A quadrupedal walking intelligent vehicle unmanned inspection robot

Abstract

The present invention relates to the field of robot technology, and specifically to a quadruped walking intelligent vehicle unmanned inspection robot, comprising a support component, auxiliary components are fixedly installed on both sides of the support component, an optical lens is symmetrically fixedly installed at the front end of the support component, the auxiliary components include an alignment device and a positioning device, the alignment device is fixedly installed at the front end of the positioning device, the alignment device includes a first gear, a first connecting shaft, a second gear, a winding wheel, an extension bracket, a first bevel gear, a second bevel gear, a second connecting shaft and a sweeping wheel, the second connecting shaft is rotatably installed at the bottom of the front end of the extension bracket, the first bevel gear and the sweeping wheel are fixedly installed on the outer ring of the second connecting shaft, and the first bevel gear is located above the sweeping wheel, and the first connecting shaft is rotatably installed in front of the right side of the extension bracket. Through the arrangement of the auxiliary components and the support components, the quadruped highway inspection robot can perform the work of auxiliary anti-dumping and synchronous cleaning of the optical lens.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a quadruped walking intelligent vehicle unmanned inspection robot. Background Art

[0002] Inspection, also known as patrol inspection, is a way of regularly or irregularly checking, inspecting, testing and maintaining equipment, facilities, workplaces or specific areas. The purpose of inspection is to ensure that these equipment, facilities or areas are in good working condition, to promptly identify potential problems or safety hazards, so as to prevent accidents and ensure production safety, stable equipment operation and environmental safety.

[0003] A quadruped robot, also known as a robot dog, is a bionic robot that imitates the walking of four-legged animals. This type of robot is becoming a hot research object in the current scientific and technological field due to its more acceptable appearance and universal land mobility, and has demonstrated its unique application value in many fields.

[0004] At present, the four-legged highway inspection robots on the market walk on four legs and their movements are relatively stiff, which causes them to tip over when their supporting legs step on debris on the road. At the same time, the optical lens of the four-legged highway inspection robot will be affected by external floating materials when used in bad weather, making it impossible for the existing four-legged highway inspection robots to assist in preventing tipping and synchronously cleaning the optical lens when in use. Therefore, a device is needed to improve the above-mentioned problems. Summary of the invention

[0005] In view of the problems in the prior art, the present invention provides a quadrupedal walking intelligent vehicle unmanned inspection robot.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a four-legged walking intelligent vehicle unmanned inspection robot, comprising a supporting component, auxiliary components are fixedly installed on both sides of the supporting component, an optical lens is symmetrically fixedly installed at the front end of the supporting component, the auxiliary component comprises an alignment device and a positioning device, the alignment device is fixedly installed at the front end of the positioning device, the alignment device comprises a first gear, a first connecting shaft, a second gear, a winding wheel, an extension bracket, a first bevel gear, a second bevel gear, a second connecting shaft and a sweeping wheel, the second connecting shaft is rotatably installed at the front end bottom of the extension bracket, the first bevel gear and the sweeping wheel are fixedly installed on the outer ring of the second connecting shaft, and the first bevel gear is located above the sweeping wheel, the first connecting shaft is rotatably installed at the right front of the extension bracket, the first gear and the second bevel gear are fixedly installed on the first connecting shaft, and the first gear is located on the right side of the second bevel gear, the second gear is rotatably installed at the right front of the extension bracket, the winding wheel is rotatably installed at the left front of the extension bracket, and the second gear and the winding wheel are both located behind the first gear.

[0007] Specifically, the positioning device includes a first transmission gear, a second transmission gear, a transmission toothed belt, a roller, a side end support plate, a support sleeve, a first spring and a movable rod. The first spring is fixedly installed on the inner top end of the support sleeve, the movable rod slides through the bottom end of the support sleeve and is connected to the bottom end of the first spring, the side end support plate is fixedly installed on the left bottom end of the movable rod, the roller is rotatably installed on the right side of the side end support plate, the first transmission gear is fixedly installed on the side end center of the roller away from the side end support plate, the transmission toothed belt is meshed and sleeved on the outer ring of the first transmission gear, and the second transmission gear is meshed at the inner end of the transmission toothed belt away from the first transmission gear.

