A device for inspecting a quadruped robot

Abstract

The application discloses a kind of equipment inspection four-legged robot, comprising: fastening between the bottom plate and the top plate first steering gear shell, the inside rotation connection of first steering gear shell one end portion has gear ring, first steering gear is installed in first steering gear shell and is connected with gear ring;Rotatable connection between the bottom plate and the top plate second steering gear shell, one side of second steering gear shell is connected with first rotation shaft for providing fixed rotating fulcrum, second steering gear and third steering gear are installed in second steering gear shell to cooperate with linkage leg movement adjustment;Connecting piece is installed between first steering gear shell and second steering gear shell, second rotation shaft is installed in connecting piece, one end of connecting piece is connected with gear ring, and second rotation shaft is drivingly connected with second steering gear shell.The equipment inspection four-legged robot of the application optimizes the angle adjustment structure of the leg of the inspection four-legged robot, realizes the quick action response of joint with the leg and adapts;Structure is simplified, and space occupation is small, conducive to intensive development.

Description

Technical Field

[0001] This invention relates to the field of equipment inspection technology, and in particular to a quadruped robot for equipment inspection. Background Technology

[0002] Quadruped robots are widely used in industrial inspection scenarios. For example, quadruped robots can conduct regular inspections of factory equipment and power lines to promptly identify potential faults. In emergency rescue, they can penetrate dangerous, complex, or inaccessible areas, such as earthquake ruins and fire scenes, to perform tasks such as searching for and detecting survivors and conducting environmental assessments.

[0003] Existing quadruped robots suffer from problems due to poorly designed leg angle adjustment mechanisms, making it difficult to accurately plan leg movements in complex scenarios. When encountering terrain changes, the legs cannot adjust in time, causing the robot to easily get stuck, fail to overcome obstacles, and become unbalanced, affecting the reliability and efficiency of inspections and limiting its application. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a quadruped robot for equipment inspection, optimize the angle adjustment structure of the legs of the quadruped robot to achieve adaptation to the rapid action response mode of the leg joints; the structure is simple, occupies little space, and is conducive to intensive development.

[0005] To address the aforementioned technical problems, this invention provides a quadruped robot for equipment inspection, comprising: a robot body and four legs mounted on opposite sides of the robot body. The robot body is primarily composed of a base plate, a baffle, and a cover plate. Each leg includes: a first servo housing fastened between the base plate and a top plate; a gear ring rotatably connected to the inner side of one end of the first servo housing; a first servo motor mounted within the first servo housing and connected to the gear ring; a second servo housing rotatably connected between the base plate and the top plate; a first rotating shaft connected to one side of the second servo housing to provide a fixed pivot point; a second servo motor and a third servo motor mounted within the second servo housing to coordinate with the legs for motion adjustment; and a connector mounted between the first and second servo housings, containing a second rotating shaft. One end of the connector is connected to the gear ring, and the second rotating shaft is drive-connected to the second servo housing. The first servo motor adjusts the relative position of the second servo housing through the linkage between the gear ring and the connector, thereby expanding the motion dimension of the second servo housing.

[0006] The first servo housing is fastened between the base plate and the top plate by a mounting bracket; the connecting part is provided with several heat dissipation holes; one end of the first rotating shaft is rotatably mounted on the baffle.

[0007] The leg includes: a linkage assembly rotatably connected to the second servo and the third servo respectively; a thigh rotatably connected to the second servo; an adjustable leg; a telescopic rod rotatably connected to one end of the linkage assembly; and a lower leg rotatably connected to the telescopic rod. One end of the adjustable leg is rotatably connected to the thigh, and the other end of the adjustable leg is rotatably connected to the lower leg.

[0008] The linkage assembly includes: a linkage plate, a first link rotatably connected to the linkage plate, and a second link rotatably connected to the first link. The linkage plate and the thigh are rotatably connected to the third shaft at the output end of the second servo. One end of the second link is connected to the output end of the third servo. One end of the telescopic rod is rotatably connected to the linkage plate. The other end of the telescopic rod is connected to the lower leg via a fourth shaft. The thigh and the adjustable leg are connected via a fifth shaft, so that the adjustable leg, lower leg, and thigh can rotate relative to each other and synchronously change their relative position and angle.

