is moved so that the baffle 25 passes through the card interface 23, blocking the opening of the installation groove 5, and preventing the inspection device from sliding off after being installed in the installation groove 5.

[0037] Specifically, if Figure 4As shown, for the second limiting structure, a positioning groove is embedded in the left side of the installation groove 5 of the robot body 1, and a linkage component is arranged in the positioning groove. One end of the linkage component is fixedly connected to a positioning plate 31, and the other end of the linkage component is fixed to an abutment structure. The abutment structure is used to position and abut the inspection device installed in the installation groove 5, that is, the abutment structure applies an action force to the inspection device, and the inspection device applies a reaction force to the abutment structure. The linkage component drives the positioning plate 31 to position the protective cover 21, thereby realizing the positioning of the inspection device and the protective cover 21 by the second limiting structure, thereby improving the connection stability between the inspection device and the robot body 1, and when the operator removes the protective cover 21, it is necessary to first release the positioning restriction of the abutment structure on the inspection device, and then use the linkage component to release the positioning restriction of the positioning plate 31 on the protective cover 21, and then the protective cover 21 can be removed. Thus, the first limiting structure and the second limiting structure are used to position the inspection device from two opposite directions, thereby improving the connection stability between the inspection device and the robot body 1.

[0038] Furthermore, if Figure 3 As shown, in order to improve the limiting effect of the first limiting structure on the inspection device, in this embodiment, a clamping block 26 is provided on the baffle bar 25, and the clamping block 26 abuts against the card interface 23. A cavity 44 is provided inside the baffle bar 25, and a push block 49, a first spring 48 and a push plate 53 are provided in the cavity 44. The push block 49 and the first spring 48 are respectively arranged on opposite sides of the push plate 53, and the push block 49 extends from the cavity 44 to abut against the inspection device.

[0039] It should be noted that when the baffle 25 passes through the card interface 23 and the docking interface 24, the card block 26 on the baffle 25 is snapped into the card interface 23, which improves the connection stability between the baffle 25 and the card interface 23, and is conducive to blocking the opening of the installation slot 5, preventing the inspection device from sliding out of the installation slot 5. At the same time, when the push block 49 on the baffle 25 abuts the inspection device, the push block 49 squeezes the push plate 53, so that the first spring 48 is squeezed, and the reaction force of the first spring 48 is used to increase the abutment force of the push block 49 on the inspection device, thereby improving the connection stability.

[0040] Furthermore, if Figure 3 As shown, in order to improve the connection stability between the card block 26 and the card interface 23, in this embodiment, a separator 45 is provided in the cavity 44, one end of the separator 45 is connected to the inner wall of the cavity 44, and an air port is left between the other end of the separator 45 and the inner wall of the cavity 44, a groove is provided on the card block 26, an air bag 46 is provided in the groove, an air nozzle 47 is connected between the air bag 46 and the cavity 44, and the air nozzle 47 is connected to the air port.

[0041] Specifically, if Figure 3As shown, in this embodiment, an air bag 46 is embedded on the clamping block 26, and an air nozzle 47 is fixedly connected to the air bag 46. The air nozzle 47 is connected to the cavity 44 through the air port. When the blocking bar 25 passes through the card interface 23 and the docking interface 24, the pushing block 49 on the blocking bar 25 abuts against the inspection device, and the pushing block 49 pushes the pushing plate 53 to squeeze the first spring 48, thereby rushing the gas in the cavity 44 into the air bag 46 through the air nozzle 47, thereby making the clamping block 26 more firmly engaged in the card interface 23, ensuring the connection stability between the blocking bar 25 and the card interface 23 and the docking interface 24, thereby improving the abutment stability of the inspection device and making it not easy to detach from the robot body 1, and when the pushing block 49 is squeezed with the inspection device, the inspection device further squeezes the abutment structure of the second limiting structure, making the squeezing between the inspection device and the abutment structure tighter, thereby improving the connection stability.

