A quadruped robot for multi-task inspection of a factory

Abstract

The application discloses a kind of quadruped robot for factory multitasking inspection, including body sealed bearing shell, bionic quadruped leg assembly, battery module, tail detachable function module, single degree of freedom pitch sensing machine head, main control unit and power distribution protection module.The upper part of machine body forms high-position battery accommodating cavity, battery module is inserted vertically and is covered by sealed back plate, and the side wall of battery accommodating cavity forms vertical mechanical guide structure;Tail detachable function module is inserted and matched with tail universal modular plug-in interface along the same plug-in direction through guide groove, guide edge and axial stop platform, and electrical terminal plug-in conduction is completed after being inserted in place;Leg assembly is provided with continuous wire slot in the leg shell, and cable is provided with redundant bending section at joint and is enclosed by shell;Front-end sensing machine head can be adjusted in single degree of freedom pitch around horizontal pin shaft.The structure improves the task adaptability of quadruped robot in factory inspection environment with more dust, oil stain, accumulated water and sundries.

Description

Technical Field

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

[0002] Factory inspections typically include monitoring equipment operating status, detecting pipeline leaks, issuing early warnings for hazardous gas concentrations, diagnosing abnormal noises in mechanical equipment, detecting metal components, and conducting emergency search and rescue operations in case of unforeseen accidents. Quadruped robots, due to their ability to overcome obstacles, climb slopes, and traverse complex terrain, are increasingly being used in factory inspection scenarios.

[0003] Existing quadruped robots for factory inspection still have the following structural problems: First, the battery compartment or charging contacts are mostly located in low-lying areas such as the bottom and sides of the robot body. Oil stains, water, metal shavings, and dust on the factory floor can easily adhere to or enter the conductive interfaces, leading to contact contamination, oxidation, poor contact, or even short circuits; for example, the quadruped robot with an automatic charging device and its charging device design method disclosed in CN121291178A. Factories are constantly exposed to various pollutants such as oil stains, water, metal shavings, and dust. During battery replacement, daily inspections, and automatic charging, these pollutants easily adhere to the conductive contacts or seep into the interface gaps. Long-term use can cause contact oxidation and corrosion, frequently leading to poor circuit contact, momentary short circuits, and other faults, directly interrupting the power supply to the equipment and affecting the continuous operation capability of the entire machine. Second, the tail section's functional components are mostly fixed structures, making it difficult to quickly switch between tasks such as gas detection, abnormal noise diagnosis, and metal detection. Third, when the leg cables are laid along the outer wall of the leg sections, they are easily hooked, pulled, and worn by debris or metal edges in the factory area. Fourth, when the detection angle of the front-end sensor head is fixed, blind spots with high and low viewing angles are easily formed in areas with dense equipment and narrow spaces.

[0004] Searching for similar publicly available solutions reveals that existing technologies mostly focus on single-point improvements to automatic charging protection, battery compartment fixation, leg joint transmission, or upper structure expansion. However, in inspection environments with a lot of dust, oil, water, and debris in factories, it is still necessary to limit the high-position charging interface protection, the rear pluggable module, the leg-enclosed wiring, and the front pitch sensor angle adjustment as a mutually complementary structural solution to improve overall reliability. Summary of the Invention

[0005] To achieve the above objectives, the present invention adopts the following technical solution, which solves the aforementioned comprehensive problems through the synergistic structure of high-level protection, quick-change tail section, leg enclosure, and viewing angle adjustment:

[0006] A quadruped robot for multi-task inspection in factories is proposed to address the reliability issues of existing quadruped robots for factory inspection, such as the low-position charging interface being susceptible to oil, dust, and water accumulation, the tail functional modules being inconvenient to replace according to the inspection task, the exposed leg cables being prone to wear or snagging, and the fixed front-end sensor perspective leading to limited inspection field of view. This aims to improve the adaptability of quadruped robots in complex factory environments and various types of inspection tasks.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a quadruped robot for multi-task inspection in a factory, comprising a sealed bearing shell, bionic quadruped leg assemblies assembled at the four corners of the bottom of the sealed bearing shell, a battery module, a detachable tail functional module, a single-degree-of-freedom pitch sensing head, a main control unit, and a power distribution protection module.