[0009] Specifically, the rotation angle of the linkage plate and the thigh is changed by driving the third rotating shaft, and the power output by the third servo motor is linked to the linkage plate through the second and first linkages; the position and posture of the lower leg are changed by adjusting the length of the telescopic rod.

[0010] Among them, the first servo, the second servo, and the third servo are electromagnetic induction structures; the stator winding of the motor inside any servo is energized by current to generate a magnetic field, which interacts with the magnetic field generated by the permanent magnet or the energized winding on the rotor inside, thereby driving the rotor to rotate and synchronously driving its output end to rotate.

[0011] The cover plate has several pillars on its upper surface, and a protective plate is installed at the top of each pillar. The protective plate has a conical cross-section, and a shielding plate is installed on each of the opposite sides of the protective plate.

[0012] The top of the baffle is equipped with a light panel, and several spotlights are installed on one side of the light panel. Cameras, LiDAR and sensor modules are arranged in the middle of the baffle to comprehensively perceive the environment around the quadruped robot in multiple dimensions.

[0013] The base plate is equipped with an intelligent control system, which includes at least: a sensor module for collecting information on the surrounding terrain, posture, and leg joint angles of the quadruped robot; and a control module for analyzing the terrain and motion state of the quadruped robot based on the data fed back by the sensor module, planning leg movements, and calculating the amount of leg angle adjustment. The calculation and decision-making time of the control module is proportional to the total amount of sensor data fed back by the sensor module.

[0014] The sensor module is connected to the lidar, and the control module is connected to each of the four legs.

[0015] The equipment inspection quadruped robot of the present invention has the following beneficial effects: The legs of the equipment inspection quadruped robot include: a first servo housing fastened between a base plate and a top plate; a gear ring rotatably connected to the inner side of one end of the first servo housing; and a first servo motor installed in the first servo housing and connected to the gear ring; a second servo housing rotatably connected between the base plate and the top plate; a first rotating shaft connected to one side of the second servo housing to provide a fixed rotation fulcrum; and a second servo motor installed in the second servo housing to coordinate with the legs for motion adjustment. Two servo motors and a third servo motor; a connector installed between the first and second servo motor housings, with a second rotating shaft installed in the connector, one end of which is connected to a gear ring, and the second rotating shaft is connected to the second servo motor housing for transmission. The first servo motor adjusts the relative position of the second servo motor housing through the linkage of the gear ring and the connector, thereby expanding the motion dimension of the second servo motor housing; the angle adjustment structure of the inspection quadruped robot's legs is optimized to adapt to the rapid action response mode of the leg joints; the structure is simplified, occupies little space, and is conducive to intensive development. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an overall structural diagram of the quadruped robot for equipment inspection according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram showing the assembly position of the shielding plate of the equipment inspection quadruped robot according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of the quadruped robot for equipment inspection according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the overall structure of the legs of the quadruped robot for equipment inspection in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the assembly structure of the internal components of the first servo motor housing of the equipment inspection quadruped robot according to an embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figures 1-5 The image shows an embodiment of the quadruped robot structure for equipment inspection according to the present invention.

[0024] The equipment inspection quadruped robot in this embodiment includes: a robot body, which is mainly composed of a base plate 34, a baffle 6 and a cover plate 1. Four legs that can be adjusted in angle are installed on opposite sides of the robot body. An intelligent control system is installed inside the robot body, wherein the movement sequence of the four legs is controlled by the intelligent control system.

[0025] The function of the quadruped robot's legs is to achieve precise and diverse power transmission and motion control through reasonable layout and collaborative work, using multiple servo motors and transmission components, to meet complex motion requirements and improve the flexibility and adaptability of the equipment.

[0026] In this embodiment, the leg includes: a first servo housing 18 fastened between the base plate 34 and the top plate 1; a gear ring 29 rotatably connected to the inner side of one end of the first servo housing 18; a first servo 27 connected to the gear ring 29 installed in the first servo housing 18; a second servo housing 14 rotatably connected between the base plate 34 and the top plate 1; a first rotating shaft 20 connected to one side of the second servo housing 14 to provide a fixed rotation fulcrum; a second servo 32 and a third servo 33 installed in the second servo housing 14 to coordinate with the leg for motion adjustment; and a connector 30 installed between the first servo housing 18 and the second servo housing 14; a second rotating shaft 31 installed in the connector 30; one end of the connector 30 connected to the gear ring 29; and the second rotating shaft 31 being drive-connected to the second servo housing 14.

