Electric power inspection quadruped robot with high protection performance, method and system

Abstract

The invention relates to the technical field of inspection quadruped robots, in particular to an electric inspection quadruped robot with high protection performance, a method and a system.The electric inspection quadruped robot comprises a machine body and a quadruped moving mechanism, an identification mechanism is arranged at one end of the machine body, and a transparent plate is arranged between the identification mechanism and the machine body; a collision prevention mechanism and a cleaning mechanism are arranged between the transparent plate and the machine body, detection grooves are formed in the two sides of the machine body, detection mechanisms are arranged on the detection grooves, side face protection mechanisms are arranged between the detection grooves and the machine body, a weather recognition device is arranged at the top end of the machine body, and an adjusting box is arranged at the bottom end of the machine body. According to the electric power inspection robot, the aspects of transparent plate protection, detection groove protection and ground fixing capacity are remarkably improved, the reliability of the robot is improved, the protection performance of the robot under severe weather conditions and complex terrains is improved, and it is ensured that an electric power inspection task is safely and efficiently completed.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection quadruped robots, and in particular to an electric power inspection quadruped robot with high protection performance, a method and a system. Background Art

[0002] As we all know, with the rapid development of automation technology, the application of inspection quadruped robots in the field of power inspection has become more and more extensive. Such robots can perform inspection tasks in various complex environments, such as mountains and forests, which are often difficult for human workers to conduct inspections safely and efficiently. However, in severe weather conditions, such as rain, snow, freezing rain, hail, etc., and in complex terrains such as mountain soil and ground, traditional inspection quadruped robots face severe challenges. When facing severe weather, the cameras and other sensors installed on traditional inspection quadruped robots are easily damaged. For example, rain and snow can cause blurring and affect the normal operation of the recognition mechanism. Hard objects such as hail may directly hit the transparent plate, causing it to break. The various sensors used by the inspection quadruped robot to detect power facilities are prone to water in rain and snow, causing the detection mechanism to fail or be damaged. In complex terrains such as mountain soil and ground, due to the slippery or uneven ground, traditional inspection quadruped robots are difficult to maintain stability, and may even slip or roll over, which will not only damage the robot itself, but also may cause the inspection task to fail to be completed smoothly. Therefore, it is necessary to propose a solution to this technical problem. Summary of the invention

[0003] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a high-protection performance electric power inspection quadruped robot, method and system.

[0004] (II) Technical solution To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a high-protection power inspection quadruped robot, comprising a body and a quadruped moving mechanism, an identification mechanism is provided at one end of the body, a transparent plate is provided between the identification mechanism and the body, an anti-collision mechanism and a cleaning mechanism are provided between the transparent plate and the body, detection grooves are provided on both sides of the body, a detection mechanism is provided on the detection groove, a side protection mechanism is provided between the detection groove and the body, a weather identification device is provided at the top of the body, an adjustment box is provided at the bottom of the body, a locking box is provided below the body, and two ends of the adjustment box are provided An adjusting shaft, a rotating mechanism is provided between the interior of the adjusting box and one of the adjusting shafts, a connecting piece is provided between the locking box and the adjusting shaft, a fastening mechanism is provided between the locking box and the top of the body, an assembly groove is provided at one end of the locking box, a threaded groove is provided at one end of the assembly groove, a limiting groove is provided at one end of the threaded groove, a threaded column is provided on the threaded groove, a limiting ring is provided between the threaded column and the limiting groove, a spiral rod is provided on the threaded column, a rectangular groove is provided at one end of the threaded column, a driving motor is provided inside the locking box, and a rectangular column is provided between the output end of the driving motor and the rectangular groove.

[0005] Furthermore, the present invention is improved in that the anti-knock mechanism includes an anti-knock plate and an anti-knock groove, the anti-knock groove is opened at one end of the body, the anti-knock plate is located in the anti-knock groove, an adjustment groove is opened at one end of the anti-knock groove, a first telescopic mechanism is provided on the adjustment groove, and the output end of the first telescopic mechanism is connected to the anti-knock plate.

[0006] Furthermore, the present invention is improved in that the cleaning mechanism includes a cleaning brush and a cleaning groove, the cleaning groove is opened inside the body, a cleaning hole is opened between the cleaning groove and one end of the body, a second telescopic mechanism is provided on the cleaning groove, a cleaning motor is provided at the output end of the second telescopic mechanism, the output end of the cleaning motor passes through the cleaning hole, the output end of the cleaning motor is connected to the cleaning brush, and the cleaning brush is against one end of the body.

