Four-legged obstacle avoidance robot and obstacle avoidance component thereof

Abstract

This invention discloses a quadruped obstacle removal robot and its obstacle removal components, belonging to the field of obstacle removal robots. It includes a mounting slot, a sliding extension rod within the mounting slot, a first mounting plate rotatably mounted on the extension rod, a first cleaning roller, a second cleaning roller, and a scraper rotatably mounted on the first mounting plate, and the first cleaning roller, second cleaning roller, and scraper are detachable. A marking component is rotatably mounted on the first mounting plate, the marking component including a first cylinder, a first end cap detachably connected to the first cylinder, an extension cap slidably mounted on the first end cap, a paint can placed in the first cylinder, and a pressure plate slidably mounted on the extension cap. This invention includes obstacle removal components used to remove and clean obstacles inside pipes, preventing obstacles from obstructing the detection of damaged locations and increasing detection errors. The rotating scraper in this invention can rotate and remove stubborn obstacles on the inner wall of the pipe, while the first and second cleaning rollers are used to wipe away easily manageable obstacles on the inner wall of the pipe.

Description

Technical Field

[0001] This invention relates to the field of obstacle removal robots, and in particular to a quadruped obstacle removal robot and its obstacle removal components. Background Technology

[0002] Pipelines, as core infrastructure in oil and gas transportation, municipal water supply and drainage, chemical media transmission, and heat supply, are vital carriers of industrial production and public welfare. They typically operate under complex conditions, including overhead, underground, and underwater installations, and are susceptible to damage from multiple factors such as media corrosion, soil stress, mechanical impact, fatigue aging, and welding defects. This damage can lead to various issues such as wall thinning, surface and internal cracks, pitting deformation, weld defects, and corrosion resulting from damage to the anti-corrosion layer. If these damages are not detected promptly, they can develop over time, easily causing media leaks, pipeline bursts, and other accidents. This not only results in economic losses and production interruptions but can also trigger secondary disasters such as fires, explosions, and environmental pollution, seriously threatening public safety. Therefore, regular and accurate damage inspection of pipelines to identify the location, type, and severity of defects is crucial for ensuring safe and stable pipeline operation, assessing pipeline service status, and developing maintenance and life extension strategies. This has become a core requirement in the pipeline operation and maintenance field.

[0003] For large-diameter pipeline inspection, pipeline robots are usually used. The robot goes deep into the pipeline to perform visual inspection and then transmits the inspection information back to the terminal for maintenance personnel to handle. If damage or other issues are found inside the pipeline, they need to be marked. In actual operation, positioning is mostly done by navigation, which cannot accurately locate the inside of the pipeline. The positioning range is wide, and when maintenance personnel are repairing the damaged area, they still need to search further, which is quite time-consuming. Summary of the Invention

[0004] This invention provides a quadruped obstacle removal robot and its obstacle removal components, which can solve the problem that conventional pipeline robots in the prior art have a wide range of damage location and waste time searching for them during maintenance.

[0005] A clearing component includes a mounting groove, a sliding extension rod in the mounting groove, a first mounting plate rotatably mounted on the extension rod, a first cleaning roller, a second cleaning roller and a scraper rotatably mounted on the first mounting plate, and the first cleaning roller, the second cleaning roller and the scraper are detachable, and a marking component is rotatably mounted on the first mounting plate; The marking assembly includes a first cylinder, a first end cap detachably connected to the first cylinder, an extension cap slidably provided on the first end cap, a paint can placed in the first cylinder, and a pressure plate slidably provided on the extension cap.

[0006] Furthermore, the obstacle removal component includes a second rotating seat that is rotatably mounted. The second rotating seat is driven by a second motor, which is fixed inside the walking robot. A mounting slot is fixedly mounted on the second rotating seat. A first threaded rod is rotatably mounted in the mounting slot. The first threaded rod is driven by a fourth motor, which is fixedly mounted on the mounting slot. An extension rod is threaded onto the first threaded rod. The extension rod is slidably fitted with the mounting slot. A rotating shaft is rotatably mounted on the extension rod, and a first mounting plate is fixedly mounted on the rotating shaft.