[0008] Specifically, the supporting component includes a synchronization device and a docking device, and the synchronization device is symmetrically fixedly installed at the front end of the docking device.

[0009] Specifically, the synchronization device includes a guide wheel, a top support plate, a connecting rope and a rack. The guide wheel is symmetrically rotatably installed on the front end top of the top support plate, the rack is slidably inserted on the left side of the front end of the top support plate, and the connecting rope is fixedly installed on the top of the rack.

[0010] Specifically, the movable rod includes a quadruped robot, a hydraulic cylinder, a supporting base plate, a scraper strip, a third gear and a supporting back plate. The hydraulic cylinder is symmetrically fixedly installed on the front end top of the quadruped robot, the supporting back plate is fixedly installed on one end of the hydraulic cylinder, the third gear is rotatably installed on the front end center of the supporting back plate, the scraper strip is fixedly installed on the outer ring of the third gear close to the supporting back plate, the supporting base plate is symmetrically fixedly installed on the front end top of the quadruped robot, and the supporting base plate is located below the scraper strip.

[0011] Specifically, the extension bracket is fixedly installed at the front end of the movable rod, the end of the support sleeve close to the side support plate is connected to the two sides of the quadruped robot, the top support plate is symmetrically fixedly installed at the front end of the quadruped robot, and the top support plate is located at the side end of the scraper strip.

[0012] Specifically, the first bevel gear is meshed with the second bevel gear, the second gear is meshed with the first gear, the tooth distribution angle on the first gear is 270°, the bottom end of the sweeping wheel is 1 cm apart from the bottom end of the roller, the end of the first connecting shaft away from the first bevel gear is connected to the second transmission gear, and the bottom end of the connecting rope is connected to the winding wheel.

[0013] Specifically, a key is fixedly installed at the rear end of the rack, and a slot is opened inside the top support plate near the front end of the rack. The optical lens is symmetrically fixedly installed at the front end of the quadruped robot, the rear end of the scraper strip is flush with the front end surface of the optical lens, and the third gear is meshed with the rack.

[0014] Specifically, the interior of the support sleeve is hollow, and a round hole is opened at the bottom end of the support sleeve. Another support sleeve, a first spring, a movable rod, a side support plate and a roller are arranged at the rear of both sides of the quadruped robot, and the connecting rope passes through the outer ring surface of the guide wheel.

[0015] Specifically, the quadruped robot also includes a threaded rod, a limit rod, a support partition and a guide rod. The support partition is symmetrically fixedly installed on the top of the quadruped robot, the guide rod is symmetrically slidably inserted into the inside of the support partition, the limit rod is fixedly installed on the opposite end of the guide rod, and the threaded rod thread passes through the support partition and is rotatably connected to the limit rod.

[0016] Beneficial effects of the present invention:

[0017] First, the present invention forms auxiliary supports on both sides of the quadruped robot by contacting the ground with the roller. At the same time, when the roller rotates, it can drive the second transmission gear to rotate, so that the sweeping wheel can rotate at the same time, so that the debris at the front end of the walking foot can be swept to the side, avoiding the phenomenon of the walking foot stepping on the debris and falling down. By synchronously running the roller and the sweeping wheel, the debris on the road can be cleared, the stability of the walking foot inside the quadruped robot during operation is improved, and the auxiliary anti-dumping work of the quadruped robot is completed.

