Walking structure of four-footed inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses a four-footed inspection robot walking structure which comprises four big arms and four small arms which are installed at the four corners of a robot dog body, the front end of the robot dog body is fixedly connected with a detection head, and the ends, away from the big arms, of the four small arms are all connected with steering mechanisms. The other ends of the four steering mechanisms are all connected with supporting rods, the other ends of the four supporting rods are all connected with moving mechanisms, and the output ends of the four moving mechanisms are all connected with moving wheels. According to the walking structure of the four-footed inspection robot, the steering mechanisms are arranged below the four small arms of the robot dog body, the robot dog body is connected with the moving mechanism through the steering mechanisms, and the moving wheels are controlled to rotate through the moving mechanism, so that when the robot dog body performs inspection tasks on some flat ground, the moving wheels can be controlled to rotate through the steering mechanisms and the moving mechanism; and the mobile wheels can roll on the ground, so that the purpose of rapid movement is achieved, and the inspection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a walking structure of a four-legged inspection robot. Background Art

[0002] A quadruped inspection robot is an intelligent robot designed to imitate the four-legged walking mode of animals. It is mainly used to perform inspection tasks in specific areas or specific facilities. Quadruped inspection robots are also commonly called robot dogs because they are designed to imitate the four-legged walking mode of canine animals. They are usually equipped with a series of advanced sensors, cameras, data analysis software and other professional detection equipment. They can replace manual labor to perform safe and efficient inspections in environments that are difficult for humans to reach or dangerous.

[0003] The patent with the announcement number CN218564891U discloses a four-legged robot dog inspection system, including a bracket, a connecting block is fixedly connected to the middle side of the upper part of the bracket, a movable block is rotatably connected to the middle part of the connecting block, a stepper motor is fixedly connected to the right side of the right connecting block, the right side of the movable block is fixedly connected to the left output end of the stepper motor, a servo motor is fixedly connected to the middle side of the movable block, a frame is fixedly connected to the upper output end of the servo motor, a camera is arranged at the front of the frame, a mounting plate is fixedly connected to the rear of the camera, a fixed block is fixedly connected to the right side of the frame, and a button is slidably connected to the inner side of the upper part of the fixed block. In this device, through the cooperation of the button, the movable rod, the clamping rod, the spring, the limit block, the limit slot and the mounting plate, the four-legged robot dog inspection system can be conveniently removed from the robot dog and conveniently installed on the robot dog.

[0004] However, the above-mentioned four-legged robot dog still has the following problems:

[0005] Most of the current four-legged robot dogs walk by imitating the way dogs walk, but they cannot imitate the running of dogs. They can only move at the speed of ordinary walking. This results in a slow overall movement speed when performing inspection tasks on flat ground, which in turn leads to a long inspection cycle and is relatively inconvenient. Utility Model Content

[0006] In view of the shortcomings of the prior art, the utility model provides a walking structure of a four-legged inspection robot. When the robot dog body performs inspection tasks on some flat ground, the rotation of the moving wheels can be controlled by the steering mechanism and the moving mechanism, and then the moving wheels can be rolled on the ground, thereby achieving the purpose of rapid movement, thereby improving the inspection efficiency.

[0007] The utility model provides the following technical solutions: a walking structure of a four-legged inspection robot, comprising four large arms installed at the four corners of a robot dog body and four small arms installed at the lower ends of the four large arms, a detection head is fixedly connected to the front end of the robot dog body, one end of the four small arms away from the large arms is connected to a steering mechanism, the other ends of the four steering mechanisms are connected to a support rod, the other ends of the four support rods are connected to a moving mechanism, and the output ends of the four moving mechanisms are connected to moving wheels.

[0008] Furthermore, the steering mechanism includes a steering motor and an L-shaped plate, the outer wall of the steering motor is connected to the forearm, the output shaft of the steering motor is fixedly connected to the upper surface of the L-shaped plate, and the inner wall of the other end of the L-shaped plate is sleeved on the outer wall of the support rod and fixedly connected to the outer wall of the support rod.