[0007] Furthermore, it also includes a drive mechanism that can drive the first cleaning roller, the second cleaning roller, and the scraper to rotate respectively.

[0008] Furthermore, the driving mechanism includes a second telescopic rod and a second spring. One end of the second telescopic rod and the second spring is fixed to the back of the mounting groove, and the other end of the second telescopic rod and the second spring is fixed to a mounting block. A fifth motor is fixed on the mounting block, and an arc-shaped plate is fixed on the opposite end of the mounting block and the fifth motor. A first mating plate is rotatably provided at the bottom of the arc-shaped plate. A connecting rod is fixed on the output end of the mounting block, and the other end of the connecting rod is fixedly connected to the first mating plate. The rotation of the fifth motor can realize the rotation of the first mating plate.

[0009] Furthermore, the first cleaning roller, the second cleaning roller, and the scraper are each provided with a second mating block, and a plurality of second mating blocks are fixedly connected to the first cleaning roller, the second cleaning roller, and the scraper respectively via a turntable.

[0010] Furthermore, the marking assembly includes a first cylindrical body, a first end cap detachably connected to the first cylindrical body, an extension cap slidably provided on the first end cap, and the connection method between the first cylindrical body and the first end cap includes, but is not limited to, a threaded connection.

[0011] Furthermore, the first cylinder is used to hold a paint can, the upper part of which extends out from the first end cap, the spray nozzle is located inside the extension cap, and a pressure plate is slidably provided on the extension cap.

[0012] Furthermore, a second threaded rod is rotatably provided on the first end cover, and a second limiting rod is provided. An extension cover is threadedly engaged with the second threaded rod, and the extension cover is slidably engaged with the second limiting rod. A third threaded rod is rotatably provided on the first end cover at a position between the second threaded rod and the second limiting rod, and a third limiting rod is fixedly provided. The third threaded rod is threadedly engaged with the pressure plate, and the pressure plate is slidably engaged with the third limiting rod. A sixth motor is fixedly provided at the top of the first end cover, and a first pulley is fixedly provided at the output end of the sixth motor. A second pulley is coaxially and fixedly provided on the second threaded rod, and a first synchronous belt is connected between the first pulley and the second pulley. A third pulley is coaxially and fixedly provided below the second threaded rod, and a fourth pulley is coaxially and fixedly provided on the third threaded rod. A second synchronous belt is connected between the third pulley and the fourth pulley.

[0013] A quadruped obstacle-clearing robot includes a body on which obstacle-clearing components are mounted.

[0014] Furthermore, the machine body is also rotatably provided with several movable feet, a total of four sets of movable feet, which are located at the four corners of the machine body. Each movable foot includes a first rotating seat, which is rotatably engaged with the machine body. The rotatable connection is driven by a third motor. A first telescopic cylinder is fixedly provided on the first rotating seat. A buffer assembly is fixedly provided at the output end of the first telescopic cylinder. The buffer assembly includes a first telescopic rod and a first spring. One end of the first telescopic rod and the first spring is fixed to the output end of the first telescopic cylinder. The first spring is sleeved on the outside of the first telescopic rod. A mounting piece is fixedly provided at the other end of the first telescopic rod and the first spring. A traveling wheel is rotatably provided on the mounting piece. A first motor is fixedly provided on the mounting piece.

[0015] Beneficial effects 1. The present invention is equipped with a barrier removal component, which is used to remove and clean obstacles inside the pipe to avoid obstructing the detection of the damaged location and increasing the detection error. The rotating blade in the present invention can rotate and remove stubborn obstacles on the inner wall of the pipe. The first cleaning roller and the second cleaning roller are used to wipe away easily handleable obstacles on the inner wall of the pipe.