[0018] Secondly, when the second bevel gear rotates, the present invention can drive the winding wheel to synchronously pull the connecting rope downward, so that the rack can be displaced upward, so that the third gear can drive the scraper to pass through the surface of the optical lens, and impurities attached to the front end surface of the optical lens can be removed. In addition, the first gear can intermittently contact the second gear, and at the same time, the rack can automatically reset, so that the front end of the optical lens can be cleaned reciprocatingly, thereby completing the work of cleaning the surface of the optical lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the main body of the present invention from the front perspective;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the auxiliary component in the present invention from a front perspective;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the alignment device in the present invention from a front perspective;

[0023] Figure 4 It is a partial cutaway schematic diagram of the positioning device in the present invention;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the support component in the present invention from a front perspective;

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the synchronization device in the present invention from the front perspective;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the movable rod in the present invention from a front perspective;

[0027] Figure 8 For the present invention Figure 7 A partial enlarged schematic diagram in the middle;

[0028] Fig. 9 This is a schematic diagram of the three-dimensional structure from the front perspective of the second embodiment of the quadruped robot in the present invention.

[0029] In the figure: 1-auxiliary component, 2-support component, 3-optical lens, 4-alignment device, 5-positioning device, 6-first gear, 7-first connecting shaft, 8-second gear, 9-winding wheel, 10-extension bracket, 11-first conical gear, 12-second conical gear, 13-second connecting shaft, 14-sweeping wheel, 15-first transmission gear, 16-second transmission gear, 17-transmission belt, 18-roller, 19-side end support plate, 20-support sleeve, 21-first spring, 22-movable rod, 23-synchronizing device, 24-docking device, 25-guide wheel, 26-top support plate, 27-connecting rope, 28-rack, 29-quadruped robot, 30-hydraulic cylinder, 31-support bottom plate, 32-scraper strip, 33-third gear, 34-support back plate, 35-threaded rod, 36-limit rod, 37-support partition, 38-guide rod. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] The present invention is further described below in conjunction with the accompanying drawings.

[0032] Example 1

[0033] like Figure 1 , Figure 2 and Figure 3As shown, a quadruped walking intelligent vehicle unmanned inspection robot of the present invention comprises a support component 2, auxiliary components 1 are fixedly installed on both sides of the support component 2, an optical lens 3 is symmetrically fixedly installed on the front end of the support component 2, the auxiliary component 1 comprises an alignment device 4 and a positioning device 5, the alignment device 4 is fixedly installed on the front end of the positioning device 5, the alignment device 4 comprises a first gear 6, a first connecting shaft 7, a second gear 8, a winding wheel 9, an extension bracket 10, a first bevel gear 11, a second bevel gear 12, a second connecting shaft 13 and a sweeping wheel 14, and the second connecting shaft 13 is rotatably installed on the extension bracket At the bottom of the front end of the bracket 10, the first bevel gear 11 and the sweeping wheel 14 are fixedly mounted on the outer ring of the second connecting shaft 13, and the first bevel gear 11 is located above the sweeping wheel 14, the first connecting shaft 7 is rotatably mounted on the right front of the extension bracket 10, the first gear 6 and the second bevel gear 12 are fixedly mounted on the first connecting shaft 7, and the first gear 6 is located on the right side of the second bevel gear 12, the second gear 8 is rotatably mounted on the right front of the extension bracket 10, the winding wheel 9 is rotatably mounted on the left front of the extension bracket 10, and the second gear 8 and the winding wheel 9 are both located behind the first gear 6.

[0034] like Figure 4 The positioning device 5 includes a first transmission gear 15, a second transmission gear 16, a transmission toothed belt 17, a roller 18, a side end support plate 19, a support sleeve 20, a first spring 21 and a movable rod 22. The first spring 21 is fixedly mounted on the inner top of the support sleeve 20, and the movable rod 22 slides through the bottom end of the support sleeve 20 and is connected to the bottom end of the first spring 21. The side end support plate 19 is fixedly mounted on the left bottom end of the movable rod 22, and the roller 18 is rotatably mounted on the right side of the side end support plate 19. The first transmission gear 15 is fixedly mounted on the side end center of the roller 18 away from the side end support plate 19, and the transmission toothed belt 17 is meshed and sleeved on the outer ring of the first transmission gear 15. The second transmission gear 16 is meshed at the inner end of the transmission toothed belt 17 away from the first transmission gear 15. When the roller 18 moves on the ground, it can drive the first transmission gear 15 to rotate, and when the first transmission gear 15 rotates, the second transmission gear 16 and the first connecting shaft 7 can be driven to rotate through the transmission toothed belt 17 to complete the transmission work.