[0008] The upper part of the sealed bearing housing of the body forms a high-position battery receiving cavity. The battery module is inserted into the high-position battery receiving cavity in a vertical direction. The upper opening of the high-position battery receiving cavity is provided with a sealing back plate that can be horizontally slidable and pulled out. The inner sidewall of the high-position battery receiving cavity forms a vertical mechanical guide structure to restrict the insertion posture of the battery module or charging connector.

[0009] The rear of the sealed housing is equipped with a universal modular plug-in interface. The detachable rear functional module is inserted into this interface along the front-rear direction of the housing. A pure plug-in mechanical positioning structure is formed between the universal modular plug-in interface and the detachable rear functional module via guide grooves, guide ridges, and an axial stop. The guide grooves and guide ridges provide sliding guidance during insertion and removal of the detachable rear functional module and limit its radial offset relative to the rear of the housing. The axial stop limits the insertion endpoint of the detachable rear functional module to prevent it from being inserted too deeply and compressing internal electrical terminals. This rear connection structure relies solely on guide grooves, guide ridges, and an axial stop to achieve insertion guidance, radial positioning, and insertion limit, without additional latches, clips, screws, or elastic locking devices. The detachable rear functional module can be inserted in the insertion direction under external force and removed in the opposite direction.

[0010] The tail-end universal modular connector contains electrical terminals that are electrically connected to the main control unit. When the detachable tail-end functional module is inserted into its final position, its electrical interface and the electrical terminals are connected. When the operator pulls out the detachable tail-end functional module in the opposite direction, the electrical interface and the electrical terminals are simultaneously separated. Operators can insert or remove detachable tail-end functional modules equipped with different functional sensors as needed for the inspection task. This allows for switching between different inspection functions, such as gas detection, temperature and humidity detection, equipment noise collection, metal detection, or lidar scanning, without altering the robot's main structure, thus improving the adaptability of a single robot to various inspection tasks.

[0011] The bionic quadruped leg assembly has a continuous cable-holding groove inside the leg segment housing. The cables of the joint drive motors, sensors and suspension components are laid along the continuous cable-holding groove, and redundant bending sections are reserved at the joints. The leg segment housing forms a closed cover for the cables.

[0012] The single-degree-of-freedom pitch sensor head is hinged to the front end of the sealed bearing housing of the body via a horizontal pin, and is driven by a drive component to pitch around the horizontal pin. The single-degree-of-freedom pitch sensor head integrates a camera.

[0013] The bionic quadruped leg assembly integrates an active adaptive suspension component, which is used to buffer ground impacts during robot walking and adjust the leg support state in conjunction with the main control unit.

[0014] With the above structure, the present invention arranges the charging-related structures on the upper part of the body and shields them with a sealed back plate, which can reduce the impact of ground contaminants on charging contacts or battery interfaces; the pluggable modular structure at the rear facilitates the replacement of different functional sensor modules according to the task; the enclosed cable routing at the legs can reduce the risk of cables being snagged or worn; the single-degree-of-freedom pitch sensing head can improve the coverage of high and low angles; and the active adaptive suspension assembly can improve the walking stability in complex terrain.

[0015] A further technical solution of the present invention is that the sealing back plate is an integrated back plate that can be horizontally slidably pulled out. The sealing back plate is slidably engaged with the sealing support shell of the main body through a slide rail structure. A sealing ring is provided between the sealing back plate and the opening edge of the high-position battery receiving cavity. With the above further technical solution, the sealing back plate facilitates the insertion or removal of the battery module from the upper part of the main body, and the sealing ring can reduce the possibility of dust, oil, or moisture entering the high-position battery receiving cavity.

[0016] A further technical solution of the present invention is as follows: the single-degree-of-freedom pitch sensor head is hinged to a fixed base at the front end of the body via a horizontal pin. The fixed base contains a driving component for driving the pitch swing of the single-degree-of-freedom pitch sensor head. Mechanical angle limiting structures for limiting the pitch travel are provided on both sides of the fixed base. With the above further technical solution, the single-degree-of-freedom pitch sensor head can adjust its detection angle in the vertical direction for observing high-altitude pipes, equipment tops, ground pipelines, and low obstacles. The mechanical angle limiting structure can limit the pitch range of the sensor head, reducing the risk of collisions and excessive bending of internal cables.