[0016] 2. The obstacle removal component of the present invention is also equipped with a marking component. When it is necessary to mark the damaged position, the marking component is first rotated to be close to the damaged position, and then the extension cover is slid to separate it from the first end cover, exposing the paint spray nozzle inside the extension cover. At the same time, the pressure plate will move downward to squeeze the paint spray nozzle. At this time, the marking paint will be sprayed out to the damaged position inside the pipe, which is convenient for marking. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the obstacle removal robot of the present invention in operation; Figure 2 This is a schematic diagram of the overall structure of the obstacle removal robot of the present invention. Figure I ; Figure 3 This is an enlarged schematic diagram of part A of the present invention; Figure 4 This is a schematic diagram of the overall structure of the obstacle removal robot of the present invention. Figure II ; Figure 5 This is a top view of the obstacle removal robot of the present invention; Figure 6 This is a schematic diagram of the overall structure of the marking component of the present invention; Figure 7 This is a cross-sectional view of the marking component of the present invention; Figure 8 This is an enlarged schematic diagram of part B of the present invention.

[0018] Explanation of reference numerals in the attached figures: 100. Pipeline 100; 200. Obstacle-clearing robot; 201. Body; 202. First rotating seat; 203. First telescopic cylinder; 204. Mounting component; 205. First telescopic rod; 206. First spring; 207. Walking wheel; 208. Second rotating seat; 209. Mounting slot; 210. First threaded rod; 211. Extension rod; 212. Rotating shaft; 213. First mounting plate; 214. First cleaning roller; 215. Second cleaning roller; 216. Shovel; 217. Marking assembly; 218. Second spring; 219. Second telescopic rod; 220. Mounting block; 221. Fifth motor; 222. Arc plate; 223. 224. Connecting rod; 225. First mating plate; 226. Turntable; 227. Second mating block; 21701. First cylinder; 21702. First end cap; 21703. Extension cap; 21704. Paint can; 21705. Paint nozzle; 21706. Pressure plate; 21707. Second limiting rod; 21708. Second threaded rod; 21709. Third threaded rod; 21710. Third limiting rod; 21711. Sixth motor; 21712. Second pulley; 21713. First pulley; 21714. First synchronous belt; 21715. Fourth pulley; 21716. Third pulley; 21717. Second synchronous belt. Detailed Implementation

[0019] 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.

[0020] like Figure 1 As shown in the figure, the quadruped obstacle removal robot 200 provided in this embodiment of the invention is mainly used for obstacle removal and inspection inside various pipelines 100. Specifically, the obstacle removal robot 200 can enter the pipeline 100 and walk inside the pipeline 100. The obstacle removal robot 200 integrates visual inspection and obstacle removal components. The obstacle removal components are used to clear obstacles inside the pipeline 100, and then the visual inspection mechanism is used to visually inspect the inside of the pipeline 100 to confirm whether there is any damage inside the pipeline 100. Finally, the obstacle removal components physically mark the fault location so that maintenance personnel can quickly determine the repair location. The visual inspection mechanism includes a camera, which can perform visual inspection inside the pipeline 100 through image acquisition. This is a conventional technical means well known to those skilled in the art and will not be described in detail here.

[0021] like Figure 2As shown, the obstacle removal robot 200 includes a body 201, on which a plurality of movable legs are rotatably mounted. In this embodiment, there are four sets of movable legs, located at the four corners of the body 201. Each movable leg includes a first rotating seat 202, which rotatably engages with the body 201. The rotatable connection is driven by a third motor. A first telescopic cylinder 203 is fixedly mounted on the first rotating seat 202. A buffer assembly is fixedly mounted on the output end of the first telescopic cylinder 203. The buffer assembly includes a first telescopic rod 205 and a first spring 206. One end of the first spring 206 and 05 is fixed to the output end of the first telescopic cylinder 203. The first spring 206 is sleeved on the outside of the first telescopic rod 205. The other end of the first telescopic rod 205 and the first spring 206 is fixedly provided with a mounting part 204. A walking wheel 207 is rotatably provided on the mounting part 204. A first motor is fixedly provided on the mounting part 204. The first motor drives the walking wheel 207 to rotate. In this embodiment, two of the four sets of moving feet are driving wheels and the other two sets are driven wheels. That is, two sets of moving feet are provided with a first motor for driving the walking wheel 207 to move.