[0035] like Figure 5 The supporting component 2 includes a synchronizing device 23 and a docking device 24. The synchronizing device 23 is symmetrically fixedly installed at the front end of the docking device 24 to support the synchronizing device 23 to work.

[0036] like Figure 6The synchronization device 23 includes a guide wheel 25, a top support plate 26, a connecting rope 27 and a rack 28. The guide wheel 25 is symmetrically rotatably installed on the front end top of the top support plate 26, the rack 28 is slidably inserted on the left side of the front end of the top support plate 26, and the connecting rope 27 is fixedly installed on the top of the rack 28. Through the setting of the two guide wheels 25, the connecting rope 27 can assist in pulling the rack 28 to move upward in a straight line.

[0037] like Figure 7 and Figure 8 The movable rod 22 includes a quadruped robot 29, a hydraulic cylinder 30, a supporting base plate 31, a scraper strip 32, a third gear 33 and a supporting back plate 34. The hydraulic cylinder 30 is symmetrically fixedly mounted on the front end top of the quadruped robot 29, the supporting back plate 34 is fixedly mounted on one end of the hydraulic cylinder 30, the third gear 33 is rotatably mounted on the front end center of the supporting back plate 34, the scraper strip 32 is fixedly mounted on the outer ring of the third gear 33 close to the supporting back plate 34, the supporting base plate 31 is symmetrically fixedly mounted on the front end top of the quadruped robot 29, and the supporting base plate 31 is located below the scraper strip 32. When the scraper strip 32 is placed in a normal state, the top end can be located below the optical lens 3, so that the scraper strip 32 can be prevented from interfering with the optical lens 3.

[0038] The extension bracket 10 is fixedly mounted on the front end of the movable rod 22, one end of the support sleeve 20 close to the side support plate 19 is connected to the two sides of the quadruped robot 29, the top support plate 26 is symmetrically fixedly mounted on the front end of the quadruped robot 29, and the top support plate 26 is located at the side end of the scraper strip 32, the first bevel gear 11 is meshed with the second bevel gear 12, the second gear 8 is meshed with the first gear 6, the tooth distribution angle on the first gear 6 is 270°, the bottom end of the sweeping wheel 14 is 1 cm away from the bottom end of the roller 18, the end of the first connecting shaft 7 away from the first bevel gear 11 is connected to the second transmission gear 16, and the bottom end of the connecting rope 27 is connected to the second transmission gear 16. It is connected to the winding wheel 9, and a key is fixedly installed at the rear end of the rack 28, and a slot is opened inside the top support plate 26 near the front end of the rack 28. The optical lens 3 is symmetrically fixedly installed at the front end of the quadruped robot 29, and the rear end of the scraper 32 is flush with the front end surface of the optical lens 3. The third gear 33 is meshed with the rack 28. The interior of the support sleeve 20 is set in a hollow state, and a circular hole is opened at the bottom end of the support sleeve 20. Another support sleeve 20, a first spring 21, a movable rod 22, a side support plate 19 and a roller 18 are arranged on both sides of the rear of the quadruped robot 29, and the connecting rope 27 passes through the outer ring surface of the guide wheel 25.