[0009] Furthermore, a motor cavity is provided on one side of the forearm away from the upper arm, and the outer wall of the steering motor is fixedly connected to the inner wall of the motor cavity.

[0010] Furthermore, an indicator arrow is fixedly connected to the outer wall of the steering motor away from the robot dog body, and an indicator scale line is opened on the upper surface of the L-shaped plate, and the arrow of the indicator arrow is matched and aligned with the indicator scale line.

[0011] Furthermore, the moving mechanism includes a moving motor and a transmission rod, the outer wall of the moving motor is fixedly connected to one end of the support rod away from the L-shaped plate, the output shaft of the moving motor is fixedly connected to one end of the transmission rod, and the other end of the transmission rod is connected to the moving wheel.

[0012] Furthermore, one end of the transmission rod away from the moving motor passes through the moving wheel and is rotatably connected to a detachable plate, and the upper end of the detachable plate is connected to the L-shaped plate.

[0013] Furthermore, the upper end of the detachable plate is fastened to the L-shaped plate by a plurality of bolts.

[0014] Furthermore, a plurality of clamping strips are fixedly connected to the outer wall of the transmission rod, a plurality of clamping slots are provided on the inner wall of the moving wheel, and the outer walls of the plurality of clamping strips are slidably connected to the inner walls of the plurality of clamping slots respectively.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The walking structure of the four-legged inspection robot is achieved by arranging a steering mechanism under the four small arms of the robot dog body, connecting the moving mechanism through the steering mechanism, and then controlling the rotation of the moving wheels through the moving mechanism. When the robot dog body performs inspection tasks on some flat ground, the rotation of the moving wheels can be controlled by the steering mechanism and the moving mechanism, and then the moving wheels can be rolled on the ground, thereby achieving the purpose of rapid movement, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0018] Figure 2 It is a detailed connection diagram of the upper arm, lower arm and moving wheel and other components in the utility model;

[0019] Figure 3 It is an exploded schematic diagram of the upper arm, lower arm and moving wheel and other components in the utility model;

[0020] Figure 4 It is an exploded schematic diagram of the steering mechanism, moving mechanism, moving wheels and other components in the utility model;

[0021] Figure 5 This is an exploded schematic diagram of the steering mechanism, moving mechanism, moving wheels and other components in the utility model from another perspective.

[0022] In the figure: 1. Robot dog body; 2. Detection head; 3. Upper arm; 4. Lower arm; 5. L-shaped plate; 6. Steering motor; 7. Moving wheel; 8. Removable plate; 9. Indicator arrow; 10. Moving motor; 11. Transmission rod; 12. Card bar; 13. Support rod; 401. Motor cavity; 701. Card slot; 801. Indicator scale line. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0024] See also Figure 1-Figure 5 A walking structure of a four-legged inspection robot includes four large arms 3 installed at the four corners of a robot dog body 1 and four small arms 4 installed at the lower ends of the four large arms 3. The front end of the robot dog body 1 is fixedly connected to a detection head 2, and the ends of the four small arms 4 away from the large arms 3 are connected to steering mechanisms, and the other ends of the four steering mechanisms are connected to support rods 13, and the other ends of the four support rods 13 are connected to moving mechanisms, and the output ends of the four moving mechanisms are connected to moving wheels 7.

[0025] The walking structure of a four-legged inspection robot in the utility model is similar to the existing four-legged inspection robot structure, such as a four-legged robot dog inspection system disclosed in the patent with announcement number CN218564891U. Figures 1 to 5As shown, when the walking structure of the four-legged inspection robot in the utility model performs inspection tasks on some flat ground, the rotation of the moving wheels 7 can be controlled by the steering mechanism and the moving mechanism, and then the moving wheels 7 can be rolled on the ground, so as to achieve the purpose of rapid movement, thereby improving the inspection efficiency. If the robot dog body 1 needs to climb or walk on some relatively rugged ground, after being detected by the detection head 2, the internal processor determines the suitable walking mode, and then locks the steering mechanism and the moving mechanism through the controller, so that the robot dog body 1 can walk in the normal form of "dog", so as to adapt to different road surfaces. It should be specially noted here that the above-mentioned detection head 2, upper arm 3, lower arm 4, internal processor and controller of the robot dog body 1 are all existing technologies, so they are not described in detail.