[0022] The obstacle removal robot 200 in this embodiment is also equipped with an obstacle removal component. This component is used to remove and clean obstacles inside the pipe 100, preventing obstacles from obstructing the detection of the damaged location and increasing detection errors. Figure 4 and Figure 5 As shown, the obstacle removal component includes a second rotating seat 208 rotatably mounted on the body 201. The second rotating seat 208 is driven by a second motor, which is fixed inside the body 201. A mounting groove 209 is fixedly mounted on the second rotating seat 208. A first threaded rod 210 is rotatably mounted within the mounting groove 209. The first threaded rod 210 is driven by a fourth motor, which is fixedly mounted on the mounting groove 209. An extension rod 211 is threaded onto the first threaded rod 210. The extension rod 211 slides against the mounting groove 209. A rotating... A shaft 212 is mounted on a first mounting plate 213. A first cleaning roller 214, a second cleaning roller 215, and a scraper 216 are rotatably mounted on the first mounting plate 213. A marking assembly 217 is also fixed on the first mounting plate 213. The first cleaning roller 214, the second cleaning roller 215, and the scraper 216 can all be removed from the first mounting plate 213. The scraper 216 can rotate to remove stubborn obstacles on the inner wall of the pipe 100, while the first cleaning roller 214 and the second cleaning roller 215 are used to wipe away easily treatable obstacles on the inner wall of the pipe 100. In use, the first threaded rod 210 rotates to allow the extension rod 211 to move laterally. If there is a difficult-to-handle obstacle on the inner wall of the pipe 100, the first mounting plate 213 is rotated so that the scraper 216 faces and contacts the inner wall of the pipe 100. As the scraper 216 rotates, the obstacle is removed. After removal, the rotation axis of the scraper 216 is parallel to the axis of the circular pipe 100. That is, the circular area enclosed by the rotation of the scraper 216 cuts into the inner wall of the pipe 100 without interference. The first mounting plate 213 is rotated further, and the first cleaning roller 214 or the second cleaning roller 215 is used to clean the removed area, better exposing the inner wall of the pipe 100. The visual inspection mechanism then performs visual inspection and handles defects in the pipe 100. In this embodiment, the visual inspection mechanism includes a camera, which is a telescopic camera that extends during use and retracts during internal cleaning to protect the camera.

[0023] like Figure 2 and Figure 4 As shown, to achieve the rotation of the first cleaning roller 214, the second cleaning roller 215, and the scraper 216, this embodiment also provides a driving mechanism. The driving mechanism can drive the rotation of the first cleaning roller 214, the second cleaning roller 215, and the scraper 216 respectively. Specifically, the driving mechanism includes a compression assembly, including a second telescopic rod 219 and a second spring 218. One end of the second telescopic rod 219 and the second spring 218 is fixed to the back of the mounting groove 209. The other end of the second telescopic rod 219 and the second spring 218 is fixed to a mounting block 220. A fifth motor 221 is fixedly mounted on the mounting block 220. An arc-shaped plate 222 is fixedly mounted on the opposite end of the mounting block 220 and the fifth motor 221. A first mating plate 224 is rotatably mounted on the bottom of the arc-shaped plate 222. A connecting rod 223 is fixedly mounted on the output end of the mounting block 220. The other end of the connecting rod 223 is fixedly connected to the first mating plate 224. The rotation of the fifth motor 221 can realize the rotation of the first mating plate 224.