[0007] Furthermore, the present invention is improved in that the side protection mechanism includes a mounting frame and a side panel, the mounting frame is provided with a mounting groove, the mounting groove is provided with a mounting shaft, a hinge is provided between the side panel and the body, a connecting frame is provided on one side of the side panel, the connecting frame is provided with a connecting shaft, and a third telescopic mechanism is provided between the mounting shaft and the connecting shaft.

[0008] Furthermore, the present invention is improved in that the fastening mechanism includes an iron magnet and an iron plate, the iron magnet is installed at the bottom end of the body, the iron plate is installed at the top end of the locking box, and the iron plate is against the iron magnet.

[0009] Furthermore, the present invention is improved in that the four-legged moving mechanism includes a driving mechanism, the driving mechanism is installed at the bottom end of the body, foot support arms are provided on both sides of the driving mechanism, the driving mechanism is provided with two and symmetrically arranged, and a reinforcement mechanism is provided on the foot support arm.

[0010] Furthermore, the present invention is improved in that the reinforcement mechanism includes a reinforcement plate and a positioning hole, the reinforcement plate abuts against one side of the foot support arm, the positioning hole is provided on the foot support arm, a circular groove is provided at one end of the positioning hole, a positioning column is provided between the reinforcement plate and the positioning hole, an elastic ball is provided between the positioning column and the circular groove, and there are multiple positioning holes.

[0011] The present invention also provides a method for a high-protection-performance electric power inspection quadruped robot, comprising the following steps: S1: Provide a patrol quadruped robot, comprising a body and a quadruped moving mechanism; S2: When the weather recognition device of the machine body recognizes rain, snow or hail weather, the transparent plate is protected from knocking by using the anti-knock mechanism; S3: The clearing mechanism can repeatedly clear the rain and snow on the transparent plate, making it easier for the recognition mechanism to recognize the surrounding environment; S4: When the identification mechanism identifies the soil ground in the mountainous area, an adjustment shaft is rotated by using the rotating mechanism, so that the connecting piece drives the locking box to rotate an angle, and the other adjustment shaft follows the connecting piece to rotate an angle, and the locking box leaves the fastening mechanism, and the rectangular column is rotated by controlling the output end of the driving motor, and the rectangular column can make the threaded column follow the rectangular column to rotate an angle through the rectangular groove, and the threaded column rotates downward in the threaded groove, and the threaded column drives the spiral rod to rotate downward, and the spiral rod is inserted into the ground, and at the same time, the height of the machine body is lowered by using the four-legged moving mechanism, so that the spiral rod is deeply inserted into the ground, so that the machine body is firmly fixed in the soil of the mountainous area; S5: When the weather is clear, the rectangular column is rotated in the opposite direction by controlling the output end of the driving motor, and the four-legged moving mechanism is used to restore the state of supporting the machine body, so that the spiral rod leaves the soil, one end of the threaded column is against the limit groove, and then the locking box is laterally pressed against the bottom of the machine body by the rotating mechanism, and the locking box is fastened under the machine body by the fastening mechanism, and then the four-legged moving mechanism is used to return to the site.

[0012] Furthermore, the present invention is improved in that, in the above S4, the limiting ring at one end of the threaded column is located in the limiting groove, which can limit the threaded column and prevent the threaded column from falling out of the threaded groove.

[0013] The present invention also provides a system of a high-protection electric power inspection quadruped robot, including a control system, the control system including a quadruped movement system, an identification module, an anti-knock system, a cleaning system, a detection module, a side protection module, a weather identification module and a locking module, the quadruped movement system is used to move the inspection quadruped robot, the identification module is used to identify the surrounding environment, the anti-knock system is used to provide an anti-knock function, the detection module is used to detect power facilities, the side protection module is used to protect the detection mechanism, the cleaning system is used to clean rainwater on the identification mechanism, the weather identification module is used to identify the weather, and the locking module is used to lock the inspection quadruped robot in the soil ground in the mountainous area.