[0027] Wherein: the first servo motor 27 adjusts the relative position of the second servo housing 14 through the linkage of the gear ring 29 and the connector 30, so as to expand the motion dimension of the second servo housing 14.

[0028] In practice, the base plate 34 serves as the basic support platform for the robot, and the first servo housing 18 is connected to the base plate 34 through a unique layout and connection method. The cover plate 1 is set opposite to the base plate 34, and the base plate 34, the baffle 6, and the cover plate 1 enclose the robot body for assembling various components.

[0029] Furthermore, several support columns 3 are provided on the upper surface of the cover plate 1. The support columns 3 are fixed to the cover plate 1 by a reasonable connection method to ensure that their position is stable and that they can reliably transmit force.

[0030] Preferably, a protective plate 2 is provided at the top of the support column 3. The protective plate 2 has a conical cross section, and a shielding plate 4 is provided on each of the opposite sides of the protective plate 2.

[0031] The purpose of this design is that the conical shape of the protective plate 2 allows it to decompose and disperse external forces when impacted by objects, falling objects, or lateral forces. For example, when a vertical impact force acts on the conical protective plate 2, it will be dispersed and transmitted along its inclined surface. Compared to a planar structure, this more effectively reduces the magnitude of the impact force at a single point, lowering the risk of localized damage.

[0032] Meanwhile, the shield 4 and the protective plate 2 work together to provide lateral support and reinforcement to the protective plate 2, enhancing the overall structural stability of the protective plate 2 and preventing deformation or displacement under lateral forces. Furthermore, the shield 4 and the protective plate 2 together form a relatively enclosed space, which can, to some extent, prevent external dust and debris from entering the interior, protecting potentially sensitive components or areas requiring cleanliness.

[0033] Furthermore, the first servo housing 18 is fastened between the base plate 34 and the top plate 1 by mounting base 19. In this embodiment, the mounting base 19 is symmetrically arranged on the outer wall of the first servo housing 18. This mounting structure fixes the first servo housing 18 to the lower surface of the cover plate 1 and the upper surface of the base plate 34 respectively, thereby ensuring the stability of the first servo housing 18, reliably supporting the internal components, and maintaining the stability of the overall structure during subsequent movement.

[0034] Furthermore, a first servo 27 is provided inside the first servo housing 18. The output end of the first servo 27 is connected to a gear 28. The tooth end of the gear 28 is connected to a gear ring 29. The gear ring 29 is rotatably connected to the inner wall of the first servo housing 18. A connector 30 is connected to one side of the gear ring 29.

[0035] In this embodiment, the second servo housing 14 is rotatably connected between the base plate 34 and the top plate 1. A first rotating shaft 20 is connected to one side of the second servo housing 14 to provide a fixed rotation fulcrum. The second servo housing 14 is connected to the connector 30 via the second rotating shaft 31. A second servo 32 and a third servo 33 are disposed inside the second servo housing 14.

[0036] In practice, when the output end of the first servo motor 27 drives the gear 28 to rotate, the meshing gear ring 29 will rotate accordingly based on the transmission principle of the gear 28. The outer wall of the gear ring 29 is rotatably connected to the inner wall of the first servo motor housing 18. This rotatable connection provides stable support and limits the rotation trajectory of the gear ring 29, ensuring that it can smoothly perform circular motion according to the predetermined trajectory.

[0037] Since the second servo housing 14 is connected to the connector 30 via the second rotating shaft 31, power is transmitted to the second servo housing 14, enabling the second servo housing 14 to rotate relative to the lower surface of the cover plate 1 and the upper surface of the base plate 34. This rotating connection method not only ensures the relative positional relationship of the second servo housing 14, but also allows it to rotate flexibly, expanding its motion dimensions.

[0038] Preferably, the first servo motor 27, the second servo motor 32 and the third servo motor 33 are electromagnetic induction structures. The stator winding of the motor inside any servo motor is energized with current to generate a magnetic field, which interacts with the magnetic field generated by the permanent magnet or the energized winding on the rotor to drive the rotor to rotate and synchronously drive their respective output terminals to rotate.