[0017] A further technical solution of the present invention is as follows: an ultrasonic locator is installed at the front of the chassis of the sealed bearing shell, a thermal imaging life detector is installed in the middle of the chassis, and a voice interaction module is installed at the rear of the chassis. The ultrasonic locator, the thermal imaging life detector, and the voice interaction module are electrically connected to the main control unit. With the above further technical solution, the ultrasonic locator is used to identify obstacles ahead, the thermal imaging life detector is used to collect heat source information, and the voice interaction module is used for on-site voice prompts, remote announcements, or human-computer interaction.

[0018] A further technical solution of the present invention is that the detachable tail functional module integrates a functional sensor module, which is any one of a lidar, gas sensor, temperature and humidity sensor, microphone, or metal detector. With this further technical solution, the robot can replace different detachable tail functional modules according to the inspection task to adapt to tasks such as gas detection, temperature and humidity detection, equipment noise collection, spatial scanning, or metal detection.

[0019] A further technical solution of the present invention is as follows: the single leg structure of the bionic quadrupedal leg assembly consists of a hip swing joint, a hip pitch joint, and a knee pitch joint arranged in series, descending from the upper drive compartment. The upper drive compartment is fixed to the bottom of the fuselage and contains a drive motor and harmonic reducer for the hip swing joint. The output end of the hip swing joint is fixedly connected to the upper thigh. The upper thigh contains a drive motor and reduction mechanism for the hip pitch joint, the output end of which is hinged to the lower thigh. The lower thigh or upper calf contains a drive motor for the knee pitch joint, driving the lower leg to swing around the knee joint axis. The end of the lower leg is connected to the bionic foot end through a joint rotation component. The three-joint series arrangement simulates the hip-knee-ankle movement pattern of terrestrial organisms, enabling bionic gait such as walking, stepping, leg lifting, and leg retraction, giving the robot excellent movement flexibility and obstacle-crossing ability. The external placement of the drive motors for each joint frees up internal space in the leg segment, reducing the difficulty of later inspection and maintenance, while ensuring sufficient space inside the leg segment shell for cable routing and sealing protection.

[0020] A further technical solution of the present invention is as follows: an active adaptive suspension assembly is integrated at the connection interface between the upper drive compartment and the fuselage, which consists of a servo electric push rod, a helical spring, and a pressure sensor; the upper end of the suspension assembly is hinged to the bottom of the fuselage, and the lower end is hinged to the upper drive compartment; the main control unit drives the servo electric push rod to actively adjust the support force according to attitude and force data, and the helical spring passively absorbs ground impact; the cables of the joint drive motors and suspension assemblies are introduced from the upper drive compartment, descend along the cable slots in the leg section housing, and a helical redundant bending section is reserved at the joint, and the cables are completely wrapped by the leg section housing. The servo electric push rod actively compensates for the pitch or roll of the fuselage according to the IMU and the force data of the legs, and the helical spring passively absorbs high-frequency ground impact. The combination of active adjustment and passive vibration absorption improves the attitude stability of the fuselage in uneven terrain; the fully enclosed cable wrapping reduces the risk of snagging on debris in the factory area, and the helical redundant bending section at the joint allows the cable to deform naturally with the joint rotation, avoiding hard bending that could cause the wire core to break, significantly improving the reliability of continuous operation of the equipment in complex industrial environments.

[0021] A further technical solution of the present invention is as follows: the fuselage sealed bearing housing is formed by processing aluminum alloy and carbon fiber composite material. The interior of the fuselage sealed bearing housing is divided into multiple independent sealed cavities. The main control unit, the multi-mode wireless communication module, and the power distribution protection module are respectively installed in the corresponding independent sealed cavities. The aluminum alloy and carbon fiber composite material keeps the weight below 12kg while ensuring the mechanical strength and impact resistance of the whole machine, improving maneuverability and site adaptability. Multiple independent sealed cavities can reduce the impact of dust, oil, or moisture on electrical components and facilitate later inspection and maintenance.