[0024] The first cleaning roller 214, the second cleaning roller 215, and the scraper 216 need to rotate during operation. Therefore, each of the first cleaning roller 214, the second cleaning roller 215, and the scraper 216 is provided with a second mating block 226. Several second mating blocks 226 are fixedly connected to the first cleaning roller 214, the second cleaning roller 215, and the scraper 216 respectively through a turntable 225. That is, the rotation of the second mating block 226 can drive the first cleaning roller 214, the second cleaning roller 215, or the scraper 216 to rotate respectively. The second mating blocks 226 are located on the back of the first mounting plate 213. In use, the second mating block 226 on the first cleaning roller 214, the second cleaning roller 215, or the scraper 216 is rotated to a position corresponding to the first mating plate 224. Then, the lateral movement of the extension rod 211 is controlled, causing the first cleaning roller 214, the second cleaning roller 215, or the scraper 216 to fit against the inner wall of the pipe 100. During the movement of the first cleaning roller 214, the second cleaning roller 215, or the scraper 216, the second mating block 226 will engage with the first mating plate 224. At this time, the fifth motor 221 works, driving the engaged second mating block 226 and the first mating plate 224 to rotate synchronously, ultimately realizing the rotation of the first cleaning roller 214, the second cleaning roller 215, or the scraper 216, achieving the scraping or cleaning function. Figure 3 As shown, when the second mating block 226 moves and engages with the first mating plate 224, the first cleaning roller 214, the second cleaning roller 215, or the scraper 216 are not yet in contact with the inside of the pipe 100. They still need to move forward. Therefore, this embodiment uses a compression assembly to achieve movement after engagement. When the second mating block 226 moves and engages with the first mating plate 224, the extension rod 211 continues to move. At this time, the second telescopic rod 219 and the second spring 218 on the compression assembly are stretched, which can further make the second mating block 226 move and engage more tightly with the first mating plate 224. When different functions are required, the first cleaning roller 214, the second cleaning roller 215, or the scraper 216 are rotated to the position corresponding to the first mating plate 224. The second mating blocks 226 on the first cleaning roller 214, the second cleaning roller 215, and the scraper 216 are circumferentially distributed around the rotating shaft 212, ensuring that after rotating a certain angle, the second mating block 226 and the first mating plate 224 can be precisely engaged.

[0025] Since the inner wall of the pipe 100 may be damaged and needs to be inspected regularly, when the first cleaning roller 214, the second cleaning roller 215 and the scraper 216 remove obstacles and clean the inner wall of the pipe 100, if damage is found inside the pipe 100, it needs to be marked. In actual operation, positioning is mostly done by navigation, which cannot accurately locate the inside of the pipe 100. The positioning range is wide, and when maintenance personnel repair the damaged area, they need to search further, which is time-consuming. Therefore, this embodiment also has a marking component 217 to physically mark the damaged area, so that maintenance personnel can quickly locate and repair it.

[0026] like Figure 5 and Figure 6As shown, the marking assembly 217 includes a first cylindrical body 21701, a first end cap 21702 detachably connected to the first cylindrical body 21701, and an extension cap 21703 slidably provided on the first end cap 21702. In implementing this technical solution, the connection method between the first cylindrical body 21701 and the first end cap 21702 includes, but is not limited to, a threaded connection, such as... Figure 7 As shown, the first cylinder 21701 is used to hold the paint can 21704. The upper part of the paint can 21704 extends out from the first end cap 21702. The paint nozzle 21705 is located inside the extension cap 21703. A pressure plate 21706 is also slidably provided on the extension cap 21703. When it is necessary to mark the damaged position, the marking component 217 is first rotated to be close to the damaged position. Then the extension cap 21703 is slid to separate it from the first end cap 21702, exposing the paint nozzle 21705 inside the extension cap 21703. At the same time, the pressure plate 21706 will move downward to squeeze the paint nozzle 21705. At this time, the marking paint will be sprayed out to the damaged position inside the pipe 100 for easy marking.