[0042] Furthermore, if Figure 3 As shown, in order to prevent the push plate 53 from squeezing and blocking the air nozzle 47 during the sliding process, in this embodiment, a top block 50 is connected to the separator 45 to limit the movement range of the push plate 53 to prevent the air nozzle 47 from being blocked.

[0043] Furthermore, if Figure 4 As shown, in order to improve the limiting effect of the second limiting structure on the inspection device, in this embodiment, the linkage assembly includes a box body 27 and a connecting rod structure. A partition 35 is provided in the box body 27. The partition 35 divides the box body 27 into a first chamber and a second chamber. The connecting rod structure is provided in the second chamber, and the positioning plate 31 is connected to one end of the connecting rod structure.

[0044] The abutment structure includes a second spring 42, abutment block 37 and a push block 36; the push block 36 is slidably arranged in the first chamber, the second spring 42 and the abutment block 37 are respectively arranged on opposite sides of the push block 36, and the other end of the connecting rod structure extends from the partition 35 into the second chamber and is connected to the push block 36, and the abutment block 37 extends from the box body 27 to abut against the inspection device.

[0045] Specifically, if Figure 4As shown, the connecting rod structure includes a first concave connecting member 34, a second concave connecting member 39, a push rod 38 and a transmission rod 40. The box body 27 of the linkage structure is arranged in the positioning groove. The upper surface of the box body 27 is provided with a through slide groove 28. The slide groove 28 is internally slidably connected to the slider 29. The top and bottom of the slider 29 are fixedly connected to the limit plate 30. The opposite sides of the two limit plates 30 are respectively fitted with the upper surface and the inner upper surface of the box body 27. The upper surface of the upper limit plate 30 is fixedly connected to the positioning plate 31. The interior of the lower limit plate 30 is provided with an active cavity 32. The inner side of the active cavity 32 is slidably connected to the moving block 33. The lower surface of the moving block 33 is fixedly connected to the first concave connecting member 34. The bottom end of the first concave connecting member 34 passes through the bottom of the lower limit plate 30. The interior of the box body 27 The transmission rod 40 is rotatably connected to the left side of the partition 35 through a rotating shaft. The two ends of the transmission rod 40 are rotatably connected to the first concave connecting member 34 and the second concave connecting member 39 through a rotating shaft. The second concave connecting member 39 is connected to the push rod 38. The push rod 38 passes through the partition 35 and is fixedly connected to the push block 36. The interior of the box body 27 is fixedly connected to the partition 35. The interior of the box body 27 is slidingly connected to the push block 36 on the right side of the partition 35. The right side of the push block 36 is fixedly connected to the right side of the push block 36. The right side of the push block 37 passes through the right side of the box body 27 and extends into the mounting slot 5 to abut against the inspection device. The protective cover 21 is provided with a connecting slot 41. The end of the positioning plate 31 away from the upper limit plate 30 is engaged with the inner side of the connecting slot 41. A second spring 42 is fixedly connected between the opposite sides of the partition 35 and the push block 36.

[0046] At the same time, when this embodiment is in use, after the inspection device is installed in the installation slot 5, it will press against the stop block 37 to retract into the box body 27, and then use the connecting rod structure to drive the positioning plate 31 to be inserted into the connecting slot 41 of the protective cover 21, to ensure the stability of the protective cover 21 after it is installed on the inspection device, to prevent it from falling off easily, and when it is necessary to remove the protective cover 21, it is necessary to first pull out part of the inspection device from the opening of the installation slot 5 to release the contact between the stop block 37 and the inspection device, and then use the connecting rod structure to make the positioning plate 31 detach from the connecting slot 41, and then the protective cover 21 can be removed.

[0047] Furthermore, if Figure 9 As shown, in order to improve the connection stability between the positioning plate 31 and the protective cover 21, in this embodiment, a sealing gasket 43 is provided on the inner wall of the connecting groove 41 of the protective cover 21 to increase the friction between the positioning plate 31 and the connecting groove 42, so that the positioning plate 31 is more firmly inserted into the connecting groove 41.

