Patrol quadruped robot

Abstract

The inspection quadruped robot comprises a box body assembly, a walking foot assembly and an inspection assembly, the box body assembly comprises a box body, an upper box plate, a lower box plate, a first box door, a handle and a first magnetic ring, the upper box plate is installed on the upper side surface of the box body, the lower box plate is installed on the lower side surface of the box body, and the first magnetic ring is installed on the upper side surface of the upper box plate; a first box door is installed on the surface of the front side of the box body, and a handle is installed on the edge of the right side of the surface of the upper side of the box body. The walking foot assembly can flexibly adapt to various complex terrains through hinge structures among the first walking foot support, the second walking foot support and the third walking foot support, the posture and the position of the walking foot can be adjusted through cooperative movement of all joints regardless of bumpy mountain roads, high-low staggered steps, soft sand and the like, and therefore the walking foot assembly is suitable for various complex terrains. And stable walking of the robot is ensured.

Description

Technical Field

[0001] The utility model belongs to the field of inspection equipment, and particularly relates to an inspection quadruped robot. Background Art

[0002] The inspection quadruped robot is a robot specially used for inspection tasks. At present, the inspection quadruped robot has some disadvantages. First of all, since there is no protective shell outside the inspection component, it is easily affected by external environmental factors during the inspection process. For example, dust, water vapor, etc. may enter the inspection component, affecting its normal working performance and accuracy, and even may cause failures. The main reason for this situation may be that when designing, in order to reduce weight, cost or improve flexibility, etc., the independent protective shell for the inspection component is not considered. For this shortcoming, the conventional countermeasure may be to strengthen the overall sealing of the robot, but this will bring disadvantages. On the one hand, it may affect the heat dissipation performance of the robot, resulting in too high internal temperature and affecting the life and stability of electronic components; on the other hand, excessive pursuit of sealing may increase the manufacturing difficulty and cost, and in actual use, if there is a poor sealing situation, it is still unable to effectively protect the inspection component. At the same time, strengthening the overall sealing may limit the maintainability of the robot. Once a failure occurs, the repair difficulty increases, so a new structure needs to be proposed to solve the above technical problems. Content of the Utility Model

[0003] Aiming at the deficiencies of the prior art, the purpose of the utility model is to provide an inspection quadruped robot to solve the problems put forward in the above background art.

[0004] The utility model is realized by the following technical solutions: An inspection quadruped robot, comprising: a box body component, a walking leg component and an inspection component. The box body component includes: a box body, an upper box plate, a lower box plate, a first box door, a handle and a first magnetic ring. The upper side surface of the box body is provided with the upper box plate, the lower side surface of the box body is provided with the lower box plate, the upper side surface of the upper box plate is provided with the first magnetic ring, the front side surface of the box body is provided with the first box door, the right edge of the upper side surface of the box body is provided with the handle, the upper side surface of the upper box plate is provided with the inspection component. The inspection component includes: an inspection camera, a first support, a second support and a driving motor. The first support and the second support are hinged, the rear side surface of the hinged part of the first support and the second support is provided with the driving motor, the end of the second support far away from the first support is provided with the inspection camera, and the outer side surface of the inspection component is magnetically adsorbed and installed with a protective shell component. The front side surface and the rear side surface of the box body are respectively and symmetrically and electrically installed with two walking leg components.

[0005] As a preferred embodiment, the walking leg assembly includes: a first walking leg bracket, a second walking leg bracket, and a third walking leg bracket. There is a hinge between the first walking leg bracket and the second walking leg bracket for the third walking leg bracket. An electric push rod is installed between the third walking leg bracket and the second walking leg bracket. The second walking leg bracket is electrically connected to the motor inside the box body. A circuit control module, a power supply module, and a signal module are installed inside the box body. When in use, the hinge structure among the first walking leg bracket, the second walking leg bracket, and the third walking leg bracket enables the walking leg assembly to flexibly adapt to various complex terrains. Whether it is a rough mountain road, uneven steps, or soft sand, etc., through the coordinated movement of each joint, the posture and position of the walking legs can be adjusted to ensure that the robot can walk stably.

[0006] As a preferred embodiment, two second walking leg brackets are symmetrically and evenly installed on the front and rear side surfaces of the box body respectively. A first box door is symmetrically and dampingly hinged at the center position of the front and rear side surfaces of the box body respectively. One end of the first walking leg bracket away from the box body abuts against the ground.

[0007] As a preferred embodiment, a first magnetic ring is installed on the outer edge of the upper side surface of the upper box plate. The protective housing assembly includes: a protective housing body, a fixing plate, a second magnetic ring, a box door two, a signal antenna, and an observation window. A fixing plate is integrally formed on the lower edge of the outer surface of the protective housing body. A second magnetic ring is installed on the lower side surface of the fixing plate.