[0039] Preferably, the connector 30 is provided with several heat dissipation holes; one end of the first rotating shaft 20 is rotatably mounted on the baffle 6.

[0040] The purpose of this design is to allow numerous ventilation holes to help dissipate heat from the entire structure, preventing heat buildup during prolonged operation from affecting the performance of various components. This further provides strong support for the reliable and stable operation of the equipment and its efficient completion of tasks. It also solves the problems of inaccurate power transmission, limited motion patterns, and difficulty in handling complex working conditions inherent in similar equipment's mechanical structures.

[0041] The assembly structure of the second servo housing 14 gives it a relatively fixed pivot point in the overall structure. With the coordinated action of each servo, it can drive the relevant components to move in a preset motion mode, thereby realizing the complex motion function of the entire structure and meeting the needs under different working conditions.

[0042] Furthermore, the leg also includes: a linkage assembly rotatably connected to the second servo 32 and the third servo 33 respectively, a thigh 15 rotatably connected to the second servo 32, an adjustable leg 16, a telescopic rod 17 rotatably connected to one end of the linkage assembly, and a lower leg 11 rotatably connected to the telescopic rod 17, wherein: one end of the adjustable leg 16 is rotatably connected to the thigh 15, and the other end of the adjustable leg 16 is rotatably connected to the lower leg 11.

[0043] The linkage assembly includes: a linkage plate 21, a first connecting rod 22 rotatably connected to the linkage plate 21, and a second connecting rod 23 rotatably connected to the first connecting rod 22. The linkage plate 21 and the thigh 15 are rotatably connected to the third rotating shaft 24 at the output end of the second servo motor 32. One end of the second connecting rod 23 is connected to the output end of the third servo motor 33. One end of the telescopic rod 17 is rotatably connected to the linkage plate 21. The other end of the telescopic rod 17 is connected to the lower leg 11 via the fourth rotating shaft 26. The thigh 15 and the adjustable leg 16 are connected via the fifth rotating shaft 25, so that the adjustable leg 16, the lower leg 11 and the thigh 15 can rotate relative to each other and change their relative position and angle synchronously.

[0044] The rotation angle of the linkage plate 21 and thigh 15 is changed by the third rotating shaft 24. The power output by the third servo motor 33 is linked to the linkage plate 21 through the second link 2 and the first link 22. The position and posture of the lower leg 11 are changed by adjusting the length of the telescopic rod 17.

[0045] In this embodiment, the connections between the linkage plate 21 and the first link 22, between the first link 22 and the second link 23, between the second link 23 and the output end of the third servo motor 33, and between the linkage plate 21 and the telescopic rod 17 are all made using a rotating shaft structure. Furthermore, an additional connecting plate can be used to connect the telescopic rod 17 and the lower leg 11. The telescopic rod 17 has an adjustable telescopic function; by changing its length, the relative position of its two ends can be adjusted. When the telescopic rod 17 extends or retracts, it affects the position and posture of the lower leg 11.

[0046] Furthermore, the structural arrangement and assembly relationship of the legs in this embodiment constitute a joint-like structure, enabling the adjustable leg 16, lower leg 11 and thigh 15 to rotate relative to each other. Under the influence of the movement changes of the above-mentioned components, their angles and relative positions will change accordingly, thereby simulating a variety of flexible movements such as flexion, extension and swinging of biological legs. Through the linkage and cooperation between multiple components, complex leg movement changes are completed together.

[0047] Furthermore, when the first servo motor 27, the second servo motor 32, and the third servo motor 33 receive commands to operate, the output end of the second servo motor 32 is fixedly equipped with a third rotating shaft 24. This third rotating shaft 24 connects to and drives the linkage plate 21, allowing the linkage plate 21 to rotate around the third rotating shaft 24. The connection between the thigh 15 and the third rotating shaft 24 ensures that its angular position changes with the rotation of the third rotating shaft 24, thereby achieving a certain range of swinging motion. Under the action of the third servo motor 33, the second link 23 and the first link 22 transmit motion along the link to further drive the linkage plate 21 in a coordinated manner, achieving more complex motion adjustments.

[0048] Furthermore, a light panel 7 is provided at the top of the baffle 6, and several spotlights 5 are provided on one side of the light panel 7. A camera 8, a lidar 9, and a sensor module 10 are arranged in the middle of the baffle 6 to comprehensively perceive the environment around the quadruped robot in multiple dimensions.