[0014] (III) Beneficial effects Compared with the prior art, the present invention provides a high-protection power inspection quadruped robot, method and system, which have the following beneficial effects: The high-protection electric power inspection quadruped robot, method and system can protect the transparent plate from direct impact of upper objects under severe weather conditions by setting an anti-collision mechanism. When the weather recognition device recognizes abnormal weather, the anti-collision plate is moved above the transparent plate by controlling the output end of the first telescopic mechanism, so that the anti-collision plate is moved to the upper part of the transparent plate, which can prevent the transparent plate from falling and hitting from above, and can significantly reduce the risk of the transparent plate being damaged by the impact of upper objects. By setting a cleaning mechanism, rain and snow on the transparent plate can be automatically cleaned, ensuring that the identification mechanism can clearly identify the surrounding environment. By controlling the output end of the second telescopic mechanism to move the cleaning motor, the position of the cleaning brush is exactly flush with the outer side of the transparent plate. The output end of the cleaning motor is controlled to reciprocate and rotate the cleaning brush within a certain angle range, so that the cleaning brush can repeatedly brush away rainwater on the transparent plate, which can effectively prevent the transparent plate from being blurred, and ensure the normal operation of the identification mechanism under adverse weather conditions. By setting up the side protection mechanism, it is possible to prevent rain, snow, freezing rain or hail from entering the detection slot, protecting the detection mechanism from damage. When the recognition mechanism identifies bad weather, the third telescopic mechanism telescopes to cover the side plate on the detection slot, preventing rain, freezing rain or ice and snow from entering the detection slot, greatly reducing the possibility of damage to the detection mechanism and improving the reliability and stability of the robot. By setting up a combination of an adjustment box and a locking box, the robot can be firmly fixed on the soil ground in mountainous areas to avoid movement due to slippery or tilted ground. When the recognition mechanism identifies the soil ground in mountainous areas, the angle of the locking box is adjusted by rotating the adjustment shaft using a rotating mechanism. The spiral rod in the locking box is exactly perpendicular to the ground. The spiral rod is rotated and moved downward by controlling the drive motor and inserted into the ground, which greatly improves the robot's fixing ability and stability in complex terrain. There are significant improvements in transparent plate protection, detection slot protection, ground fixing ability, foot support arm protection, etc., which improves the robot's reliability, stability and operational flexibility, reduces maintenance costs, improves its protection performance in severe weather conditions and complex terrain, and ensures the safe and efficient completion of power inspection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The structure of the present invention is shown in FIG. Figure 2 ; Figure 3 The structure of the present invention is shown in FIG. Figure 3 ; Figure 4 It is a half-section front view of the structure of the present invention; Figure 5 It is a left half-section view of the structure of the present invention; Figure 6 For the present invention Figure 2 Half-section front view of the enlarged structure of the middle locking box.

[0016] In the figure: 1. body; 2. identification mechanism; 3. transparent plate; 4. detection slot; 5. detection mechanism; 6. weather identification device; 7. adjustment box; 8. locking box; 9. connecting piece; 10. threaded column; 11. limit ring; 12. screw rod; 13. driving motor; 14. rectangular column; 15. anti-knock plate; 16. first telescopic mechanism; 17. cleaning brush; 18. second telescopic mechanism; 19. cleaning motor; 20. mounting frame; 21. side panel; 22. connecting frame; 23. third telescopic mechanism; 24. magnetic block; 25. iron plate; 26. driving mechanism; 27. foot support arm; 28. reinforcement plate; 29. ​​positioning column; 30. elastic ball. DETAILED DESCRIPTION