[0022] A further technical solution of the present invention is that the battery module is a pluggable and replaceable modular battery pack, and the battery module is provided with flexible charging contacts. With the above further technical solution, the modular battery pack is easy to replace in the field, and the flexible charging contacts can compensate for minor assembly errors and improve the stability of the electrical connection.

[0023] A further technical solution of the present invention is that the main control unit has a built-in SLAM real-time localization and map building module, a path planning module and a target recognition module, and the body is also equipped with a multi-mode wireless communication module.

[0024] With the above-mentioned further technical solutions, the main control unit can process the data collected by the camera, ultrasonic locator, thermal imaging life detector, and detachable tail functional module. The multi-mode wireless communication module is used for inspection data feedback and remote control command transmission. Compared with the publicly available solutions such as automatic charging devices, legged robot charging piles, battery compartment holding structures, and quadruped robot leg joints in the prior art, the difference of this invention is that it does not improve the charging pile, battery, or leg joints separately, but rather addresses the comprehensive problems of pollutant and debris hooking and multi-task module switching in the factory inspection environment. It combines and defines the high-position sealed battery housing, the tail-mounted pluggable functional module, the enclosed built-in wiring in the legs, and the single-degree-of-freedom pitch sensor head, so that each structure can jointly serve the multi-task inspection scenario in the factory.

[0025] The beneficial effects of this invention are:

[0026] First, the protection capability of the power supply interface is improved. This invention houses the battery module within a battery housing cavity on the top of the device, and uses a retractable, integrated sealed back panel to shield and protect the battery housing cavity. This keeps the battery interface and charging contacts away from oil, water, metal debris, and dust on the factory floor, thereby reducing the risk of contamination, corrosion, or poor contact at the charging contacts. The sidewalls of the battery housing cavity form a mechanical guiding structure, which assists the battery module or charging connector in alignment, improving docking stability.

[0027] Secondly, the ease of replacing the tail functional modules is improved. A plug-in interface socket is located at the rear of the robot body. The pluggable, detachable tail functional modules engage with the socket via guide grooves, guide ridges, and axial stop platforms, achieving insertion guidance, radial limiting, and axial positioning limiting. Once the tail functional module is inserted, its electrical interface connects with the electrical terminals within the socket. This pluggable structure allows operators to quickly replace different sensor modules according to inspection tasks, improving the adaptability of a single robot to various inspection tasks.

[0028] Third, the protection of leg cables is improved. The bionic quadruped leg assembly has cable-holding grooves inside the leg joint housings. Power cables and signal cables are stored along these grooves and enclosed by the leg joint housings to form a closed, internal cable routing structure. This structure reduces the risk of exposed cables being snagged, pulled, or abraded by debris, metal edges, or protruding pipes in the factory area. The pre-installed spiral redundancy bending sections at the joints can accommodate leg joint movement, reducing the possibility of cable damage caused by repeated bending.

[0029] Fourth, the ability to adjust the inspection angle is improved. The sensor head is hinged to the fixed base at the front of the body via a horizontal pin, and is driven by a drive component to perform a single-degree-of-freedom pitch swing, allowing the camera to adjust the vertical detection angle according to the position of the object being inspected. This structure improves the ability to observe high-altitude pipes, equipment tops, ground pipelines, and low obstacles, reducing blind spots caused by a fixed viewing angle.

[0030] Fifth, improved adaptability to complex terrain. The bionic quadruped leg assembly integrates an active adaptive suspension system. Servo electric push rods, helical springs, and pressure sensors work together to adjust and buffer the leg support status and ground impact during robot walking, thereby improving the robot's stability in complex factory terrains such as slopes, gravel, steps, and ditches.