[0008] As a preferred embodiment, a box door two is hinged on the front side surface of the protective housing body. An observation window is provided on the front side surface of the protective housing body. A signal antenna is installed on the upper side surface of the protective housing body. The protective housing body is magnetically installed on the upper side surface of the upper box plate through the second magnetic ring and the first magnetic ring. The inspection assembly is arranged inside the protective housing body. When in use, the protective housing body can provide effective physical protection for the inspection assembly of the four-legged inspection robot. During the inspection process, the robot may encounter various collisions, scratches, and impacts. The protective housing body can prevent external objects from directly damaging the inspection assembly.

[0009] As a preferred embodiment, the walking leg assembly and the signal antenna are both connected to the circuit control module, the power supply module, and the signal module inside the box body through wires. The two walking leg assemblies on the right side of the box body have the same structure. The two walking leg assemblies on the left side of the box body have the same structure. The four walking leg assemblies are connected in parallel.

[0010] After adopting the above technical solution, the beneficial effects of the present utility model are as follows: By setting up the foot walking assembly, two foot walking assemblies are symmetrically and electrically installed on the front and rear surfaces of the box body respectively. The foot walking assembly includes: a foot walking bracket one, a foot walking bracket two, and a foot walking bracket three. A foot walking bracket three is hinged between the foot walking bracket one and the foot walking bracket two, and an electric push rod is installed between the foot walking bracket three and the foot walking bracket two. When in use, the hinged structure among the foot walking bracket one, the foot walking bracket two, and the foot walking bracket three enables the foot walking assembly to flexibly adapt to various complex terrains. Whether it is a rough mountain road, uneven steps, or soft sand, etc., the coordinated movement of each joint can adjust the posture and position of the foot walking to ensure that the robot can walk stably.

[0011] By setting up the protective housing assembly, the protective housing assembly includes: a protective housing body, a fixing plate, a magnetic ring two, a box door two, a signal antenna, and an observation window. The protective housing body is magnetically installed on the upper surface of the upper box plate through the magnetic ring two and the magnetic ring one. The inspection assembly is arranged inside the protective housing body. When in use, the protective housing body can provide effective physical protection for the inspection assembly of the four-legged inspection robot. During the inspection process, the robot may encounter various collisions, scratches, and impacts. The protective housing body can prevent external objects from directly damaging the inspection assembly. At the same time, the protective housing body is installed by the magnetic attraction method of the magnetic ring one and the magnetic ring two, making the installation and disassembly process very simple and fast. When it is necessary to maintain or repair the inspection assembly, the protective housing can be easily removed, facilitating the operator to inspect and repair the inspection assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0013] Figure 1 It is a schematic diagram of the overall structure of a four-legged inspection robot of the present utility model.

[0014] Figure 2 It is a schematic diagram of the protective housing assembly of a four-legged inspection robot of the present utility model.

[0015] In the figure, 100 - box body, 110 - upper box plate, 111 - magnetic ring one, 120 - lower box plate, 130 - box door one, 140 - handle;

[0016] Foot walking bracket one, 210 - foot walking bracket two, 220 - electric push rod, 230 - foot walking bracket three;

[0017] 300 - Support One, 310 - Support Two, 320 - Inspection Camera;

[0018] 400 - Protective Housing Body, 410 - Fixed Plate, 420 - Magnetic Ring One, 430 - Second Door, 440 - Signal Antenna, 450 - Observation Window. Detailed Implementation Manner

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0020] Please refer to Figures 1 to 2 , the present utility model provides a technical solution: an inspection quadruped robot, including: a box body assembly, a walking foot assembly, and an inspection assembly. The box body assembly includes: a box body 100, an upper box plate 110, a lower box plate 120, a first door 130, a handle 140, and a magnetic ring one 111. The upper side surface of the box body 100 is installed with an upper box plate 110, the lower side surface of the box body 100 is installed with a lower box plate 120, the upper side surface of the upper box plate 110 is installed with a magnetic ring one 111, the front side surface of the box body 100 is installed with a first door 130, the right edge of the upper side surface of the box body 100 is installed with a handle 140, and the upper side surface of the upper box plate 110 is installed with an inspection assembly. The inspection assembly includes: an inspection camera 320, a support one 300, a support two 310, and a driving motor. The support one 300 is hinged to the support two 310, and a driving motor is installed on the rear side surface of the hinge joint of the support one 300 and the support two 310. One end of the support two 310 away from the support one 300 is installed with an inspection camera 320. The outer surface of the inspection assembly is magnetically adsorbed and installed with a protective housing assembly. Two walking foot assemblies are symmetrically and electrically installed on the front side surface and the rear side surface of the box body 100 respectively.