[0048] Furthermore, if Figure 5-8As shown, in order to improve the movement flexibility of the robot body 1 and realize active avoidance, in this embodiment, the inspection device includes a mounting recess 7, a connecting structure, a camera 2, an ultrasonic rangefinder 3, an infrared sensor 4 and a driving structure. The mounting recess 7 is arranged in the mounting groove 5. A through hole is provided on the bottom surface of the mounting recess 7. The connecting structure is rotatably arranged in the through hole. The camera 2 and the ultrasonic rangefinder 3 are respectively installed at both ends of the connecting structure. The driving structure is connected to the connecting structure. The protective cover 21 is detachably connected to the mounting recess 7, and the infrared sensor 4 is arranged on the protective cover 21.

[0049] It should be noted that the camera 2 is installed on the upper surface of the robot body 1, which is conducive to expanding the inspection field of view and facilitating the flexible movement of the robot body 1. At the same time, the ultrasonic rangefinder 3 is connected to the camera 2 through a connecting structure, so that the ultrasonic rangefinder 3 is installed on the lower surface of the robot body 1, that is, the synchronous movement of the camera 2 and the ultrasonic rangefinder 3 is realized through the connecting structure, and it is beneficial for the ultrasonic rangefinder 3 to detect obstacles.

[0050] Furthermore, if Figure 7-8 As shown, the driving structure includes a motor 9 and a worm 10, and the connecting structure includes a rotating rod 11, a disk 12 and a gear 13. The motor 9 is installed in the mounting recess 7, and the driving end of the motor 9 is connected to the worm 10. The rotating rod 11 passes through the through hole on the bottom surface of the mounting recess 7. The disk 12 and the gear 13 are respectively mounted on the rotating rod 11, the worm 10 is engaged with the gear 13, the camera 22 is connected to the disk 12, and the ultrasonic rangefinder 3 is connected to the other end of the rotating rod 11.

[0051] It should be noted that, in this embodiment, the worm 10 is driven to rotate by the motor 9, and the worm 10 is engaged with the gear 13 on the rotating rod 11. The cooperation between the worm 10 and the gear 13 drives the rotating rod 11 and the disk 12 on the rotating rod 11 to rotate, thereby realizing the synchronous rotation of the camera 2 and the ultrasonic rangefinder 3.

[0052] Furthermore, if Figure 6 As shown, in order to protect the ultrasonic rangefinder 3, in this embodiment, a protective cover 15, a rubber ring 51 and a block ring 14 are sequentially sleeved on the outside of the ultrasonic rangefinder 3. At the same time, in order to prevent the protective cover 15 from blocking interference when the ultrasonic rangefinder 3 is working, in this embodiment, a notch 16 and a movable groove 17 are provided on the protective cover 15. The notch 16 and the movable groove 17 are spaced apart. A movable block 18 is provided in the movable groove 17. The movable block 18 is connected to the ultrasonic rangefinder 3, and a third spring 52 is provided between the movable block 18 and the movable groove 17.

[0053] Specifically, if Figure 5-8As shown, in this embodiment, the inspection device includes a mounting recess 7, a camera 2 and an ultrasonic rangefinder 3, and also includes an infrared sensor 4. The camera 2 is arranged inside the protective cover 21, and the infrared sensor 4 is arranged on the top of the protective cover 21. The upper surface of the robot body 1 is provided with a mounting groove 5, and the right side wall of the mounting groove 5 is in an open state. A motor 9 is connected to the mounting recess 7, and the output shaft of the motor 9 is fixedly connected to the worm 10. The worm 10 is rotatably connected to the mounting recess 7 through a rotating shaft. A rotating rod 11 is rotatably connected to the bottom through hole of the mounting recess 7 through a rotating shaft. The top of the rotating rod 11 is fixedly connected to a disc 12, and the disc 12 is connected to the camera 2. A gear 13 is fixedly connected to the rotating rod 11, and the gear 13 is meshed with the worm 10. The bottom end of the rotating rod 11 passes through the bottom of the robot body 1 and is fixedly connected to the ultrasonic rangefinder 3. The inspection device can move and rotate with the robot body 1 to inspect the surrounding area, and the inspection range is wider.