[0031] Sixth, improved ease of maintenance. The internal structure is divided into multiple independent sealed chambers, with the main control unit, multi-mode wireless communication module, and power distribution protection module installed in separate areas. This helps reduce the impact of dust, oil, or moisture on electrical components, while also facilitating troubleshooting and modular maintenance. The body is made of aluminum alloy and carbon fiber composite materials, which reduces the overall weight while ensuring structural strength, improving the robot's mobility during factory inspections. Attached Figure Description

[0032] Figure 1 This invention provides the overall structure of a quadruped robot for multi-task inspection in factories;

[0033] Figure 2 This is a schematic diagram of the quadruped robot jumping as provided by the present invention;

[0034] Figure 3 This is a schematic diagram of the quadruped robot walking according to the present invention;

[0035] Figure 4 This is a schematic diagram of the main control and power system of the quadruped robot provided by the present invention;

[0036] Figure 5 This is a schematic diagram of the chassis of the quadruped robot provided by the present invention;

[0037] Figure 6 This is a schematic diagram of the internal structure of the bionic quadruped leg assembly provided by the present invention;

[0038] Figure 7 This is a schematic diagram of the internal structure of the bionic quadruped leg assembly provided by the present invention from another perspective;

[0039] Figure 8 This is a top view of the quadruped robot provided by the present invention;

[0040] Figure 9This is a schematic diagram of the tail structure provided by the present invention.

[0041] Reference numerals: 1. Removable tail functional module; 2. Bionic quadrupedal leg assembly; 3. Voice interaction module; 4. Thermal imaging life detector; 5. Ultrasonic locator; 6. High-definition night vision camera; 7. Single-degree-of-freedom pitch sensor head; 8. Sealed load-bearing housing; 9. Overall power distribution protection module; 10. Multi-mode wireless communication module; 11. High-performance edge computing main control unit; 12. Tail universal modular plug-in interface; 13. Upper drive compartment; 14. Joint rotation component; 15. Bionic foot end; 16. Sealed back plate; J1. Hip lateral swing joint; J2. Hip pitch joint; J3. Knee pitch joint. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0043] Example 1:

[0044] like Figure 1-9 As shown, this embodiment provides a quadruped robot for multi-task inspection in a factory. The robot is composed of a sealed bearing shell 8, a bionic quadruped leg assembly 2, a battery module, a detachable tail functional module 1, a single-degree-of-freedom pitch sensor head 7, a main control unit 11, and a power distribution protection module 9.

[0045] The sealed load-bearing housing 8, serving as the core load-bearing structure of the entire machine, is made of high-strength aluminum alloy combined with carbon fiber composite material. The weight of the entire machine is controlled within 12kg, and the compact layout lowers the center of gravity, improving stability during movement and obstacle crossing. The interior of the housing is divided into multiple independent sealed cavities, which respectively house the main control unit 11, the multi-mode wireless communication module 10, the power distribution protection module 9, and the battery module, and the internal wiring channels are neatly arranged.

[0046] Regarding the power supply system, a high-position battery housing is formed at the top of the casing. The battery module is inserted vertically into the housing. The smooth, vertical guide surface on the inner wall of the housing forms a mechanical guide structure, which guides the battery insertion posture and provides an alignment reference for the charging connector. Flexible charging contacts are integrated on the top surface of the battery, electrically connected to the power distribution protection module 9. A sealing backplate 16, which can be horizontally pulled out via a sliding rail structure, is located at the top of the housing. When closed, it forms a sealing fit with the edge of the housing through a sealing ring, effectively preventing the intrusion of oil, dust, and water.

[0047] In terms of the sensing system, the front of the fuselage is rigidly connected to the base of the single-degree-of-freedom pitch sensing head 7 via bolts and positioning pins. The head integrates a high-definition night vision camera 6, whose pitch drive component is embedded in the base cavity. One end is hinged to the fixed base, and the other end is hinged to the rear of the head housing. Power is output through a swing mechanism to drive the head to pitch up and down around a horizontal pin. Mechanical angle limiting structures on both sides of the base precisely control the maximum upward and downward strokes. This structure eliminates the need for a horizontal rotation component, fundamentally preventing potential problems such as wiring harness twisting and seal failure. An ultrasonic locator 5 is installed at the lower front of the fuselage, a thermal imaging life detector 4 is fixed in the front area of ​​the chassis center, and a voice interaction module 3 is located at the rear of the chassis—these three components are strategically placed on the chassis, complementing the head's pitch detection to provide high and low field of view. Combined with the head's ability to observe high-altitude pipelines and monitor low-lying obstacles on the ground, this achieves full-area coverage without blind spots.