[0039] The working principle of Example 1 is as follows: when in use, the device is first placed directly on the road surface until the roller 18 and the supporting feet inside the quadruped robot 29 are in contact with the ground, and the sweeping wheel 14 is also close to the ground. Then, the driving system inside the quadruped robot 29 can be started, so that the walking feet inside the quadruped robot 29 can drive the quadruped robot 29 to move as a whole. The optical lens 3 is located at the front end of the quadruped robot 29, so that the optical lens 3 can inspect the road surface. At the same time, when the roller 18 is in contact with the ground, the quadruped robot 29 can drive the roller 18 to move on the ground when it is displaced, so that the roller 18 can rotate. Then, when the roller 18 rotates, it can drive the first transmission gear 15 to rotate, and the first When the transmission gear 15 rotates, the second transmission gear 16 can be driven to rotate through the transmission toothed belt 17, so that the second transmission gear 16 can drive the first gear 6 and the second bevel gear 12 to rotate. When the second bevel gear 12 rotates, the first bevel gear 11 can be driven to rotate, and when the first bevel gear 11 rotates, the sweeping wheel 14 can be driven to rotate. The bottom end of the sweeping wheel 14 is 1 cm away from the bottom end of the roller 18, and the sweeping wheel 14 is located directly in front of the walking foot inside the quadruped robot 29. When the sweeping wheel 14 rotates, it can sweep the debris in front to the side, so as to prevent the walking foot inside the quadruped robot 29 from stepping on the top of the debris and preventing the quadruped robot 29 from tilting. In addition, the roller 18 contacts the ground. The movable rod 22 is connected to the bottom end of the first spring 21, so that the movable rod 22 and the roller 18 can provide auxiliary support on both sides of the quadruped robot 29 to prevent the quadruped robot 29 from tilting and falling. At the same time, when the device is used in rainy weather, the hydraulic cylinder 30 can be started to drive the side end of the third gear 33 close to the scraper bar 32 to align with the end of the rack 28 with teeth, so that when the first gear 6 drives the second gear 8 to rotate, the winding wheel 9 can drive the rack 28 to move upward by pulling the connecting rope 27, and slide in the groove at the front end of the top support plate 26 through the key at the rear of the rack 28, so that the rack 28 can be ensured to move upward in a straight line. At the same time, when the rack 28 moves upward, it can drive the third gear 33 to the end away from the supporting bottom plate 31. The scraper bar 32 rotates so that the scraper bar 32 can rotate synchronously, and the scraper bar 32 is flush with the front end surface of the optical lens 3, so that the scraper bar 32 can scrape off the water drops attached to the front end of the optical lens 3 when it rotates, thereby improving the shooting clarity of the optical lens 3. Subsequently, when the first gear 6 rotates 270°, the first gear 6 loses engagement with the second gear 8, so that the connecting rope 27 loses the pulling force, and when the scraper bar 32 rotates upward to the limit position, it can be 135°. When the connecting rope 27 loses the pulling force, the scraper bar 32 rotates downward, so that the third gear 33 can drive the rack 28 to move downward and reset, so that the rack 28 can contact and engage with the third gear 33 again. When the scraper bar 32 rotates downward to the limit position, it can fit with the top of the supporting base plate 31.Thereby, the phenomenon of excessive rotation of the scraper strip 32 can be avoided, and the surface cleaning of the optical lens 3 is completed. When the surface of the optical lens 3 does not need to be cleaned, the hydraulic cylinder 30 can be started to drive the third gear 33 and the rack 28 to move away, so that the rack 28 will not mesh with the third gear 33 when rising, so that the third gear 33 will not rotate. When the device is in use, the rollers 18 are in contact with the ground, and the rollers 18 are located on both sides of the quadruped robot 29, so that the quadruped robot 29 can be supported on both sides of the quadruped robot 29 to walk, and the quadruped robot 29 can be prevented from tipping over. Moreover, when the rollers 18 are rotating, the second transmission gear 17 can be driven by the transmission toothed belt 17 The wheel 16 and the second bevel gear 12 rotate simultaneously, so that the sweeping wheel 14 can perform cleaning work in front of the walking foot inside the quadruped robot 29, so that the walking foot can avoid stepping on the debris on the road, and improve the stability of the quadruped robot 29 when walking. In addition, when the first gear 6 is rotating, the second gear 8 can also drive the winding wheel 9 to pull the connecting rope 27 downward, so that the rack 28 can move upward, so that the rack 28 can drive the third gear 33 and the scraper 32 to rotate simultaneously, which can scrape off the water droplets on the front end surface of the optical lens 3, improve the shooting clarity of the optical lens 3, and complete the work of the quadruped robot 29 auxiliary support walking and the surface cleaning of the optical lens 3.

