High-altitude snowfield multifunctional inspection quadruped robot, method and system

Abstract

The invention relates to the technical field of quadruped robot equipment accessory devices, in particular to a high-altitude snowfield multifunctional inspection quadruped robot, a method and a system thereof, which can sense ground conditions through equipment and transmit actual conditions in real time through a camera to switch leg functions, so that the operation is simple and convenient. According to the high-altitude snowfield multifunctional inspection quadruped robot, method and system, the adaptability of equipment in a high-altitude area is improved, the quadruped robot carries a temperature sensing module and a camera module to conduct environment scanning, and the specific environment and the road condition and the altitude of an inspection route are surveyed and mapped; functions are switched through surveying and mapping routes and heights, displacement is carried out at flat bottom and rugged positions through rollers and leg assemblies, displacement is carried out at snowfield and snowfield trudge positions through sliding assemblies such as a sledge, and real-time switching is carried out in cooperation with bottom rollers, so that the high-altitude all-terrain displacement requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robot equipment attachments, and in particular to a high-altitude snow multifunctional inspection quadruped robot, method and system thereof. Background Art

[0002] Power facilities in high-altitude areas are often located under extreme climatic conditions. These areas have complex terrain, harsh climate, and sparse population, so maintenance work faces many challenges. Power facilities such as high-voltage transmission lines and substations undertake important power transmission tasks in such environments. Mountains, canyons, forests and other terrains increase the difficulty of maintenance work. Extreme weather such as low temperature, strong winds, and freezing will affect the normal operation of power facilities. Due to geographical and climatic conditions, traditional manual inspections and maintenance costs are high. The harsh natural environment leads to low efficiency of manual inspections and difficulty in timely detection of problems. Therefore, mechanical equipment is needed to assist power inspections. With the development of the times, quadruped robots have emerged. As a new type of inspection tool, quadruped robots have shown obvious advantages in the inspection of power facilities in high-altitude areas. Quadruped robots have good passability and can move freely in complex terrain without being restricted by terrain. When existing quadruped robots are used, preset inspection paths and tasks are used to enable them to conduct orderly inspections along established routes. By being equipped with a variety of sensors, such as cameras, infrared imagers, sound sensors, etc., they can monitor the status of power facilities in all directions. It has been found in the use of existing quadruped robots that the legs of quadruped robots are mostly supporting joints or rollers, which make it difficult to cope with high-altitude snow and long-distance treks, resulting in poor working efficiency of the equipment. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a high-altitude snow multifunctional inspection quadruped robot, method and system which can sense ground conditions through the device and transmit the real-time situation through a camera to switch the leg functions, thereby improving the adaptability of the device to high-altitude areas.

[0004] A high-altitude snow multifunctional quadruped robot inspection method and system of the present invention also includes: S1: Use a quadruped robot equipped with a temperature sensing module and a camera module to scan the environment and map the road conditions and altitude of the specific environment and inspection route; S2: Function switching is performed based on the mapped route and altitude. Rollers and leg components are used for displacement in flat and rugged locations. Sleds and other sliding components are used for displacement in snow and snow trekking locations. The bottom rollers are used for real-time switching to meet the high-altitude all-terrain displacement requirements. S3: With the help of modular devices, the four-legged inspection robot can be disassembled and assembled to adapt to working scenarios in snow fields of different regions, altitudes and thicknesses.

[0005] Preferably, the thickness of the quadruped robot rollers and the sled snow switching is 5 cm.

[0006] Preferably, the sledding normal speed is 1-3 m / s.

[0007] A high-altitude snow multifunctional inspection quadruped robot of the present invention is suitable for the inspection method and system described in any one of claims 1-3, comprising a body and a leg mechanism, the leg mechanism is evenly installed on the body, the leg mechanism also includes a clamping mechanism, an adjusting device, a supporting device, a telescopic device, a sliding mechanism and a driving device, the connecting end of the clamping mechanism is connected to the connecting end of the body, a first mounting seat is provided on the clamping mechanism, the adjusting device passes through the first mounting seat and is rotatably connected to the clamping mechanism, a second mounting seat is provided on the adjusting device, the supporting device passes through the second mounting seat and is slidably connected to the adjusting device, a long slot is provided on the supporting device, the telescopic device passes through the long slot and is slidably connected to the supporting device, the connecting end of the sliding mechanism is connected to the connecting end of the supporting device, and the connecting end of the driving device is connected to the bottom end of the body.