[0017] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-6The present invention is a high-protection electric power inspection quadruped robot, comprising a body 1 and a quadruped mobile mechanism, an identification mechanism 2 is provided at one end of the body 1, a transparent plate 3 is provided between the identification mechanism 2 and the body 1, an anti-collision mechanism and a cleaning mechanism are provided between the transparent plate 3 and the body 1, detection slots 4 are provided on both sides of the body 1, a detection mechanism 5 is provided on the detection slot 4, a side protection mechanism is provided between the detection slot 4 and the body 1, a weather identification device 6 is provided at the top of the body 1, an adjustment box 7 is provided at the bottom of the body 1, a locking box 8 is provided below the body 1, adjustment shafts are provided at both ends of the adjustment box 7, a rotating mechanism is provided between the inside of the adjustment box 7 and one of the adjustment shafts, and the lock A connecting piece 9 is provided between the fixed box 8 and the adjusting shaft, a fastening mechanism is provided between the locking box 8 and the top of the body 1, an assembly groove is provided at one end of the locking box 8, a threaded groove is provided at one end of the assembly groove, a limiting groove is provided at one end of the threaded groove, a threaded column 10 is provided on the threaded groove, a limiting ring 11 is provided between the threaded column 10 and the limiting groove, a spiral rod 12 is provided on the threaded column 10, a rectangular groove is provided at one end of the threaded column 10, a driving motor 13 is provided inside the locking box 8, a rectangular column 14 is provided between the output end of the driving motor 13 and the rectangular groove, in this embodiment, the environment around one end of the body 1 is easily identified through the identification mechanism 2, and the identification mechanism 2 is a common environment identification in existing robots Components are not described in detail in this structure. The body 1 is easily moved by using a four-legged moving mechanism. The weather conditions are identified by the weather identification device 6. When rain, snow or hail weather is identified, the transparent plate 3 is protected from knocking by using an anti-knock mechanism. The rain and snow on the transparent plate 3 can be repeatedly cleaned by a cleaning mechanism, which is convenient for the identification mechanism 2 to identify the surrounding environment. The detection slots 4 on both sides of the body 1 are protected by side protection mechanisms to prevent rain, snow or hail from entering the detection slots 4, and automatically protect the detection mechanism 5 in the detection slots 4. When the identification mechanism 2 identifies the soil ground in a mountainous area, the four-legged robot is affected by rain, snow, freezing rain and other weather and has difficulty moving. At this time, an adjusting shaft is rotated by using a rotating mechanism, so that the connecting piece 9 drives the locking box 8 rotates an angle, and another adjusting shaft follows the rotation angle of the connecting piece 9. The locking box 8 leaves the fastening mechanism, and the screw rod 12 in the locking box 8 is just perpendicular to the ground. Then, the rectangular column 14 is rotated by controlling the output end of the driving motor 13. The rectangular column 14 can make the threaded column 10 follow the rotation angle of the rectangular column 14 through the rectangular groove. The threaded column 10 rotates downward in the threaded groove, and the threaded column 10 drives the screw rod 12 to rotate downward. The screw rod 12 is inserted into the ground. At the same time, the height of the machine body 1 is lowered by using the four-legged moving mechanism, so that the screw rod 12 is deeply inserted into the ground, so that the machine body 1 is firmly fixed in the soil in the mountainous area. The limiting ring 11 is located in the limiting groove, which can limit the threaded column 10 and prevent the threaded column 10 from leaving the threaded groove.It can prevent slipping or rolling on the inclined ground due to rain and other weather conditions. The anti-collision mechanism and the side protection mechanism can effectively prevent stones in the mountainous area from colliding and damaging the important detection components inside the body 1. Personnel can choose to restore the body 1 to the site by itself or take it back when the weather is clear. When the power is sufficient for the body 1 to return to the site, the output end of the driving motor 13 is controlled to rotate the rectangular column 14 in the opposite direction, and the four-legged mobile mechanism is used to restore the state of supporting the body 1, so that the spiral rod 12 leaves the soil, one end of the threaded column 10 is against the limit groove, and then the locking box 8 is horizontally pressed against the bottom of the body 1 through the rotating mechanism, and the locking box 8 is fastened to the bottom of the body 1 through the fastening mechanism, and then the four-legged mobile mechanism is used to return to the site.

[0019] The above-mentioned anti-knock mechanism can be any kind of anti-knock component. In order to further improve the protective effect of the transparent plate 3, the anti-knock mechanism includes an anti-knock plate 15 and an anti-knock groove. The anti-knock groove is opened at one end of the body 1, and the anti-knock plate 15 is located in the anti-knock groove. An adjustment groove is opened at one end of the anti-knock groove, and a first telescopic mechanism 16 is provided on the adjustment groove. The output end of the first telescopic mechanism 16 is connected to the anti-knock plate 15. When the weather identification device 6 identifies abnormal weather, the anti-knock plate 15 is moved by controlling the output end of the first telescopic mechanism 16. The anti-knock plate 15 moves to the top of the transparent plate 3, which can prevent the transparent plate 3 from falling and bumping from the top. The advantage is particularly prominent in freezing rain weather, which prevents rainwater from directly dripping on the transparent plate 3 and then freezing. In normal weather, the output end of the first telescopic mechanism 16 is controlled to move the anti-knock plate 15. The anti-knock plate 15 moves to the anti-knock groove, which can improve the identification range of the identification mechanism 2 for the surrounding environment.

[0020] The above-mentioned cleaning mechanism can be any cleaning component. In order to further improve the cleaning effect of the transparent plate 3, the cleaning mechanism includes a cleaning brush 17 and a cleaning groove. The cleaning groove is opened inside the body 1, and a cleaning hole is opened between the cleaning groove and one end of the body 1. The cleaning groove is provided with a second telescopic mechanism 18, and the output end of the second telescopic mechanism 18 is provided with a cleaning motor 19. The output end of the cleaning motor 19 passes through the cleaning hole, and the output end of the cleaning motor 19 is connected to the cleaning brush 17, and the cleaning brush 17 is against one end of the body 1. When the weather recognition device 6 recognizes rainy weather, the cleaning motor 19 is moved by controlling the output end of the second telescopic mechanism 18. The output end of the cleaning motor 19 drives the cleaning brush 17 to move, and the position of the cleaning brush 17 is exactly flush with the outer side of the transparent plate 3. Then, the output end of the cleaning motor 19 is controlled to reciprocate and rotate the cleaning brush 17 within a certain angle range, so that the cleaning brush 17 can repeatedly brush off the rainwater on the transparent plate 3, which can facilitate the recognition mechanism 2 to normally recognize the surrounding environment.