[0049] Furthermore, an intelligent control system is installed on the base plate 34. The intelligent control system includes at least: a sensor module 10 for collecting information on the surrounding terrain, posture, and leg joint angles of the quadruped robot; and a control module 12 for analyzing the terrain and motion state of the quadruped robot based on the data fed back by the sensor module 10, planning leg movements, and calculating the amount of leg angle adjustment.

[0050] The sensor module 10 is connected to the lidar 9, and the control module 12 is connected to each of the four legs. The calculation and decision-making time of the control module 12 is proportional to the total amount of sensor data fed back by the sensor module 10.

[0051] During implementation, by rationally setting up light panels 7, spotlights 5, cameras 8, lidar 9, and sensor modules 10 on the baffle 6, a multi-dimensional and comprehensive perception of the surrounding environment was achieved.

[0052] The functions of the spotlights 5 are as follows: Each spotlight 5 contains a light-emitting element and an optical lens assembly. After being powered on, it emits light, which is then processed by the lens to illuminate the surrounding environment at a specific angle, facilitating information collection by subsequent components and observation by personnel. The camera 8 operates using an optical imaging system. Its lens focuses light, and the image sensor converts the light signal into an electrical signal, which is then transmitted to the control module 12 via a communication line to assist in identifying the surrounding scene and obstacles. The lidar 9, based on laser ranging technology, emits a laser beam from its transmitting module. Upon reflection from an object, the beam is captured by the receiving module. By measuring the time difference between laser emission and reception and combining this with the speed of light, the distance is calculated, constructing three-dimensional point cloud data of the surrounding environment to provide spatial information for path planning, etc.

[0053] The sensor module 10 integrates multiple sensors, such as ultrasonic and infrared sensors. They use their respective principles to perceive the physical characteristics of the surrounding environment and then transmit the data to the control module 12, enriching the perception dimensions.

[0054] In other embodiments, the base plate 34 is also provided with an internal communication module, an external communication module, and a battery module 13. The internal communication module is used for data transmission between the units within the control module 12, the external communication module is used for wireless or wired data interaction between the robot and external devices, and the battery module 13 is used to provide power to each power-consuming unit.

[0055] Furthermore, the control module 12, with a high-performance processor at its core, first filters, calibrates, and fuses raw data such as terrain, posture, and joint angles. Then, using a built-in composite algorithm and combined with equipment inspection tasks, it analyzes the terrain movement state and plans the leg movement sequence. The control algorithm module is deeply involved, using pattern recognition and machine learning algorithms to analyze the data. Combining kinematic and dynamic models with planning algorithms, it accurately calculates the joint angle adjustment amount, generates drive commands, and transmits them to the legs via the internal communication module.

[0056] The computational decision-making time of the control module 12 is sufficient to ensure that the control module 12 can quickly process sensor information and drive the leg joint movement in a timely manner, thus adapting to complex inspection environments.

[0057] Specifically, the control module 12, as the core computing and decision-making unit of the intelligent control system for the leg angle adjustment mechanism of the quadruped robot dog during equipment inspection, works as follows: The control module 12 is equipped with a processor of specific computing performance. During operation, it continuously receives multi-dimensional information collected by the sensor module 10 and transmitted via the internal communication module. This information is aggregated to form the total data volume fed back by the sensors. The processor processes the data using its own computing speed. Simultaneously, the control module 12, due to factors such as algorithm optimization and hardware adaptation, has a comprehensive computational efficiency coefficient and establishes a correlation, calculating the time required to make a decision.

[0058] In the data processing flow, the control module 12 first performs preprocessing such as filtering and calibration on the raw data to remove noise interference and errors. Then, based on the built-in motion control algorithm and combined with the requirements of the robot inspection task, it performs calculation and analysis on the preprocessed data to quickly determine the terrain features and its own motion posture, and then generates precise leg joint drive commands.

[0059] By processing sensor feedback data according to specific computational principles, and while meeting computational decision-making time requirements, the robot can efficiently complete data processing and command generation, promptly driving leg joint movements. This allows the robot dog to quickly respond to terrain and posture changes in complex inspection environments, ensuring continuous and stable inspection operations in complex scenarios such as factory workshops. This solves the problem of delayed leg joint movement response caused by low data processing and command generation efficiency.