[0008] Preferably, the mounting mechanism also includes buckles, top knobs, side knobs and support blocks. The connecting ends of the four groups of buckles are respectively connected to the corresponding connecting ends of the body. The four groups of buckles are provided with slots. The four groups of support blocks are respectively slidably connected with the corresponding buckles through the corresponding slots. The four groups of buckles are matched with top screw holes. Multiple groups of top knobs are respectively passed through the corresponding top screw holes and are threadedly connected with the corresponding buckles. Multiple groups of support blocks and corresponding buckles are provided with side screw holes. Multiple groups of side knobs are respectively passed through the corresponding side screw holes and are threadedly connected with the corresponding support blocks and buckles.

[0009] Preferably, the adjusting device also includes a first electric push rod, a second electric push rod, an adjusting block and a rocker arm. The connecting ends of the first electric push rod and the adjusting block respectively pass through the corresponding first mounting seats and are rotatably connected to the support block. The output end of the first electric push rod is hinged to the connecting end of the adjusting block. An adjusting seat is provided on the adjusting block. The rocker arm passes through the adjusting seat and is rotatably connected to the adjusting block. Both the rocker arm and the adjusting block are provided with reamed holes. The connecting end and the output end of the second electric push rod respectively pass through the corresponding reamed holes and are rotatably connected to the rocker arm and the adjusting block.

[0010] Preferably, the supporting device also includes a positioning block, a hydraulic cylinder, a tripod, a spring, a damper, a bolt and a leg. The four groups of positioning blocks respectively pass through the corresponding second mounting seats and are slidably connected to the corresponding rocker arms. The four groups of tripods are each provided with through holes. The four groups of positioning blocks respectively pass through the corresponding through holes and are connected to the corresponding tripod bearings. The rocker arms and the tripod are each provided with positioning seats. The connecting end and the output end of the hydraulic cylinder respectively pass through the corresponding positioning seats and are rotatably connected to the rocker arms and the tripod. The four groups of legs are each provided with pin grooves. The four groups of tripods respectively pass through the corresponding pin grooves and are fixedly mounted with the corresponding legs. Multiple groups of pin grooves are matched with threaded holes. Multiple groups of bolts respectively pass through the corresponding threaded holes and are threadedly connected to the corresponding legs and the tripod. The connecting ends and output ends of multiple groups of dampers are respectively connected to the corresponding rocker arms and the connecting ends of the positioning blocks. Multiple groups of springs are respectively fixedly mounted with the corresponding dampers.

[0011] Preferably, the telescopic device also includes a third electric push rod, a base, a first motor, an elbow and rollers. The connecting ends of the four groups of third electric push rods respectively pass through the corresponding long slots and are fixed to the corresponding legs. Multiple groups of bases respectively pass through the corresponding long slots and are slidably connected to the corresponding legs. The connecting ends of multiple groups of bases are respectively connected to the connecting ends of the corresponding third electric push rods. Multiple groups of bases and elbows are provided with third mounting seats. Multiple groups of elbows respectively pass through the corresponding third mounting seats and are rotatably connected to the corresponding bases. Multiple groups of rollers respectively pass through the corresponding third mounting seats and are evenly installed on the corresponding elbows. Multiple groups of first motors are evenly installed on the corresponding bases and elbows.

[0012] Preferably, the sliding mechanism also includes a fixed sled, a movable sled, a support rod and a dual-drive motor. The connecting ends of the four groups of fixed sleds are respectively connected to the connecting ends of the corresponding tripods, the connecting ends of the four groups of dual-drive motors are respectively connected to the connecting ends of the corresponding fixed sleds, the connecting ends of the multiple groups of support rods are respectively connected to the output ends of the corresponding dual-drive motors, the four groups of movable sleds are each provided with a fourth mounting seat, the other connecting ends of the multiple groups of support rods pass through the corresponding fourth mounting seat and are hinged to the corresponding movable sled, the four groups of fixed sleds are equipped with positioning grooves, and the four groups of movable sleds pass through the corresponding positioning grooves and are movably mounted with the corresponding fixed sleds.