[0021] The above-mentioned side protection mechanism can be any kind of side protection component. In order to further improve the protection effect of the detection slot 4, the side protection mechanism includes a mounting frame 20 and a side plate 21. The mounting frame 20 is installed on the detection slot 4. The mounting frame 20 is provided with a mounting slot, and the mounting slot is provided with a mounting shaft. A hinge is provided between the side plate 21 and the body 1. A connecting frame 22 is provided on one side of the side plate 21, and a connecting shaft is provided on the connecting frame 22. A third telescopic mechanism 23 is provided between the mounting shaft and the connecting shaft. When the detection mechanism 5 of the detection slot 4 is used, the output end of the third telescopic mechanism 23 is controlled to extend. , so that the mounting axis of the mounting slot on the mounting frame 20 and the connecting axis of the connecting frame 22 can rotate, and the side panel 21 can follow the third telescopic mechanism 23 to adjust the angle through the hinge, so as to automatically open the side panel 21, which is convenient for the detection mechanism 5 to inspect the surrounding power facilities. When the weather recognition device 6 recognizes rainy weather, the output end of the third telescopic mechanism 23 contracts, so that the side panel 21 seals the column detection slot 4, which has a protective effect on the detection mechanism 5 in the detection slot 4. The advantage is particularly prominent in freezing rain weather, preventing rainwater from directly dripping into the detection slot 4 and then freezing, and preventing the detection mechanism 5 in the detection slot 4 from freezing.

[0022] The above-mentioned fastening mechanism can be any kind of fastening device. In order to further improve the fastening effect of the locking box 8, the fastening mechanism includes an iron magnet 24 and an iron plate 25. The iron magnet 24 is installed at the bottom end of the body 1, and the iron plate 25 is installed at the top of the locking box 8. The iron plate 25 is against the iron magnet 24. When the locking box 8 is placed horizontally, the iron plate 25 at the top of the locking box 8 is adsorbed by the iron magnet 24, so that the locking box 8 can be placed and fixed more firmly.

[0023] In this embodiment, the four-legged mobile mechanism includes a driving mechanism 26, which is installed at the bottom end of the body 1. Foot support arms 27 are provided on both sides of the driving mechanism 26. The driving mechanism 26 is provided with two and symmetrically arranged. A reinforcement mechanism is provided on the foot support arm 27. The reinforcement mechanism includes a reinforcement plate 28 and a positioning hole. The reinforcement plate 28 is against one side of the foot support arm 27. The positioning hole is provided on the foot support arm 27. A circular groove is provided at one end of the positioning hole. A positioning column 29 is provided between the reinforcement plate 28 and the positioning hole. An elastic ball 30 is provided between the positioning column 29 and the circular groove. There are multiple positioning holes, and the foot support arm 27 is driven by the driving mechanism 26. The foot support arms 27 on both sides of the two driving mechanisms 26 can effectively move this structure, and the positioning column 29 of the reinforcement plate 28 is inserted into the positioning hole. The elastic ball 30 is squeezed and contracted by the positioning hole, and then the reinforcement plate 28 is continued to be pushed, so that one end of the elastic ball 30 is against the circular groove, so that the reinforcement plate 28 is fastened to the foot support arm 27, thereby enhancing the protection effect on the outer side of the foot support arm 27 and reducing the damage caused by falling rocks in mountainous areas. The elastic ball 30 is pulled away from the circular groove by pulling the reinforcement plate 28 with force, so that the reinforcement plate 28 is removed, which is convenient for replacing a new reinforcement plate 28.