[0027] This embodiment proposes a sliding method for the pressure plate 21706 and the extension cover 21703. However, the implementation of this technical solution also includes other conventional technical means well known to those skilled in the art, such as... Figure 7 As shown, a second threaded rod 21708 is rotatably provided on the first end cap 21702, and a second limiting rod 21707 is provided. An extension cap 21703 is threadedly engaged with the second threaded rod 21708, and slidably engaged with the second limiting rod 21707. A third threaded rod 21709 is rotatably provided on the first end cap 21702, positioned between the second threaded rod 21708 and the second limiting rod 21707. A third limiting rod 21710 is fixedly provided. The third threaded rod 21709 is threadedly engaged with the pressure plate 21706, and slidably engaged with the third limiting rod 21710. A sixth motor 21711 is fixedly mounted on the top of the cover 21702. A first pulley 21713 is fixedly mounted on the output end of the sixth motor 21711. A second pulley 21712 is coaxially mounted and fixedly mounted on the second threaded rod 21708. A first synchronous belt 21714 connects the first pulley 21713 and the second pulley 21712. A third pulley 21716 is coaxially mounted and fixedly mounted below the second threaded rod 21708. A fourth pulley 21715 is coaxially mounted and fixedly mounted on the third threaded rod 21709. A second synchronous belt 21717 connects the third pulley 21716 and the fourth pulley 21715. In operation, the sixth motor 21711 drives the first pulley 21713 to rotate, which in turn drives the second threaded rod 21708 to rotate via the first synchronous belt 21714. The rotation of the second threaded rod 21708, in turn, drives the third threaded rod 21709 to rotate via the second synchronous belt 21717. In other words, the sixth motor 21711 enables the synchronous rotation of the second and third threaded rods 21708 and 21709. The rotation of the second threaded rod 21708 causes the extension cover 21703 to move upward, opening and exposing the paint spray nozzle 21705. Simultaneously, the rotation of the third threaded rod 21709 causes the pressure plate 21706 to move downward. During the downward movement of the pressure plate 21706, it contacts and presses against the paint nozzle 21705. It's important to note that the pressure plate 21706 and the extension cover 21703 move at different speeds; the extension cover 21703 moves faster than the pressure plate 21706. This ensures that the extension cover 21703 has already opened the paint nozzle 21705 before the pressure plate 21706 contacts it. When clearing obstructions, the extension cover 21703 is closed to prevent impurities from clogging the paint nozzle 21705. The extension cover 21703 protects the paint nozzle 21705, keeping it relatively sealed when not in use, thus preventing damage to the paint nozzle 21705.

[0028] In the description of this invention, it should be understood that the terms "upper," "lower," "left," and "right," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A barrier clearing component, characterized in that, The device includes a mounting groove (209), a sliding extension rod (211) inside the mounting groove (209), a first mounting plate (213) rotatably mounted on the extension rod (211), a first cleaning roller (214), a second cleaning roller (215) and a scraper (216) rotatably mounted on the first mounting plate (213), and the first cleaning roller (214), the second cleaning roller (215) and the scraper (216) are detachable, and a marking component (217) rotatably mounted on the first mounting plate (213). The marking assembly (217) includes a first cylinder (21701), a first end cap (21702) is detachably connected to the first cylinder (21701), an extension cap (21703) is slidably provided on the first end cap (21702), a paint can (21704) is placed on the first cylinder (21701), and a pressure plate (21706) is also slidably provided on the extension cap (21703).

2. The quadrupedal obstacle-clearing robot and its obstacle-clearing components as described in claim 1, characterized in that, The obstacle removal component includes a second rotating seat (208) rotatably mounted. The second rotating seat (208) is driven by a second motor, which is fixed inside the walking robot. A mounting groove (209) is fixedly mounted on the second rotating seat (208). A first threaded rod (210) is rotatably mounted in the mounting groove (209). The first threaded rod (210) is driven by a fourth motor, which is fixedly mounted on the mounting groove (209). An extension rod (211) is threadedly fitted on the first threaded rod (210). The extension rod (211) slides with the mounting groove (209). A rotating shaft (212) is rotatably mounted on the extension rod (211). A first mounting plate (213) is fixedly mounted on the rotating shaft (212).

3. The quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 1, characterized in that, It also includes a drive mechanism that can drive the first cleaning roller (214), the second cleaning roller (215) and the shovel (216) to rotate respectively.