[0013] Preferably, the driving device further comprises a connecting rod, a hinge rod, a fourth electric push rod, a guide rail, a slider, an electric turntable, a movable rod, a chassis, a synchronous motor, a roller and a rolling belt. The connecting ends of the two sets of guide rails are connected to the bottom end of the body. Two sets of slide grooves are arranged on the slider. The two sets of guide rails pass through the corresponding sliders respectively and are slidably connected with the slider. The body and the slider are provided with connecting seats. The connecting ends of the two sets of hinge rods and the fourth electric push rod pass through the corresponding connecting seats respectively and are rotatably connected with the body. The connecting end of the connecting rod passes through the corresponding connecting seat and is rotatably connected with the slider. An axial hole is arranged on it, and the connecting ends of the two sets of hinge rods pass through the axial hole and are rotatably connected to the connecting rod, the connecting end of the movable rod is rotatably connected to the connecting end of the connecting rod, and the movable rod and the hinged end of the connecting rod are equipped with a motor, the connecting end of the electric turntable is connected to the bottom end of the movable rod, and the output end of the electric turntable is connected to the top end of the chassis. Two sets of grooves are arranged on the chassis, and four sets of synchronous motors pass through the corresponding grooves and are fixed to the chassis, the connecting ends of multiple sets of rollers are respectively connected to the output ends of the corresponding synchronous motors, and multiple sets of rolling belts are evenly installed on the corresponding rollers.

[0014] Compared with the prior art, the invention has the following beneficial effects: in the process of patrolling in high-altitude snowy areas, the function is switched and set according to the snow altitude, patrol area and snow thickness, and the sliding mechanism and the pneumatic support device on the leg mechanism are activated to fold and adjust, so as to realize the switching of functions, thereby improving the functionality of the equipment; (2) During the sliding process of the equipment, the driving device drives the sled to slide at the bottom, and the driving component on the telescopic device can be turned over to assist in driving the sled, thereby improving the stability of the equipment; (3) Through the modular design of the equipment's mounting mechanism, the equipment's leg mechanism can be independently disassembled and assembled, thereby improving the convenience of the equipment's disassembly and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the connection structure of the elbow and the roller of the present invention; Figure 3 It is a schematic diagram of the connection structure of the spring and the damper of the present invention; Figure 4 It is a schematic diagram of the connection structure between the machine body and the connecting rod of the present invention; Figure 5 It is a schematic diagram of the connection structure between the buckle and the support block of the present invention; Figure 6 It is a schematic diagram of the connection structure of the roller and the rolling belt of the present invention; Markings in the accompanying drawings: 1, body; 201, first mounting seat; 202, second mounting seat; 203, long slot; 301, buckle; 302, top knob; 303, side knob; 304, support block; 305, slot; 306, top screw hole; 307, side screw hole; 401, first electric push rod; 402, second electric push rod; 403, adjustment block; 404, rocker; 405, adjustment seat; 406, reaming hole; 501, positioning block; 502, hydraulic cylinder; 503, tripod; 504, spring; 505, damper; 506, bolt; 507, leg; 508, through hole; 509, positioning seat; 510, pin groove; 511, thread hole; 601, third electric push rod; 602, base; 603, first motor; 604, elbow; 605, roller; 606, third mounting seat; 701, fixed sled; 702, movable sled; 703, support rod; 704, dual-drive motor; 705, fourth mounting seat; 706, positioning groove; 801, connecting rod; 802, hinge rod; 803, fourth electric push rod; 805, guide rail; 806, slider; 807, electric turntable; 808, movable rod; 809, chassis; 810, synchronous motor; 811, roller; 812, rolling belt; 813, slide groove; 814, connecting seat; 815, shaft hole; 816, motor; 817, groove. DETAILED DESCRIPTION

[0016] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0017] Embodiment 1: A high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention further includes: S1: Install multiple sensors (such as ultrasonic sensors, lidar, IMU, etc.) to detect ground conditions, develop algorithms to automatically determine the ground type based on sensor data, and switch the movement mode according to the ground type; S2: Rationally arrange sensors to ensure full coverage of ground detection, use sensor fusion technology to improve the accuracy and robustness of ground detection, and install various sensors such as cameras, gas detectors, temperature and humidity sensors, etc. S3: Develop obstacle avoidance algorithms to enable the robot to avoid obstacles in real time. Cooperate with modular devices to disassemble and assemble the quadruped inspection robot to adapt to working scenes in snow fields of different regions, altitudes and thicknesses. Switch functions according to the mapped routes and altitudes. Use rollers and leg components for displacement in flat and rugged locations. Use sleds and other sliding components for displacement in snow fields and snow trekking locations. Cooperate with the bottom rollers for real-time switching to meet the displacement requirements of high-altitude all-terrain. By optimizing the inspection method of the quadruped robot, it can be effectively switched under different terrains and demand conditions, greatly improving the inspection stability of the equipment.