[0024] A high-protection power inspection quadruped robot, when in use: through the identification mechanism 2, it is easy to identify the environment around one end of the body 1, the identification mechanism 2 is a common environment identification component in the existing robot, and is not described in detail in this structure. The body 1 is easy to move by using the four-legged moving mechanism, and the weather conditions are identified by the weather identification device 6. When rain, snow, freezing rain or hail weather is identified, the transparent plate 3 is protected by the anti-knock mechanism. The advantage in freezing rain weather is particularly prominent, preventing rainwater from directly dripping on the transparent plate 3 and then freezing. The cleaning mechanism can repeatedly clean the rain and snow on the transparent plate 3, which is convenient for the identification mechanism 2 to identify the surrounding environment. The detection slots 4 on both sides of the body 1 are protected by the side protection mechanism. Prevent rain, snow or hail from entering the detection slot 4, automatically protect the detection mechanism 5 in the detection slot 4, the advantages are particularly prominent in freezing rain weather, prevent rain from directly dripping into the detection slot 4 and then freezing, and prevent the detection mechanism 5 in the detection slot 4 from freezing. When the identification mechanism 2 identifies the soil ground in the mountainous area, the four-legged robot is affected by rain, snow and other weather and has difficulty moving. At this time, by using a rotating mechanism to rotate an adjustment shaft, the connecting member 9 drives the locking box 8 to rotate an angle, and the other adjustment shaft follows the connecting member 9 to rotate an angle, and the locking box 8 leaves the fastening mechanism, and the spiral rod 12 in the locking box 8 is exactly perpendicular to the ground. Then, by controlling the output end of the driving motor 13 to rotate the rectangular column 14, the rectangular column 14 can pass through the rectangular slot. The threaded column 10 follows the rotation angle of the rectangular column 14, and the threaded column 10 rotates and moves downward in the thread groove. The threaded column 10 drives the screw rod 12 to rotate and move downward, and the screw rod 12 is inserted into the ground. At the same time, the height of the machine body 1 is lowered by using the four-legged moving mechanism, so that the screw rod 12 is deeply inserted into the ground, so that the machine body 1 is firmly fixed in the soil in the mountainous area. The limiting ring 11 is located in the limiting groove to limit the threaded column 10, preventing the threaded column 10 from escaping from the thread groove, and preventing the occurrence of slipping or rolling on the inclined ground due to rain and other weather conditions. The anti-knock mechanism and the side protection mechanism can effectively prevent stones in the mountainous area from knocking and damaging important detection components inside the machine body 1. Personnel can choose to do this in clear weather. The lower body 1 recovers and moves back to the site by itself or is retrieved by personnel. When the power is sufficient for the body 1 to return to the site, the rectangular column 14 is rotated in the opposite direction by controlling the output end of the drive motor 13. At the same time, the four-legged mobile mechanism is used to restore the state of supporting the body 1, so that the spiral rod 12 leaves the soil, and one end of the threaded column 10 is against the limit groove. Then, the locking box 8 is horizontally pressed against the bottom of the body 1 by the rotating mechanism, and the locking box 8 is fastened to the bottom of the body 1 by the fastening mechanism. Then, the four-legged mobile mechanism is used to return to the site. When the weather identification device 6 identifies abnormal weather, the anti-knock plate 15 is moved by controlling the output end of the first telescopic mechanism 16. The anti-knock plate 15 moves to the top of the transparent plate 3, which can prevent the transparent plate 3 from falling and bumping from the top. In normal weather,The output end of the first telescopic mechanism 16 is controlled to move the anti-knock plate 15, and the anti-knock plate 15 moves into the anti-knock groove, which can improve the recognition range of the surrounding environment of the identification mechanism 2. The output end of the second telescopic mechanism 18 is controlled to move the cleaning motor 19, and the output end of the cleaning motor 19 drives the cleaning brush 17 to move. The position of the cleaning brush 17 is flush with the outer side of the transparent plate 3, and then the output end of the cleaning motor 19 is controlled to reciprocate and rotate the cleaning brush 17 within a certain angle range, so that the cleaning brush 17 can repeatedly brush away rainwater on the transparent plate 3, which can facilitate the identification mechanism 2 to normally identify the surrounding environment, and is driven by the driving mechanism 26. The foot support arm 27 can effectively move the structure through the foot support arms 27 on both sides of the two driving mechanisms 26, insert the positioning column 29 of the reinforcement plate 28 into the positioning hole, and the elastic ball 30 is squeezed and deformed by the positioning hole, and then the reinforcement plate 28 is pushed continuously, so that one end of the elastic ball 30 is against the circular groove, so that the reinforcement plate 28 is fastened to the foot support arm 27, thereby enhancing the protection effect on the outer side of the foot support arm 27, reducing the damage caused by falling rocks in the mountainous area, and by pulling the reinforcement plate 28 with force to make the elastic ball 30 leave the circular groove, so as to remove the reinforcement plate 28, which is convenient for replacing a new reinforcement plate 28.