[0060] Furthermore, the lidar 9, as a key component of the sensor module 10 for collecting terrain information, operates based on the principle of laser ranging. The lidar 9 contains a laser emitting device that emits laser beams into the space around the robot at regular time intervals. These laser beams are reflected upon encountering different terrain surfaces (such as the ground, obstacles, etc.), and the reflected laser beams are captured by the receiving device of the lidar 9. By measuring the time difference between laser emission and reception, and combining this with the known constant of the speed of light, the distance from the lidar 9 to each reflection point can be calculated using a formula.

[0061] During scanning, the number of scan lines of LiDAR 9 determines the precision of its vertical scan. A higher number of scan lines means more scanning layers can be defined vertically, allowing for more detailed differentiation of terrain features at different heights. Its vertical scanning angle range determines the vertical angle interval that LiDAR 9 can cover. This range can be adjusted according to actual needs in different application scenarios. For example, when focusing on terrain within a certain angle range directly in front of and below the robot dog, this angle range will be adjusted accordingly. Simultaneously, the effective detection range of LiDAR 9 limits the maximum distance at which it can acquire terrain information. Beyond this distance, the signal returned by the laser beam may be too weak to detect accurately.

[0062] The lidar 9 in sensor module 10, with its terrain resolution of at least 5 cm achieved based on specific principles, can accurately acquire detailed terrain information surrounding the robot dog. This provides a reliable basis for control module 12 and control algorithm module, helping the robot dog to accurately adjust its leg angles, enabling it to smoothly cross terrain obstacles and successfully complete equipment inspection tasks along the inspection route, ensuring efficient and accurate inspections. This solves the problem of insufficient resolution of previous terrain sensing devices, which made it difficult to accurately acquire detailed terrain information in complex industrial environments.

[0063] Furthermore, by employing a fuzzy PID control strategy within the control algorithm module, the proportional, integral, and derivative control coefficients are dynamically adjusted. Based on the angle deviation and rate of change, the leg joint angle adjustment is precisely calculated, and the error is controlled within ±0.1 degrees. This achieves high-precision adjustment of the robot dog's leg joints, enabling it to quickly and smoothly adjust its angle when walking on complex terrain. This improves the stability and smoothness of walking, enhancing the reliability and stability of inspection operations. It solves the problem of insufficient precision in the leg angle adjustment control of traditional quadruped robot dogs, which easily leads to posture imbalance, obstacle crossing failure, and unstable movement due to large angle adjustment errors, thus affecting the normal operation of equipment inspections.

[0064] The quadruped robot for equipment inspection in this embodiment has the following beneficial effects: First, by incorporating supports, conical protective plates, and baffles on the cover plate, external forces are effectively dispersed, stability is enhanced, and a protective space is created. This effectively resists impacts from multiple directions, maintains structural stability, reduces the ingress of dust and debris, extends the service life of the device, ensures the normal and reliable operation of internal components, and creates a favorable working environment for the device. This solves the problems of related equipment lacking effective protective structures, being susceptible to external impacts, having insufficient structural stability, and lacking adequate dust protection.

[0065] Secondly, through the coordinated structure of various servo motors, linkages, telescopic rods, adjustable legs, and multiple rotating shaft components in the legs, and utilizing their collaborative drive and flexible linkage mechanism, flexible and complex movements similar to those of biological legs are achieved. This enhances motion flexibility, allows for adjustment of leg shape and length as needed, strengthens structural adaptability, and helps the robot move stably and smoothly in complex environments, thus broadening its application range. This solves the problem of insufficient motion flexibility in the leg structure of quadrupedal robotic devices.

[0066] Third, by optimizing signal transmission methods and encoding algorithms, the data transmission rate is increased by at least 20%, internal communication latency is reduced, and efficient, accurate, and timely data interaction between modules is achieved. This ensures the robot dog's rapid response to environmental changes, optimized motion control, and efficient and smooth inspection operations. It solves the problems of low transmission rate and high communication latency when traditional communication protocols are used for internal robot communication.