[0018] Embodiment 2: A high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention further includes: S1: In the hard ground inspection mode, the adjustment device is activated to cooperate with the rotation of the machine body to achieve lateral and longitudinal adjustment of the leg mechanism. In this process, the shock-absorbing components on the adjustment device can effectively absorb shocks on the equipment, thus avoiding damage to the equipment caused by bumps on rugged roads at high altitudes; S2: During this process, the height of the equipment is adjusted through the telescopic device so that the rollers are in contact with the ground, and the distance between the machine body and the ground is adjusted to meet the inspection needs of different road sections.

[0019] The hard ground mode of the leg mechanism is used to inspect the power area, which greatly improves the automation level of the equipment.

[0020] As a preferred embodiment of the above, the high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention, the adjustment device also includes: S1: Start the first electric push rod to stretch it on the support block. During the stretching process, the adjustment block connected to it is driven to rotate, so as to adjust the height of the leg mechanism; S2: In this process, after the first electric push rod is adjusted, the legs will rotate inward or outward, and the angle will be deflected and unbalanced. The second electric push rod is started to drive the rocker to rotate on the adjustment block, so as to adjust the rocker to keep it relatively balanced with the body and the ground.

[0021] Adjustment is carried out through the adjusting device, which greatly improves the automation level of the equipment.

[0022] As a preferred embodiment of the above, the high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention, the support device also includes: S1: During the equipment support process, the positioning block slides up and down on the rocker, and cooperates with the damper and spring to reduce the shock of the leg mechanism, thereby improving the shock absorption ability of the equipment; S2: During this process, the hydraulic cylinder is started to drive the tripod to rotate, so that the tripod is folded, and the function of the equipment is switched to switch between hard ground mode and snow ground mode; S3: Connect the legs and the tripod with bolts to facilitate disassembly and assembly.

[0023] The equipment functions are switched by the supporting device, which greatly improves the automation level of the equipment.

[0024] As a preferred embodiment of the above, the high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention, the telescopic device also includes: S1: Start the third electric push rod to make it extend and retract inside the outrigger, drive the base connected to it to slide, and adjust the overall height of the machine body to adapt to different road sections; S2: In this process, by adding a limit rod to the base, the sliding is more stable and the sliding stability of the equipment is improved; S3: Start the first motor to drive the roller to rotate on the elbow, and start the corresponding first motor to drive the elbow to rotate, so as to provide auxiliary power support when the sled slides.

[0025] Adjustment through the telescopic device greatly improves the stability and adaptability of equipment operation.

[0026] Embodiment 3: A high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention further includes: S1: Function adjustment is performed through the support device to support the sliding mechanism on the ground; S2: During this process, the sliding mechanism is activated to unfold the sled, so that the sled is fully unfolded; S3: The vehicle is driven after the height is adjusted by the driving device to perform snow inspection.

[0027] Inspections in snow mode improve the equipment's ability to cope with various situations in high-altitude areas and improve the stability of the equipment.

[0028] As a preferred embodiment of the above, the high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention, the sliding mechanism also includes: S1: The dual-drive motor is started to drive the support rod connected thereto to rotate, and during the rotation process, the movable sled connected to the support rod rotates; S2: When the sled is unfolded, the movable sled is inserted into the corresponding fixed sled and is clamped in the positioning groove. When the sled is retracted and locked, the movable sled and the fixed sled are folded and placed and fixed by the support rod.

[0029] Function switching is performed through a sliding mechanism to improve the functionality of the device.

[0030] As a preferred embodiment of the above, the high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention, the driving device also includes: S1: Start the fourth electric push rod, push the connecting rod to push and pull, and during the movement of the fourth electric push rod, the hinge rod hinged to the connecting rod rotates accordingly to form a cross support with the connecting rod; S2: During this process, the connecting rod changes position with the amplitude of the push, and the slider slides on the guide rail to adapt to the angle change of the connecting rod; S3: When the equipment is driven, the electric turntable is started to steer the chassis, and the roller is driven to rotate on the chassis by starting the synchronous motor, and the rolling belt is used for rolling displacement.

[0031] Driving through a driving device greatly improves the stability of equipment driving.

[0032] Embodiment 4: A high-altitude snow multifunctional inspection quadruped robot, method and system of the present invention further includes: S1: Complete the modular installation of the leg mechanism through the connection of the buckle and the support block; S2: During this process, turn the top knob and the side knob to securely install the support block.

[0033] The modularity of the equipment is greatly improved by using a card-mounting mechanism for installation.