[0054] At the same time, the lower surface of the robot body 1 is located on the outside of the ultrasonic rangefinder 3 and is fixedly connected to a block ring 14. The inner side of the block ring 14 is located on the outside of the ultrasonic rangefinder 3 and is provided with a protective cover 15. The outer wall of the protective cover 15 is provided with a through-type notch 16, and the inner side of the protective cover 15 is provided with a movable groove 17. The inner side of the movable groove 17 is slidably connected with a movable block 18. A third spring 52 is fixedly connected between the movable block 18 and the opposite side of the movable groove 17. The side of the movable block 18 away from the protective cover 15 is fixedly connected to the outer wall of the ultrasonic rangefinder 3. The robot body 1 in the present invention is provided with corresponding circuits, which are electrically connected to the camera 2, the ultrasonic rangefinder 3, the infrared sensor 4 and the motor 9 respectively, so that when the inspection work is carried out, the ultrasonic rangefinder 3 is used to measure the distance to the object, and the infrared sensor 4 is used to detect the surrounding objects, thereby achieving the effect of automatically avoiding obstacles.

[0055] When the robot body 1 encounters an obstacle, the rotating rod 11 drives the ultrasonic rangefinder 3 to rotate. Since the friction between the block ring 14 and the protective cover 15 is greater than the elastic force of the third spring 52, the movable block 18 on the ultrasonic rangefinder 3 will first squeeze the third spring 52 to move along the movable groove 17, so that the probe part of the ultrasonic rangefinder 3 is aligned with the notch 16 on the protective cover 15, and then drive the protective cover 15 to rotate together, thereby ensuring that the protective cover 15 will not block the ultrasonic rangefinder 3 from measuring the distance. When the rotating rod 11 stops rotating, the ultrasonic rangefinder 3 will be shielded and protected by the protective cover 15, thereby protecting the probe part of the ultrasonic rangefinder 3.

[0056] Furthermore, if Figure 2 、 Figure 5As shown, in order to facilitate the stable connection of the inspection device in the installation groove 5, a limiting strip 8 is provided on the side wall of the installation recess 7, and a limiting groove 6 is provided on the side wall of the installation groove 5, and the limiting strip 8 is embedded in the limiting groove 6.

[0057] Furthermore, if Figure 5 、 Figure 9 As shown, in order to facilitate the protection of the inspection device and the disassembly and installation of the protective cover 21, in this embodiment, four plug-in holes 19 are opened on the edge of the upper surface of the installation recess 7, and corresponding plug-in columns 20 are provided on the protective cover 21, and the plug-in columns 20 are connected to the plug-in holes 19.

[0058] Furthermore, in order to improve the connection stability between the plug-in column 20 and the plug-in hole 19, in this embodiment, a sealing ring 22 is provided between the plug-in hole 19 and the plug-in column 20, so that the plug-in column 20 is inserted into the plug-in hole 19 more firmly.