[0026] Please refer to Figure 1-Figure 5 The steering mechanism includes a steering motor 6 and an L-shaped plate 5. The outer wall of the steering motor 6 is connected to the small arm 4. The output shaft of the steering motor 6 is fixedly connected to the upper surface of the L-shaped plate 5. The inner wall of the other end of the L-shaped plate 5 is sleeved on the outer wall of the support rod 13 and fixedly connected to the outer wall of the support rod 13.

[0027] More specifically, when the robot dog body 1 is walking normally on the moving wheels 7, when the detection head 2 detects an obstacle in front, the steering motor 6 is started by the internal controller of the robot dog body 1. After the steering motor 6 is started, the output shaft drives the L-shaped plate 5 to rotate, and then the support rod 13 located inside the L-shaped plate 5 can be rotated together. The rotation of the support rod 13 will drive the moving mechanism and the moving wheels 7 to rotate, thereby achieving the purpose of rapid steering of the robot dog body 1.

[0028] Please refer to Figure 3 A motor cavity 401 is provided on one side of the forearm 4 away from the upper arm 3 , and the outer wall of the steering motor 6 is fixedly connected to the inner wall of the motor cavity 401 .

[0029] More specifically, by setting the motor cavity 401, not only the connectivity between the steering motor 6 and the forearm 4 can be improved, but also the external space occupied by the steering motor 6 can be reduced.

[0030] Please refer to Figure 2-Figure 4 An indicator arrow 9 is fixedly connected to the outer wall of the steering motor 6 away from the robot dog body 1 , and an indicator scale line 801 is opened on the upper surface of the L-shaped plate 5 , and the arrow of the indicator arrow 9 is matched and aligned with the indicator scale line 801 .

[0031] More specifically, because the robot dog body 1 itself has a certain weight, and the robot dog body 1 is likely to carry some other heavy objects that need to be transported to a specific location during the inspection, and the moving wheels 7 of the robot dog body 1 will continue to contact the ground during the movement, over time, it is likely to cause the moving wheels 7 to be slightly offset, thereby causing the four moving wheels 7 of the robot dog body 1 to be uneven. In order to ensure the normal movement of the robot dog body 1, by setting the indicator arrow 9 and the indicator scale line 801, after the inspection of the robot dog body 1 is completed, the maintenance personnel can check whether the indicator arrow 9 and the indicator scale line 801 are aligned. If not, they can be aligned by manual or electric adjustment, thereby making the maintenance of the robot dog body 1 faster and more convenient.

[0032] Please refer to Figure 4 and Figure 5 The moving mechanism includes a moving motor 10 and a transmission rod 11. The outer wall of the moving motor 10 is fixedly connected to one end of the support rod 13 away from the L-shaped plate 5. The output shaft of the moving motor 10 is fixedly connected to one end of the transmission rod 11. The other end of the transmission rod 11 is connected to the moving wheel 7.

[0033] More specifically, when controlling the movement of the robot dog body 1 on a rainy day, it is only necessary to turn on the switch of the moving motor 10 through the internal controller of the robot dog body 1. After the moving motor 10 is started, the output shaft drives the transmission rod 11 to rotate. After the transmission rod 11 rotates, it can drive the moving wheels 7 mounted on the surface to rotate, thereby realizing the walking of the robot dog body 1.

[0034] Please refer to Figure 1-Figure 5 One end of the transmission rod 11 away from the moving motor 10 passes through the moving wheel 7 and is rotatably connected to the detachable plate 8, and the upper end of the detachable plate 8 is connected to the L-shaped plate 5.

[0035] More specifically, by providing the detachable plate 8, the side of the moving wheel 7 away from the L-shaped plate 5 can be shielded to prevent the moving wheel 7 from falling therefrom.

[0036] Please refer to Figure 3-Figure 5 The upper end of the removable plate 8 is fastened to the L-shaped plate 5 by a plurality of bolts.