Claims

1. A quadruped robot for equipment inspection, characterized in that, include: The robot body and four legs mounted on opposite sides of the robot body; The robot body is mainly composed of a base plate, a baffle, and a cover plate, and the legs include: A first servo housing is fastened between the bottom plate and the top plate. A toothed ring is rotatably connected to the inner side of one end of the first servo housing. A first servo is installed in the first servo housing and connected to the toothed ring. A second servo housing is rotatably connected between the base plate and the top plate. One side of the second servo housing is connected to a first rotating shaft that provides a fixed pivot point for rotation. The second servo housing is equipped with a second servo and a third servo for coordinating the movement adjustment of the legs. A connector is installed between the first servo housing and the second servo housing. The connector contains a second rotating shaft. One end of the connector is connected to the gear ring. The second rotating shaft is connected to the second servo housing in a transmission connection. The first servo adjusts the relative position of the second servo housing through the linkage between the gear ring and the connector, thereby expanding the motion dimension of the second servo housing.

2. The quadruped robot for equipment inspection as described in claim 1, characterized in that, The first servo housing is fastened between the base plate and the top plate by a mounting bracket; The connector is provided with several heat dissipation holes; One end of the first rotating shaft is rotatably mounted on the baffle.

3. The equipment inspection quadruped robot as described in claim 1, characterized in that, The leg includes: a linkage assembly rotatably connected to the second servo and the third servo respectively; a thigh rotatably connected to the second servo; an adjustable leg; a telescopic rod rotatably connected to one end of the linkage assembly; and a lower leg rotatably connected to the telescopic rod, wherein: One end of the adjustable leg is rotatably connected to the thigh, and the opposite end of the adjustable leg is rotatably connected to the calf.

4. The quadruped robot for equipment inspection as described in claim 3, characterized in that, The linkage assembly includes: a linkage plate, a first link rotatably connected to the linkage plate, and a second link rotatably connected to the first link, wherein: The linkage plate and the thigh are rotatably connected to the third shaft at the output end of the second servo motor. One end of the second connecting rod is connected to the output end of the third servo motor. One end of the telescopic rod is rotatably connected to the linkage plate. The other end of the telescopic rod is connected to the lower leg via a fourth shaft. The thigh and the adjustable leg are connected via a fifth shaft, so that the adjustable leg, the lower leg, and the thigh can rotate relative to each other and synchronously change their relative positions and angles.

5. The quadruped robot for equipment inspection as described in claim 4, characterized in that, The rotation angle of the linkage plate and the thigh is changed by the third rotating shaft drive, and the power output by the third servo motor is linked to the linkage plate through the second link and the first link; By adjusting the length of the telescopic rod, the position and posture of the lower leg can be changed in conjunction with the telescopic rod.

6. The equipment inspection quadruped robot as described in claim 1, characterized in that, The first servo motor, the second servo motor, and the third servo motor are all electromagnetic induction structures; The stator winding of the motor inside any servo motor generates a magnetic field when current is passed through it. This magnetic field interacts with the magnetic field generated by the permanent magnet or the energized winding on the rotor inside the servo motor, thereby driving the rotor to rotate and synchronously driving its output terminal to rotate.

7. The equipment inspection quadruped robot as described in claim 1, characterized in that, The upper surface of the cover plate is provided with several pillars, and a protective plate is provided at the top of the pillars. The protective plate has a conical cross-section, and a shielding plate is provided on each of the opposite sides of the protective plate.

8. The equipment inspection quadruped robot as described in claim 1, characterized in that, The top of the baffle is equipped with a light panel, and a number of spotlights are provided on one side of the light panel. A camera, a lidar and a sensor module are arranged in the middle of the baffle to comprehensively perceive the environment around the quadruped robot in multiple dimensions.

9. The equipment inspection quadruped robot as described in claim 8, characterized in that, The base plate is equipped with an intelligent control system, which controls the movement sequence of the four legs separately. The intelligent control system includes at least: Sensor modules used to collect information on the surrounding terrain, posture, and leg joint angles of the quadruped robot being inspected; and This control module is used to analyze the terrain and movement status of the inspection quadruped robot based on the data fed back by the sensor module, plan leg movements, and calculate the leg angle adjustment amount. The decision-making time of the control module is proportional to the total amount of sensor data fed back by the sensor module.

10. The equipment inspection quadruped robot as described in claim 9, characterized in that, The sensor module is connected to the lidar, and the control module is connected to each of the four legs.

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