[0059] Working principle:

[0060] The robot body 1 uses the inspection device to achieve the effect of automatically avoiding obstacles, that is, using the camera 2 to inspect the working field, using the ultrasonic rangefinder 3 to measure the distance to the object, and using the infrared sensor 4 to detect surrounding objects, thereby achieving the effect of automatically avoiding obstacles. At the same time, when the present invention is in use, the card interface 23, the docking interface 24 and the blocking bar 25 of the first limiting structure are used to block the opening of the installation slot 5 to prevent the inspection device from sliding out after being installed in the installation slot 5. At the same time, the linkage assembly, the positioning plate 31 and the abutment structure of the second limiting structure are used to position the inspection device and the protective cover 21, which is equivalent to using the first limiting structure and the second limiting structure to position the inspection device from two relative directions, thereby improving the connection stability between the inspection device and the robot body 1 and preventing the inspection device from falling off. In addition, when the operator removes the protective cover 21, it is necessary to first release the positioning restriction of the abutment structure on the inspection device, and then use the linkage assembly to release the positioning restriction of the positioning plate 31 on the protective cover 21 before removing the protective cover 21, thereby improving the connection stability between the protective cover 21 and the inspection device and preventing the inspection device from being damaged by collision.

[0061] Furthermore, in the present invention, a cavity 44, a partition 45, an airbag 46, an air nozzle 47, a first spring 48, a pushing block 49 and a pushing plate 53 are provided on the baffle 25 of the first limiting structure. When the baffle 25 is in contact with the mounting recess 7, the mounting recess 7 abuts against the pushing block 49, which pushes the pushing plate 53 to squeeze the first spring 48, thereby rushing the gas in the cavity 44 into the airbag 46 through the air nozzle 47, thereby making the card block 26 engaged in the card interface 23 more secure, ensuring the stability of the baffle 25 after blocking the mounting recess 7, making it difficult to detach, and cooperating with the abutting block 37 of the second limiting structure to further abut against the mounting recess 7, so that the second spring 42 is compressed, so that the baffle 25 and the mounting recess 7 fit more closely.

[0062] Furthermore, the ultrasonic rangefinder 3 in the present invention utilizes the provided block ring 14, protective cover 15, notch 16, movable groove 17 and movable block 18 to rotate along with the rotation of the camera 2, and then can measure the distance to the surrounding objects. The ranging range is wider, which is convenient for the robot body 1 to choose a better route after encountering an obstacle. Moreover, since the friction between the block ring 14 and the protective cover 15 is greater than the elastic force of the third spring 52, the movable block 18 on the ultrasonic rangefinder 3 will first squeeze the third spring 52 to move along the movable groove 17, so that the probe part of the ultrasonic rangefinder 3 is aligned with the notch 16 on the protective cover 15, and then drive the protective cover 15 to rotate together, thereby ensuring that the protective cover 15 will not block the ultrasonic rangefinder 3 from measuring the distance, and when the rotating rod 11 stops rotating, the ultrasonic rangefinder 3 will be blocked and protected by the protective cover 15, thereby protecting the probe part of the ultrasonic rangefinder 3.

[0063] In the description of the present invention, it should be understood that if the terms "upper," "lower," "left," "right," etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the purpose of facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meanings of the above terms can be understood based on the specific circumstances. In addition, if there are descriptions of "first," "second," etc. in the embodiments of the present invention, the descriptions of "first," "second," etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the definition of "first" or "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or solutions that meet both A and B.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention, or direct / indirect applications in other related technical fields should be included in the scope of protection of the claims of the present invention.