[0048] Regarding the tail-end functional expansion system, the tail section features a standardized, one-piece plug-in interface with symmetrical elongated guide grooves on its inner side. The outer wall of the detachable tail-end functional module 1 corresponds to a one-piece guide ridge, forming a surface-contact sliding fit. An integrated stop platform is located at the end of the guide groove. When the module is pushed to the end of its travel, the end face of the guide ridge rigidly abuts against the stop platform, achieving axial limiting and radial positioning, while also resisting torsional forces generated by collisions during travel. Electrical terminals within the interface connect to the main control system; the electrical interface automatically connects and conducts once the module is in place. This universal standardized interface supports flexible replacement of different functional modules such as gas sensors, temperature and humidity sensors, microphones, lidar, and metal detectors, respectively meeting diverse inspection tasks such as leak detection, environmental monitoring, abnormal noise diagnosis, spatial scanning, and metal detection. Replacement is simple: just pull the old module along the guide groove and push the new module to the stop platform's limit position; no special tools are required. A single device can quickly switch operating functions, eliminating the need to purchase multiple dedicated models and significantly reducing equipment investment and scheduling / maintenance costs.

[0049] In terms of the locomotion system, the four corners of the fuselage bottom are rigidly connected to the upper drive compartments 13 of the two bionic quadruped leg assemblies 2 on each side via flanges. Each leg, starting from the upper drive compartment 13 and moving downwards, consists of a hip lateral swing joint J1, a hip pitch joint J2, and a knee pitch joint J3, forming a standard 3-DOF series structure: the upper drive compartment 13 is fixed to the bottom of the fuselage; the J1 joint motor drives the upper thigh to lateral swing via a harmonic reducer; the J2 joint motor drives the lower thigh to swing back and forth; the J3 joint motor drives the lower leg to flex and extend around the knee joint via a linkage or synchronous belt; the lower leg end is connected to a bionic foot end 15, composed of a rubber foot and a force sensor, via a joint rotation component 14. The drive motors are arranged on the outer side of the leg segments, freeing up internal space and facilitating maintenance. The active adaptive suspension assembly is integrated at the interface between the upper drive compartment 13 and the fuselage, with its upper end hinged to the bottom of the fuselage and its lower end hinged to the top of the upper drive compartment 13. It consists of a miniature servo electric actuator, a coil spring, and a pressure sensor. During movement, the main control unit 11 dynamically adjusts the actuator thrust based on IMU and foot force sensor data, actively compensates for body pitch or tilt, and passive springs synchronously absorb high-frequency impacts, enabling the robot to smoothly pass through complex terrains such as slopes, gravel, mud, and steps. The maximum travel speed can reach 6km / h, and the maximum stable climbing slope is 35°.

[0050] In terms of cable protection, the power lines and encoder lines of each joint motor are introduced from the upper drive compartment 13 and run down along a continuous cable tray integrally formed inside the housing of each leg section. The cable tray runs in perfect alignment with the movement trajectory of the leg section's flexion, extension, and rotation. Spiral redundant bending sections are reserved at the joints to accommodate joint rotation. All cables eventually converge into the cable tray inside the machine body and are connected to the power distribution protection module 9 and the main control unit 11. The sensor and actuator wiring harnesses of the suspension components are also led back to the main control unit through the same cable tray, forming a fully enclosed built-in wiring structure, which fundamentally prevents the cables from being hooked and worn by debris and metal edges in the factory area.

[0051] In terms of electrical and communication systems, the main control unit 11 serves as the central control hub for the entire machine. It connects to the drive motors of each leg joint, the encoders and dampers of the suspension system, the pitch head drive motor, the serial bus and power pins within the tail interface 12, a high-definition night vision camera 6, an ultrasonic locator 5, a thermal imaging life detector 4, and a voice interaction module 3 via internal shielded wiring harnesses. It also connects to the battery management system and power distribution protection module 9, enabling power distribution and data exchange for the entire machine. The main control unit 11 can run SLAM real-time positioning and mapping, intelligent path planning, autonomous obstacle avoidance, target recognition, and other artificial intelligence algorithms. It summarizes and analyzes multi-sensor data in real time, autonomously assesses road conditions and operational status, and enables autonomous patrolling along preset routes and abnormal situation identification and early warning. The multi-mode wireless communication module 10 supports 5G / 4G, WiFi, and Mesh self-organizing networks, with mutual backup and switching. It transmits high-definition images, monitoring data, and alarm information back to the backend in real time and supports remote control and command issuance, enabling intelligent inspection operations without human intervention.