[0025] The present invention also provides a method for a high-protection-performance electric power inspection quadruped robot, comprising the following steps: S1: Provided is a patrol quadruped robot, comprising a body 1 and a quadruped moving mechanism; S2: When the weather recognition device 6 of the body 1 recognizes rain, snow or hail weather, the transparent plate 3 is protected from knocking by using the anti-knock mechanism; S3: The rain and snow on the transparent plate 3 can be repeatedly cleaned by the cleaning mechanism, so that the identification mechanism 2 can identify the surrounding environment; S4: When the identification mechanism 2 identifies the soil ground in the mountainous area, an adjustment shaft is rotated by using a rotating mechanism, so that the connecting member 9 drives the locking box 8 to rotate an angle, and the other adjustment shaft follows the connecting member 9 to rotate an angle, and the locking box 8 leaves the fastening mechanism, and the rectangular column 14 is rotated by controlling the output end of the driving motor 13, and the rectangular column 14 can make the threaded column 10 follow the rectangular column 14 to rotate an angle through the rectangular groove, and the threaded column 10 rotates downward in the threaded groove, and the threaded column 10 drives the screw rod 12 to rotate downward, and the screw rod 12 is inserted into the ground, and at the same time, the height of the machine body 1 is lowered by using a four-legged moving mechanism, so that the screw rod 12 is deeply inserted into the ground, so that the machine body 1 is firmly fixed in the soil in the mountainous area; S5: When the weather is clear, the rectangular column 14 is rotated in the opposite direction by controlling the output end of the driving motor 13, and the four-legged moving mechanism is used to restore the state of supporting the body 1, so that the spiral rod 12 leaves the soil, one end of the threaded column 10 is against the limit groove, and then the locking box 8 is horizontally pressed against the bottom of the body 1 through the rotating mechanism, and the locking box 8 is fastened under the body 1 through the fastening mechanism, and then the four-legged moving mechanism is used to return to the site.

[0026] In the above S4, the limiting ring 11 at one end of the threaded column 10 is located in the limiting groove, which can limit the threaded column 10 and prevent the threaded column 10 from falling out of the threaded groove.

[0027] The present invention also provides a system of a high-protection electric power inspection quadruped robot, including a control system, the control system including a quadruped movement system, an identification module, an anti-knock system, a cleaning system, a detection module, a side protection module, a weather identification module and a locking module, the quadruped movement system is used to move the inspection quadruped robot, the identification module is used to identify the surrounding environment, the anti-knock system is used to provide an anti-knock function, the detection module is used to detect power facilities, the side protection module is used to protect the detection mechanism 5, the cleaning system is used to clean rainwater on the identification mechanism 2, the weather identification module is used to identify the weather, and the locking module is used to lock the inspection quadruped robot in the soil ground in the mountainous area.

[0028] 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 high-protection power inspection quadruped robot, characterized in that: The invention comprises a body (1) and a four-legged moving mechanism, wherein an identification mechanism (2) is provided at one end of the body (1), a transparent plate (3) is provided between the identification mechanism (2) and the body (1), an anti-collision mechanism and a cleaning mechanism are provided between the transparent plate (3) and the body (1), detection grooves (4) are provided on both sides of the body (1), a detection mechanism (5) is provided on the detection groove (4), a side protection mechanism is provided between the detection groove (4) and the body (1), a weather identification device (6) is provided at the top of the body (1), an adjustment box (7) is provided at the bottom end of the body (1), a locking box (8) is provided below the body (1), adjustment shafts are provided at both ends of the adjustment box (7), and the inside of the adjustment box (7) is connected to the adjustment box (7). A rotating mechanism is provided between the adjusting shafts, a connecting piece (9) is provided between the locking box (8) and the adjusting shaft, a fastening mechanism is provided between the locking box (8) and the top end of the machine body (1), a mounting groove is provided at one end of the locking box (8), a thread groove is provided at one end of the mounting groove, a limiting groove is provided at one end of the thread groove, a thread column (10) is provided on the thread groove, a limiting ring (11) is provided between the thread column (10) and the limiting groove, a spiral rod (12) is provided on the thread column (10), a rectangular groove is provided at one end of the thread column (10), a driving motor (13) is provided inside the locking box (8), and a rectangular column (14) is provided between the output end of the driving motor (13) and the rectangular groove.

2. The high-protection power inspection quadruped robot according to claim 1, characterized in that: The anti-knock mechanism comprises an anti-knock plate (15) and an anti-knock groove, wherein the anti-knock groove is provided at one end of the machine body (1), the anti-knock plate (15) is located in the anti-knock groove, an adjustment groove is provided at one end of the anti-knock groove, a first telescopic mechanism (16) is provided on the adjustment groove, and an output end of the first telescopic mechanism (16) is connected to the anti-knock plate (15).

3. The high-protection power inspection quadruped robot according to claim 2, characterized in that: The cleaning mechanism comprises a cleaning brush (17) and a cleaning groove, wherein the cleaning groove is arranged inside the machine body (1), a cleaning hole is arranged between the cleaning groove and one end of the machine body (1), a second telescopic mechanism (18) is arranged on the cleaning groove, a cleaning motor (19) is arranged at the output end of the second telescopic mechanism (18), the output end of the cleaning motor (19) passes through the cleaning hole, the output end of the cleaning motor (19) is connected to the cleaning brush (17), and the cleaning brush (17) abuts against one end of the machine body (1).