[0037] More specifically, by fastening the connection with bolts, when the moving wheel 7 is used for a period of time and becomes worn to a point that affects the normal walking of the robot dog body 1, the detachable plate 8 can be removed by bolts, and the moving wheel 7 can be replaced.

[0038] Please refer to Figure 4 and Figure 5The outer wall of the transmission rod 11 is fixedly connected with a plurality of clamping strips 12 , the inner wall of the moving wheel 7 is provided with a plurality of clamping grooves 701 , and the outer walls of the plurality of clamping strips 12 are slidably connected with the inner walls of the plurality of clamping grooves 701 .

[0039] More specifically, by providing the card strip 12 and the card slot 701, not only can the moving wheel 7 rotate along with the transmission rod 11, but also when the moving wheel 7 needs to be replaced, the moving wheel 7 can be directly removed after removing the removable plate 8, which is more convenient and quick.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A walking structure of a four-legged inspection robot, comprising four large arms (3) installed at the four corners of a robot dog body (1) and four small arms (4) installed at the lower ends of the four large arms (3), a detection head (2) is fixedly connected to the front end of the robot dog body (1), Features: One end of each of the four small arms (4) away from the large arm (3) is connected to a steering mechanism, the other ends of each of the four steering mechanisms are connected to a support rod (13), the other ends of each of the four support rods (13) are connected to a moving mechanism, and the output ends of each of the four moving mechanisms are connected to a moving wheel (7).

2. A walking structure of a quadruped inspection robot according to claim 1, Features: The steering mechanism comprises a steering motor (6) and an L-shaped plate (5); the outer wall of the steering motor (6) is connected to the small arm (4); the output shaft of the steering motor (6) is fixedly connected to the upper surface of the L-shaped plate (5); the inner wall of the other end of the L-shaped plate (5) is sleeved on the outer wall of the support rod (13) and fixedly connected to the outer wall of the support rod (13).

3. A walking structure of a quadruped inspection robot according to claim 2, Features: A motor cavity (401) is provided on one side of the small arm (4) away from the large arm (3), and the outer wall of the steering motor (6) is fixedly connected to the inner wall of the motor cavity (401).

4. A walking structure of a quadruped inspection robot according to claim 2 or 3, Features: An indication arrow (9) is fixedly connected to the outer wall of the steering motor (6) on the side away from the robot dog body (1), and an indication scale line (801) is provided on the upper surface of the L-shaped plate (5), and the arrow of the indication arrow (9) is matched and aligned with the indication scale line (801).

5. A walking structure of a quadruped inspection robot according to claim 2 or 3, Features: The moving mechanism comprises a moving motor (10) and a transmission rod (11); the outer wall of the moving motor (10) is fixedly connected to one end of the support rod (13) away from the L-shaped plate (5); the output shaft of the moving motor (10) is fixedly connected to one end of the transmission rod (11); and the other end of the transmission rod (11) is connected to the moving wheel (7).

6. The walking structure of a quadruped inspection robot according to claim 5, Features: One end of the transmission rod (11) away from the moving motor (10) penetrates the moving wheel (7) and is rotatably connected to a detachable plate (8), and the upper end of the detachable plate (8) is connected to the L-shaped plate (5).

7. The walking structure of a quadruped inspection robot according to claim 6, Features: The upper end of the detachable plate (8) is fastened to the L-shaped plate (5) by a plurality of bolts.

8. The walking structure of a quadruped inspection robot according to claim 5, Features: The outer wall of the transmission rod (11) is fixedly connected with a plurality of clamping strips (12), the inner wall of the moving wheel (7) is provided with a plurality of clamping grooves (701), and the outer walls of the plurality of clamping strips (12) are respectively slidably connected with the inner walls of the plurality of clamping grooves (701).

9. A walking structure of a quadruped inspection robot according to claim 6 or 7, Features: The outer wall of the transmission rod (11) is fixedly connected with a plurality of clamping strips (12), the inner wall of the moving wheel (7) is provided with a plurality of clamping grooves (701), and the outer walls of the plurality of clamping strips (12) are respectively slidably connected with the inner walls of the plurality of clamping grooves (701).

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