4. The quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 3, characterized in that, The driving mechanism includes a second telescopic rod (219) and a second spring (218). One end of the second telescopic rod (219) and the second spring (218) is fixed to the back of the mounting groove (209). The other end of the second telescopic rod (219) and the second spring (218) is fixed to a mounting block (220). A fifth motor (221) is fixed on the mounting block (220). An arc plate (222) is fixed on the opposite end of the mounting block (220) and the fifth motor (221). A first mating plate (224) is rotatably provided at the bottom of the arc plate (222). A connecting rod (223) is fixed on the output end of the mounting block (220). The other end of the connecting rod (223) is fixedly connected to the first mating plate (224). The rotation of the fifth motor (221) can realize the rotation of the first mating plate (224).

5. A quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 6, characterized in that, The first cleaning roller (214), the second cleaning roller (215) and the shovel (216) are each provided with a second mating block (226), and a plurality of second mating blocks (226) are fixedly connected to the first cleaning roller (214), the second cleaning roller (215) and the shovel (216) respectively via a turntable (225).

6. The quadrupedal obstacle-clearing robot and its obstacle-clearing components as described in claim 1, characterized in that, The marking assembly (217) includes a first cylinder (21701), a first end cap (21702) is detachably connected to the first cylinder (21701), an extension cap (21703) is slidably provided on the first end cap (21702), and the connection between the first cylinder (21701) and the first end cap (21702) includes, but is not limited to, a threaded connection.

7. A quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 6, characterized in that, The first cylinder (21701) is used to place the paint can (21704). The upper part of the paint can (21704) extends out from the first end cap (21702). The paint nozzle (21705) is located inside the extension cap (21703). A pressure plate (21706) is also slidably provided on the extension cap (21703).

8. A quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 7, characterized in that, The first end cap (21702) is rotatably provided with a second threaded rod (21708) and a second limiting rod (21707). An extension cap (21703) is threadedly engaged with the second threaded rod (21708), and the extension cap (21703) is slidably engaged with the second limiting rod (21707). A third threaded rod (21709) is rotatably provided on the first end cap (21702) at a position between the second threaded rod (21708) and the second limiting rod (21707), and a third limiting rod (21710) is fixedly provided. The third threaded rod (21709) is threadedly engaged with a pressure plate (21706), and the pressure plate (21706) is slidably engaged with the third limiting rod (21710). The first end cap ( A sixth motor (21711) is fixedly installed at the top of the second threaded rod (21702). A first pulley (21713) is fixedly installed at the output end of the sixth motor (21711). A second pulley (21712) is coaxially and fixedly installed on the second threaded rod (21708). A first synchronous belt (21714) is connected between the first pulley (21713) and the second pulley (21712). A third pulley (21716) is coaxially and fixedly installed below the second threaded rod (21708). A fourth pulley (21715) is coaxially and fixedly installed on the third threaded rod (21709). A second synchronous belt (21717) is connected between the third pulley (21716) and the fourth pulley (21715).

9. A quadruped obstacle-clearing robot, applied to the obstacle-clearing component as described in claim 1, characterized in that, Includes a fuselage (201), on which obstacle removal components and a visual inspection mechanism are installed.

10. A quadruped obstacle-clearing robot and its obstacle-clearing components as described in claim 9, characterized in that, The body (201) is also provided with a number of movable feet, and there are four sets of movable feet. The four sets of movable feet are located at the four corners of the body (201). The movable feet include a first rotating seat (202). The first rotating seat (202) is rotatably engaged with the body (201). The rotatable connection is driven by a third motor. A first telescopic cylinder (203) is fixedly provided on the first rotating seat (202). A buffer assembly is fixedly provided at the output end of the first telescopic cylinder (203). The buffer assembly includes a first telescopic rod (205) and a first spring (206). One end of the first telescopic rod (205) and the first spring (206) is fixed on the output end of the first telescopic cylinder (203). The first spring (206) is sleeved on the outside of the first telescopic rod (205). An installation part (204) is fixedly provided at the other end of the first telescopic rod (205) and the first spring (206). A traveling wheel (207) is rotatably provided on the installation part (204). A first motor is fixedly provided on the installation part (204).

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