[0034] The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

[0035] The “first”, “second” and “third” in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A high-altitude snow multifunctional quadruped robot inspection method and system; characterized in that: Also includes: S1: Use a quadruped robot equipped with a temperature sensing module and a camera module to scan the environment and map the road conditions and altitude of the specific environment and inspection route; S2: Function switching is performed according to the mapped route and altitude, using rollers (605) and leg components for displacement in flat and rugged locations, using sleds and other sliding components for displacement in snow and snow trekking locations, and cooperating with the bottom rollers (605) for real-time switching to meet the high-altitude all-terrain displacement requirements; S3: With the help of modular devices, the four-legged inspection robot can be disassembled and assembled to adapt to working scenarios in snow fields of different regions, altitudes and thicknesses.

2. A high-altitude snow multifunctional quadruped robot inspection method and system as claimed in claim 1, characterized in that: Also included are quadruped robot rollers (605) and a sled snowfield switch with a thickness of 5 cm.

3. A high-altitude snow multifunctional quadruped robot inspection method and system as claimed in claim 2, characterized in that: Also included is a sled run with a standing speed of 1-3 m / s.

4. A high-altitude snow multifunctional inspection quadruped robot, suitable for the inspection method and system described in any one of claims 1 to 3, comprising a body (1) and a leg mechanism, wherein the leg mechanism is evenly mounted on the body (1); characterized in that: The leg mechanism further comprises a clamping mechanism, an adjusting device, a supporting device, a telescopic device, a sliding mechanism and a driving device; the connecting end of the clamping mechanism is connected to the connecting end of the machine body (1); the clamping mechanism is provided with a first mounting seat (201); the adjusting device passes through the first mounting seat (201) and is rotatably connected to the clamping mechanism; the adjusting device is provided with a second mounting seat (202); the supporting device passes through the second mounting seat (202) and is slidably connected to the adjusting device; the supporting device is provided with a long slot (203); the telescopic device passes through the long slot (203) and is slidably connected to the supporting device; the connecting end of the sliding mechanism is connected to the connecting end of the supporting device; and the connecting end of the driving device is connected to the bottom end of the machine body (1).

5. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 4, characterized in that: The clamping mechanism further comprises a buckle (301), a top knob (302), a lateral knob (303) and a support block (304); the connection ends of the four groups of buckles (301) are respectively connected to the corresponding connection ends of the body (1); the four groups of buckles (301) are each provided with a clamping slot (305); the four groups of support blocks (304) respectively pass through the corresponding clamping slot (305) and are slidably connected to the corresponding buckles (301); the four groups of buckles (301) are matched with top screw holes (306); the multiple groups of top knobs (302) respectively pass through the corresponding top screw holes (306) and are threadedly connected to the corresponding buckles (301); the multiple groups of support blocks (304) and the corresponding buckles (301) are provided with lateral screw holes (307) penetrating therethrough; the multiple groups of lateral knobs (303) respectively pass through the corresponding lateral screw holes (307) and are threadedly connected to the corresponding support blocks (304) and the buckles (301).

6. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 5, characterized in that: The adjustment device further comprises a first electric push rod (401), a second electric push rod (402), an adjustment block (403) and a rocker (404); the connection ends of the first electric push rod (401) and the adjustment block (403) respectively pass through the corresponding first mounting seat (201) and are rotatably connected to the support block (304); the output end of the first electric push rod (401) is hinged to the connection end of the adjustment block (403); an adjustment seat (405) is provided on the adjustment block (403); the rocker (404) passes through the adjustment seat (405) and is rotatably connected to the adjustment block (403); a reaming hole (406) is provided on the rocker (404) and the adjustment block (403); and the connection end and the output end of the second electric push rod (402) respectively pass through the corresponding reaming hole (406) and are rotatably connected to the rocker (404) and the adjustment block (403).

7. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 6, characterized in that: The supporting device further comprises a positioning block (501), a hydraulic cylinder (502), a tripod (503), a spring (504), a damper (505), a bolt (506) and a leg (507); the four groups of positioning blocks (501) respectively pass through the corresponding second mounting seats (202) and are slidably connected to the corresponding rocking arms (404); the four groups of tripods (503) are each provided with a through hole (508); the four groups of positioning blocks (501) respectively pass through the corresponding through hole (508) and are connected to the corresponding bearings of the tripod (503); the rocking arms (404) and the tripod (503) are each provided with a positioning seat (509); the connecting end and the output end of the hydraulic cylinder (502) respectively pass through the corresponding positioning seat (509); 09) is rotatably connected to the rocker (404) and the tripod (503), four groups of legs (507) are each provided with a pin slot (510), the four groups of tripods (503) respectively pass through the corresponding pin slots (510) and are fixedly mounted with the corresponding legs (507), multiple groups of pin slots (510) are matched with threaded holes (511), multiple groups of bolts (506) respectively pass through the corresponding threaded holes (511) and are threadedly connected with the corresponding legs (507) and the tripod (503), the connection ends and output ends of multiple groups of dampers (505) are respectively connected to the connection ends of the corresponding rockers (404) and the positioning blocks (501), and multiple groups of springs (504) are respectively fixedly mounted with the corresponding dampers (505).

8. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 7, characterized in that: The telescopic device further comprises a third electric push rod (601), a base (602), a first motor (603), an elbow (604) and a roller (605); the connection ends of the four sets of third electric push rods (601) respectively pass through the corresponding long slots (203) and are fixedly mounted on the corresponding legs (507); the multiple sets of bases (602) respectively pass through the corresponding long slots (203) and are slidably connected to the corresponding legs (507); the connection ends of the multiple sets of bases (602) are respectively connected to the corresponding third electric push rods (601) and are fixedly mounted on the corresponding legs (507); 01), a third mounting seat (606) is disposed on each of the plurality of bases (602) and the elbows (604), the plurality of elbows (604) respectively pass through the corresponding third mounting seats (606) and are rotatably connected to the corresponding bases (602), the plurality of rollers (605) respectively pass through the corresponding third mounting seats (606) and are evenly mounted on the corresponding elbows (604), and the plurality of first motors (603) are evenly mounted on the corresponding bases (602) and the elbows (604).

9. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 8, characterized in that: The sliding mechanism further comprises a fixed sled (701), a movable sled (702), a support rod (703) and a dual-drive motor (704); the connection ends of the four fixed sleds (701) are respectively connected to the connection ends of the corresponding tripods (503); the connection ends of the four dual-drive motors (704) are respectively connected to the connection ends of the corresponding fixed sleds (701); the connection ends of the plurality of support rods (703) are respectively connected to the output ends of the corresponding dual-drive motors (704); the four movable sleds (702) are each provided with a fourth mounting seat (705); the other connection ends of the plurality of support rods (703) pass through the corresponding fourth mounting seat (705) and are hinged to the corresponding movable sled (702); the four fixed sleds (701) are matched with positioning grooves (706); the four movable sleds (702) pass through the corresponding positioning grooves (706) and are movably mounted with the corresponding fixed sled (701).

10. The high-altitude snow multifunctional inspection quadruped robot as claimed in claim 9, characterized in that: The driving device further comprises a connecting rod (801), a hinge rod (802), a fourth electric push rod (803), a guide rail (805), a slider (806), an electric turntable (807), a movable rod (808), a chassis (809), a synchronous motor (810), a roller (811) and a rolling belt (812); the connecting ends of the two sets of guide rails (805) are both connected to the bottom end of the machine body (1); the slider (806) is provided with two sets of slide grooves (813); the two sets of guide rails (805) respectively pass through the corresponding sliders (806) and are both slidably connected to the sliders (806); the machine body (1) and the slider (806) are both provided with connecting seats (814); the connecting ends of the two sets of hinge rods (802) and the fourth electric push rod (803) respectively pass through the corresponding connecting seats (814) and are both rotatably connected to the machine body (1); the connecting end of the connecting rod (801) passes through the corresponding connecting seat (814) and is connected to the slider (806) The connecting rod (801) is rotatably connected. An axial hole (815) is provided on the connecting rod (801). The connecting ends of the two sets of hinge rods (802) are both passed through the axial hole (815) and are rotatably connected to the connecting rod (801). The connecting end of the movable rod (808) is rotatably connected to the connecting end of the connecting rod (801). The movable rod (808) and the hinged end of the connecting rod (801) are matched with a motor (816). The connecting end of the electric turntable (807) is connected to the bottom end of the movable rod (808). The output end of the electric turntable (807) is connected to the top end of the chassis (809). Two sets of grooves (817) are provided on the chassis (809). Four sets of synchronous motors (810) are respectively passed through the corresponding grooves (817) and are fixedly mounted on the chassis (809). The connecting ends of the multiple sets of rollers (811) are respectively connected to the output ends of the corresponding synchronous motors (810). The multiple sets of rolling belts (812) are evenly installed on the corresponding rollers (811).

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