[0040] Example 2

[0041] On the basis of Example 1, Fig. 9 As shown, the quadruped robot 29 also includes a threaded rod 35, a limit rod 36, a support partition 37 and a guide rod 38. The support partition 37 is symmetrically fixedly installed on the top of the quadruped robot 29, the guide rod 38 is symmetrically slidably inserted into the inside of the support partition 37, the limit rod 36 is fixedly installed at the opposite end of the guide rod 38, and the threaded rod 35 is threaded through the support partition 37 and is rotatably connected to the limit rod 36.

[0042] When implementing this embodiment, when it is necessary to install additional video or inspection equipment, the equipment can be placed on the top of the quadruped robot 29, and then the threaded rod 35 can be screwed and rotated to drive the limit rod 36 to approach the top center of the quadruped robot 29 until the two limit rods 36 restrict and fix the equipment, so that the equipment can be installed. When the limit rod 36 is displaced, the guide rod 38 slides inside the support partition 37, so that the limit rod 36 can be supported to move in a straight line, thereby improving the docking accuracy between the limit rod 36 and the equipment. At the same time, a plastic gasket is fixedly installed on the surface of the opposite end of the limit rod 36 to prevent the limit rod 36 from damaging the surface of the equipment, thereby completing the work of installing the equipment.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A quadruped walking intelligent vehicle unmanned inspection robot, comprising a support component (2), auxiliary components (1) are fixedly mounted on both sides of the support component (2), and an optical lens (3) is symmetrically fixedly mounted on the front end of the support component (2), characterized in that: The auxiliary component (1) comprises an alignment device (4) and a positioning device (5); the alignment device (4) is fixedly mounted at the front end of the positioning device (5); the alignment device (4) comprises a first gear (6), a first connecting shaft (7), a second gear (8), a winding wheel (9), an extension bracket (10), a first bevel gear (11), a second bevel gear (12), a second connecting shaft (13) and a sweeping wheel (14); the second connecting shaft (13) is rotatably mounted at the bottom of the front end of the extension bracket (10); the first bevel gear (11) and the sweeping wheel (14) are fixedly mounted on the outer ring of the second connecting shaft (13); the first bevel gear (11) is located above the sweeping wheel (14); the first ... The connecting shaft (7) is rotatably mounted on the right front side of the extension bracket (10); the first gear (6) and the second bevel gear (12) are fixedly mounted on the first connecting shaft (7), and the first gear (6) is located on the right side of the second bevel gear (12); the second gear (8) is rotatably mounted on the right front side of the extension bracket (10); the winding wheel (9) is rotatably mounted on the left front side of the extension bracket (10), and the second gear (8) and the winding wheel (9) are both located behind the first gear (6); the positioning device (5) comprises a first transmission gear (15), a second transmission gear (16), a transmission toothed belt (17), a roller (18), a side end support plate (19), a support sleeve (20), a first spring (2 1) and a movable rod (22), the first spring (21) is fixedly mounted on the inner top end of the support sleeve (20), the movable rod (22) slides through the bottom end of the support sleeve (20) and is connected to the bottom end of the first spring (21), the side end support plate (19) is fixedly mounted on the left bottom end of the movable rod (22), the roller (18) is rotatably mounted on the right side of the side end support plate (19), the first transmission gear (15) is fixedly mounted on the side end center of the roller (18) away from the side end support plate (19), the transmission toothed belt (17) is meshed and sleeved on the outer ring of the first transmission gear (15), the second transmission gear (16) is meshed on the inner end of the transmission