Claims

1. A quadruped robot active avoidance device for smart grid security, characterized in that: It comprises a robot body (1), an inspection device, a protective cover (21), a first limiting structure and a second limiting structure; The robot body (1) is provided with a mounting groove (5), one side wall of the mounting groove (5) is open, the inspection device is installed in the mounting groove (5), the protective cover (21) is sleeved on the inspection device, the first limiting structure is arranged on the opening side of the mounting groove (5), and the second limiting structure is arranged on the side opposite to the opening side of the mounting groove (5); The first limiting structure comprises a card interface (23), a landing interface (24) and a blocking bar (25), wherein the card interface (23) and the landing interface (24) are respectively arranged on the robot body (1) and located on both sides of the opening of the mounting slot (5), and the blocking bar (25) passes through the landing interface (24) and the card interface (23) in sequence; The second limiting structure comprises a positioning groove, a linkage component, an abutment structure and a positioning plate (31), the positioning groove is provided on the robot body (1), the linkage component is installed in the positioning groove, the linkage component is provided between the abutment structure and the positioning plate (31), the abutment structure abuts against the inspection device, and the positioning plate (31) is detachably connected to the protective cover (21); A clamping block (26) is provided on the blocking bar (25), and the clamping block (26) abuts against the inside of the card interface (23); A cavity (44) is provided inside the blocking bar (25), a pushing block (49), a first spring (48) and a pushing plate (53) are provided in the cavity (44), the pushing block (49) and the first spring (48) are respectively provided on opposite sides of the pushing plate (53), and the pushing block (49) extends from the cavity (44) to abut against the inspection device; A separator (45) is provided in the cavity (44), one end of the separator (45) is connected to the inner wall of the cavity (44), an air port is left between the other end of the separator (45) and the inner wall of the cavity (44), a groove is provided on the clamping block (26), an air bag (46) is provided in the groove, an air nozzle (47) is connected between the air bag (46) and the cavity (44), and the air nozzle (47) is communicated with the air port; The linkage assembly comprises a box body (27) and a connecting rod structure, a partition (35) is provided in the box body (27), the partition (35) divides the box body (27) into a first chamber and a second chamber, the connecting rod structure is provided in the second chamber, and the positioning plate (31) is connected to one end of the connecting rod structure; The abutment structure includes a second spring (42), a abutment block (37) and a push block (36); the push block (36) is slidably arranged in the first chamber, the second spring (42) and the abutment block (37) are respectively arranged on opposite sides of the push block (36), the other end of the connecting rod structure extends from the partition (35) into the second chamber and is connected to the push block (36), and the abutment block (37) extends from the box body (27) and abuts against the inspection device; The protective cover (21) is provided with a connecting groove (41), and the positioning plate (31) is inserted into the connecting groove (41); The inspection device comprises a mounting recess (7), a connecting structure, a camera (2), an ultrasonic rangefinder (3), an infrared sensor (4) and a driving structure, wherein the mounting recess (7) is arranged in the mounting groove (5), a through hole is provided on the bottom surface of the mounting recess (7), the connecting structure is rotatably arranged in the through hole, the camera (2) and the ultrasonic rangefinder (3) are respectively mounted at two ends of the connecting structure, the driving structure is connected to the connecting structure, the protective cover (21) is detachably connected to the mounting recess (7), and the infrared sensor (4) is arranged on the protective cover (21).

2. The quadruped robot active avoidance device for smart grid security according to claim 1, characterized in that: The driving structure comprises a motor (9) and a worm (10), and the connecting structure comprises a rotating rod (11), a disc (12) and a gear (13). The motor (9) is installed in the mounting recess (7), the driving end of the motor (9) is connected to the worm (10), the rotating rod (11) passes through a through hole on the bottom surface of the mounting recess (7), the disc (12) and the gear (13) are respectively sleeved on the rotating rod (11), the worm (10) is meshed with the gear (13), the camera (2) is connected to the disc (12), and the ultrasonic rangefinder (3) is connected to the other end of the rotating rod (11).

3. The quadruped robot active avoidance device for smart grid security according to claim 2, characterized in that: The outside of the ultrasonic rangefinder (3) is sequentially sleeved with a protective cover (15), a rubber ring (51) and a resistance ring (14); the protective cover (15) is provided with a notch (16) and a movable groove (17); the notch (16) and the movable groove (17) are spaced apart; a movable block (18) is provided in the movable groove (17); the movable block (18) is connected to the ultrasonic rangefinder (3); and a third spring (52) is provided between the movable block (18) and the movable groove (17).

4. The quadruped robot active avoidance device for smart grid security according to claim 1, characterized in that: A limiting strip (8) is provided on the side wall of the installation recess (7), a limiting groove (6) is provided on the side wall of the installation groove (5), and the limiting strip (8) is embedded in the limiting groove (6).

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