[0052] All electronic components at the head and chassis are fixed to preset positions via independent bases, mounting brackets, and fastening screws. Wiring is uniformly housed in dedicated internal cable trays, with no exposed parts, further reducing the risk of wire wear and snagging. The entire system, through a combination of fixed sensing devices at the front and replaceable functional modules at the rear, simultaneously performs multiple core tasks, including flammable and explosive medium leakage detection, environmental temperature and humidity monitoring, mechanical equipment abnormal noise diagnosis, large-area space scanning, metal component detection, and emergency life-saving search and rescue, making it fully adaptable to complex factory inspection scenarios.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A quadruped robot for multi-task inspection in a factory, characterized in that, It includes a sealed bearing housing (8), a bionic quadrupedal leg assembly (2) assembled at the four corners of the bottom of the sealed bearing housing (8), a battery module, a detachable tail functional module (1), a single degree of freedom pitch sensor head (7), a main control unit (11), and a whole machine power distribution protection module (9). The upper part of the sealed bearing housing (8) of the body forms a high-position battery receiving cavity. The high-position battery receiving cavity is a vertical through cavity with a smooth vertical guide surface on its inner sidewall, which constitutes a vertical mechanical guide structure for restricting the insertion posture of the battery module and the insertion posture of the charging connector. The battery module is inserted vertically and positioned in the high-position battery receiving cavity. The upper opening of the high-position battery receiving cavity is provided with a horizontally movable and pullable sealing back plate (16). The sealing back plate (16) slides with the sealed bearing housing (8) of the body through two sets of slide rail structures and is provided with a sealing structure at the fitting gap. The top surface of the battery module is integrated with elastic charging contacts and is electrically connected to the whole machine power distribution protection module (9) through the elastic charging contacts. The tail of the sealed bearing housing (8) is integrally formed with a universal modular plug-in interface (12). The universal modular plug-in interface (12) is a standardized plug-in socket. The inner side of the socket is symmetrically provided with guide grooves extending along the front-rear direction of the fuselage. The outer wall of the detachable functional module (1) at the tail is integrally formed with a guide ridge. The guide ridge and the guide groove form a surface contact sliding fit to achieve insertion guidance and radial positioning during insertion and removal, and jointly resist the torsional force generated by walking and bumping. The end of the guide groove is provided with an integral axial stop. When the detachable functional module (1) at the tail is inserted to the end of the stroke along the front-rear direction of the fuselage, the end face of the guide ridge and the axial stop are engaged. The platform is rigidly abutted to achieve axial limiting, thereby limiting the insertion endpoint of the tail detachable functional module (1) and preventing it from loosening; the connection between the tail universal modular plug-in interface (12) and the tail detachable functional module (1) is achieved by the guide groove, the guide ridge and the axial stop platform to achieve insertion guidance, radial positioning and insertion limit; the tail universal modular plug-in interface (12) is provided with electrical terminals that are electrically connected to the main control unit (11); when the tail detachable functional module (1) is inserted to the position defined by the axial stop platform, the electrical interface integrated inside it and the electrical terminals are automatically plugged and connected along the insertion and removal direction to achieve signal and power connection; The single leg structure of the bionic quadruped leg assembly (2) consists of an upper drive compartment (13) and a lower joint. An active adaptive suspension assembly is integrated between the upper drive compartment (13) and the fuselage sealed bearing shell (8). Each leg segment of the bionic quadruped leg assembly (2) has a continuous wire-locking groove integrally formed on the inner side of the shell. The direction of the continuous wire-locking groove is in line with the flexion, extension, and rotation trajectory of the corresponding leg segment. The cables of the joint drive motor, sensor, and suspension assembly are laid along the continuous wire-locking groove, and a spiral redundant bending section is reserved at the joint. The cables are completely covered by the leg segment shell to form a closed internal wiring structure, thereby avoiding external hooking and wear. The front end of the sealed bearing housing (8) of the fuselage is provided with a fixed base. The single degree of freedom pitch sensor head (7) is hinged to the fixed base through a horizontal pin. The single degree of freedom pitch sensor head (7) integrates a high-definition night vision camera (6). The fixed base is provided with a pitch drive component. One end of the pitch drive component is hinged to the fixed base, and the other end is hinged to the rear side of the single degree of freedom pitch sensor head (7). The pitch drive component outputs power through swinging to smoothly drive the single degree of freedom pitch sensor head (7) to pitch around the horizontal pin in the vertical direction. The fixed base is also provided with mechanical angle limiting structures on both sides to limit the maximum upward stroke and the maximum downward stroke of the single degree of freedom pitch sensor head (7).

2. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: The sealing back plate (16) is an integrated back plate that can be horizontally slidably pulled out. The sealing back plate (16) is slidably engaged with the sealing bearing housing (8) of the body through two sets of slide rail structures. A sealing ring is provided between the sealing back plate (16) and the opening edge of the high-position battery receiving cavity.

3. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: The vertical mechanical guide structure is a vertical guide surface provided on the inner side wall of the high-position battery receiving cavity. The outer wall of the battery module is provided with a positioning surface that cooperates with the vertical guide surface, so that the elastic charging contact is pressed against the corresponding conductive terminal after the battery module is inserted into place.

4. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: The detachable tail functional module (1) integrates a functional sensor module, which is any one of lidar, gas sensor, temperature and humidity sensor, microphone or metal detector; the detachable tail functional module (1) is configured to insert into or pull out of the universal modular plug-in interface (12) along the straight insertion and removal direction defined by the guide groove and guide ridge, and after it is inserted into place, it is connected to the electrical terminal.

5. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: An ultrasonic locator (5) is installed at the front of the chassis of the sealed bearing housing (8), a thermal imaging life detector (4) is installed in the middle of the chassis, and a voice interaction module (3) is installed at the rear of the chassis. The ultrasonic locator (5), the thermal imaging life detector (4) and the voice interaction module (3) are electrically connected to the main control unit (11).

6. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: The single leg structure of the bionic quadrupedal leg assembly (2) consists of a hip swing joint (J1), a hip pitch joint (J2), and a knee pitch joint (J3) arranged sequentially from the upper drive cabin (13) downwards. The upper drive cabin (13) is fixed to the bottom of the fuselage sealed bearing shell (8). The output end of the hip swing joint (J1) is connected to the upper thigh, the output end of the hip pitch joint (J2) is hinged to the lower thigh, and the knee pitch joint (J3) drives the lower leg to swing around the knee joint axis. The end of the lower leg is connected to the bionic foot end (15) through the joint rotation component (14).

7. The quadruped robot for multi-task inspection in a factory according to claim 6, characterized in that: The extension and retraction direction of the suspension assembly is arranged vertically along the fuselage and is offset from the rotation area of ​​the hip swing joint; the active adaptive suspension assembly includes a servo electric push rod, a helical spring and a pressure sensor; the upper end of the active adaptive suspension assembly is hinged to the bottom of the fuselage and the lower end is hinged to the upper drive compartment (13). It is located between the upper drive compartment (13) and the fuselage sealed bearing shell (8). Its extension and retraction direction is arranged vertically along the fuselage or in the leg support direction and is offset from the rotation area of ​​the hip swing joint to avoid interfering with the rotation of the hip swing joint, hip pitch joint and knee pitch joint. The main control unit (11) drives the servo electric push rod to adjust the support force according to the attitude and force data. The helical spring is used to absorb ground impact. The cables of the joint drive motor and the active adaptive suspension assembly are introduced from the upper drive compartment (13), go down along the continuous cable slot in the leg section shell, and reserve redundant bending sections at the joints.

8. The quadruped robot for multi-task inspection in a factory according to claim 1, characterized in that: The fuselage sealing bearing housing (8) is made of aluminum alloy and carbon fiber composite material; the fuselage sealing bearing housing (8) is divided into multiple independent sealed cavities, and the main control unit (11), the multi-mode wireless communication module (10) and the whole machine power distribution protection module (9) are respectively installed in the corresponding independent sealed cavities.

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