toothed belt (17) away from the first transmission gear (15), the The movable rod (22) comprises a quadruped robot (29), a hydraulic cylinder (30), a support base plate (31), a scraper (32), a third gear (33) and a support back plate (34), wherein the hydraulic cylinder (30) is symmetrically fixedly mounted on the front end top of the quadruped robot (29), the support back plate (34) is fixedly mounted on one end of the hydraulic cylinder (30), the third gear (33) is rotatably mounted on the front end center of the support back plate (34), the scraper (32) is fixedly mounted on the outer ring of the third gear (33) close to the support back plate (34), the support base plate (31) is symmetrically fixedly mounted on the front end top of the quadruped robot (29), and the support base plate (31) is located below the scraper (32);The support component (2) includes a synchronization device (23) and a docking device (24), wherein the synchronization device (23) is symmetrically fixedly mounted at the front end of the docking device (24), and the synchronization device (23) includes a guide wheel (25), a top support plate (26), a connecting rope (27) and a rack (28), wherein the guide wheel (25) is symmetrically rotationally mounted at the top of the front end of the top support plate (26), the rack (28) is slidably plugged into the left side of the front end of the top support plate (26), and the connecting rope (27) is fixedly mounted at the top of the rack (28); the extension bracket (10) is fixedly mounted at the front end of the movable rod (22), and the support sleeve (20) is close to the side support plate (19). One end of the first connecting shaft (14) is connected to both sides of the quadruped robot (29), the top supporting plate (26) is symmetrically fixedly mounted on the front end of the quadruped robot (29), and the top supporting plate (26) is located at the side end of the scraper strip (32); the first bevel gear (11) is meshed with the second bevel gear (12), the second gear (8) is meshed with the first gear (6), the tooth distribution angle on the first gear (6) is 270°, the bottom end of the sweeping wheel (14) is spaced 1 cm from the bottom end of the roller (18), the end of the first connecting shaft (7) away from the first bevel gear (11) is connected to the second transmission gear (16), and the bottom end of the connecting rope (27) is connected to the winding wheel (9). ; 2. The quadrupedal intelligent vehicle unmanned inspection robot according to claim 1, characterized in that: A latch key is fixedly mounted at the rear end of the rack (28), and a latch slot is provided inside the top support plate (26) near the front end of the rack (28). The optical lens (3) is symmetrically fixedly mounted at the front end of the quadruped robot (29). The rear end of the scraper (32) is flush with the front end surface of the optical lens (3), and the third gear (33) is meshed with the rack (28).

3. The quadrupedal intelligent vehicle unmanned inspection robot according to claim 2, characterized in that: The interior of the support sleeve (20) is arranged in a hollow state, and a round hole is opened at the bottom end of the support sleeve (20). Another support sleeve (20), a first spring (21), a movable rod (22), a side support plate (19) and a roller (18) are arranged at the rear of both sides of the quadruped robot (29), and the connecting rope (27) passes through the outer ring surface of the guide wheel (25).

4. The quadrupedal intelligent vehicle unmanned inspection robot according to claim 3, characterized in that: The quadruped robot (29) further comprises a threaded rod (35), a limit rod (36), a support baffle (37) and a guide rod (38); the support baffle (37) is symmetrically fixedly mounted on the top of the quadruped robot (29); the guide rod (38) is symmetrically slidably inserted into the inside of the support baffle (37); the limit rod (36) is fixedly mounted on the opposite end of the guide rod (38); and the threaded rod (35) is threadedly penetrated through the support baffle (37) and is rotatably connected to the limit rod (36).

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