4. The high-protection power inspection quadruped robot according to claim 3, characterized in that: The side protection mechanism comprises a mounting frame (20) and a side plate (21); the mounting frame (20) is provided with a mounting slot, the mounting slot is provided with a mounting shaft, a hinge is provided between the side plate (21) and the machine body (1), a connecting frame (22) is provided on one side of the side plate (21), a connecting shaft is provided on the connecting frame (22), and a third telescopic mechanism (23) is provided between the mounting shaft and the connecting shaft.

5. The high-protection electric power inspection quadruped robot according to claim 4, characterized in that: The fastening mechanism comprises an iron magnet (24) and an iron plate (25), wherein the iron magnet (24) is mounted on the bottom end of the machine body (1), and the iron plate (25) is mounted on the top end of the locking box (8), and the iron plate (25) abuts against the iron magnet (24).

6. The high-protection power inspection quadruped robot according to claim 5, characterized in that: The four-legged mobile mechanism comprises a driving mechanism (26), wherein the driving mechanism (26) is mounted at the bottom end of the machine body (1), and foot support arms (27) are provided on both sides of the driving mechanism (26). The driving mechanism (26) is provided with two and symmetrically arranged foot support arms (27), and a reinforcement mechanism is provided on the foot support arms (27).

7. The high-protection power inspection quadruped robot according to claim 6, characterized in that: The reinforcement mechanism comprises a reinforcement plate (28) and a positioning hole, wherein the reinforcement plate (28) abuts against one side of the foot support arm (27), the positioning hole is formed on the foot support arm (27), a circular groove is formed at one end of the positioning hole, a positioning column (29) is provided between the reinforcement plate (28) and the positioning hole, an elastic ball (30) is provided between the positioning column (29) and the circular groove, and a plurality of positioning holes are provided.

8. A method for a high-protection power inspection quadruped robot, characterized in that: The following steps are involved: S1: A patrol quadruped robot is provided, comprising a body (1) and a quadruped moving mechanism; S2: When the weather recognition device (6) of the machine body (1) recognizes rain, snow or hail weather, the transparent plate (3) is protected from knocking by using an anti-knock mechanism; S3: The clearing mechanism can repeatedly clear the rain and snow on the transparent plate (3), so that the identification mechanism (2) can identify the surrounding environment; S4: When the identification mechanism (2) identifies the soil ground in the mountainous area, an adjustment shaft is rotated by using a rotating mechanism, so that the connecting member (9) drives the locking box (8) to rotate an angle, and the other adjustment shaft follows the connecting member (9) to rotate an angle, and the locking box (8) leaves the fastening mechanism, and the rectangular column (14) is rotated by controlling the output end of the driving motor (13). The rectangular column (14) can make the threaded column (10) follow the rectangular column (14) to rotate an angle through the rectangular groove, and the threaded column (10) rotates downward in the threaded groove, and the threaded column (10) drives the screw rod (12) to rotate downward, and the screw rod (12) is inserted into the ground. At the same time, the height of the machine body (1) is lowered by using a four-legged moving mechanism, so that the screw rod (12) is deeply inserted into the ground, so that the machine body (1) is firmly fixed in the soil of the mountainous area; S5: When the weather is clear, the output end of the driving motor (13) is controlled to rotate the rectangular column (14) in the opposite direction, and the four-legged moving mechanism is used to restore the state of supporting the machine body (1), so that the spiral rod (12) leaves the soil, one end of the threaded column (10) is against the limit groove, and then the locking box (8) is horizontally pressed against the bottom of the machine body (1) through the rotating mechanism, and the locking box (8) is fastened to the bottom of the machine body (1) through the fastening mechanism, and then the four-legged moving mechanism is used to return to the site.

9. The method of a high-protection power inspection quadruped robot according to claim 8, characterized in that: In the above S4, the limiting ring (11) at one end of the threaded column (10) is located in the limiting groove, which can limit the threaded column (10) and prevent the threaded column (10) from being separated from the threaded groove.

10. A system of a high-protection power inspection quadruped robot, characterized in that: The invention comprises a control system, wherein the control system comprises a four-legged mobile system, an identification module, an anti-collision system, a cleaning system, a detection module, a side protection module, a weather identification module and a locking module. The four-legged mobile system is used for moving the patrol quadruped robot, the identification module is used for identifying the surrounding environment, the anti-collision system is used for providing an anti-collision function, the detection module is used for detecting power facilities, the side protection module is used for protecting the detection mechanism (5), the cleaning system is used for cleaning rainwater on the identification mechanism (2), the weather identification module is used for identifying the weather, and the locking module is used for locking the patrol quadruped robot in the soil ground in the mountainous area.

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