[0021] Please refer to Figures 1 to 2 , as the first embodiment of the present utility model: the walking foot assembly includes: a walking foot support one 200, a walking foot support two 210, and a walking foot support three 230. A walking foot support three 230 is hinged between the walking foot support one 200 and the walking foot support two 210. An electric push rod 220 is installed between the walking foot support three 230 and the walking foot support two 210. The walking foot support two 210 is electrically connected to the motor inside the box body 100. A circuit control module, a power module, and a signal module are installed inside the box body 100;

[0022] On the front and rear surfaces of the box body 100, two walking foot brackets two 210 are symmetrically and evenly installed. At the central positions of the front and rear surfaces of the box body 100, a box door one 130 is symmetrically and dampingly hinged respectively. One end of the walking foot bracket one 200 away from the box body 100 abuts against the ground;

[0023] When in use, the hinge structures among the walking foot bracket one 200, the walking foot bracket two 210, and the walking foot bracket three 230 enable the walking foot assembly to flexibly adapt to various complex terrains. Whether it is a rough mountain road, uneven steps, or soft sand, etc., through the coordinated movement of each joint, the posture and position of the walking foot can be adjusted to ensure that the robot can walk stably. And the electric push rod 220 can accurately control the angle between the walking foot bracket three 230 and the walking foot bracket two 210, thereby changing the span and height of the walking foot. This enables the robot to adjust according to different terrains and obstacle heights, improving the passing ability of the robot in different environments (the circuit control module, power module, signal module, and inspection assembly inside the box body 100 are all prior arts, and their working principles and structures will not be elaborated here. As for how to control the four walking foot assemblies to walk, it is adjusted according to the actual situation and will not be elaborated here).

[0024] Please refer to Figures 1 to 2 , as the second embodiment of the present utility model: A magnetic ring one 111 is installed on the outer edge of the upper side surface of the upper box plate 110. The protective housing assembly includes: a protective housing body 400, a fixing plate 410, a magnetic ring two 420, a box door two 430, a signal antenna 440, and an observation window 450. A fixing plate 410 is integrally formed on the lower edge of the outer side surface of the protective housing body 400, and a magnetic ring two 420 is installed on the lower side surface of the fixing plate 410;

[0025] A box door two 430 is hinged on the front side surface of the protective housing body 400. An observation window 450 is provided on the front side surface of the protective housing body 400. A signal antenna 440 is installed on the upper side surface of the protective housing body 400. The protective housing body 400 is magnetically adsorbed and installed on the upper side surface of the upper box plate 110 through the magnetic ring two 420 and the magnetic ring one 111. The inspection assembly is arranged inside the protective housing body 400;

[0026] The walking foot assembly and the signal antenna 440 are both connected to the circuit control module, power module, and signal module inside the box body 100 through wires. The two walking foot assemblies on the right side of the box body 100 have the same structure, and the two walking foot assemblies on the left side of the box body 100 have the same structure. The four walking foot assemblies are connected in parallel;

[0027] When in use, when the inspection component is in use, the user can adjust the angles of the first support 300 and the second support 310 by starting the drive motor at the hinge joint of the first support 300 and the second support 310, so as to adjust the inspection angle of the inspection camera 320 at the front end of the second support 310. After the adjustment is completed, the user can take the protective housing body 400 and magnetically fix it on the upper surface of the upper box plate 110 through the fixing plate 410, the first magnetic ring 111 and the second magnetic ring 420, so as to cover the inspection component for protection. The inspection camera 320 can perform inspection operations through the observation window 450 on the front surface of the protective housing body 400. When the inspection camera 320 is inspecting, it will transmit the picture to the computer device through the signal antenna 440 for the user to view (the inspection camera 320 and the signal antenna 440 are both prior arts, and their specific working principles and signal connection and transmission principles need to be adjusted according to the actual situation and will not be elaborated here). Since during use, the protective housing body 400 can provide effective physical protection for the inspection component of the inspection quadruped robot. During the inspection process, the robot may encounter various collisions, scratches and impacts. The protective housing body 400 can prevent external objects from directly damaging the inspection component. At the same time, the protective housing body 400 is installed by the magnetic attraction of the first magnetic ring 111 and the second magnetic ring 420, making the installation and disassembly process very simple and fast. When maintenance or repair of the inspection component is required, the protective housing can be easily removed, facilitating the operator to inspect and repair the inspection component.

[0028] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A patrol quadruped robot, comprising: A box assembly, a walking foot assembly and an inspection assembly, characterized in that the box assembly comprises: a box (100), an upper box plate (110), a lower box plate (120), a box door (130), a handle (140) and a magnetic ring (111), and the upper box plate (110) is installed on the upper surface of the box (100); A lower box plate (120) is installed on the lower surface of the box body (100), a magnetic ring (111) is installed on the upper surface of the upper box plate (110), a box door (130) is installed on the front surface of the box body (100), a handle (140) is installed on the right edge of the upper surface of the box body (100), and an inspection component is installed on the upper surface of the upper box plate (110); The inspection component comprises: an inspection camera (320), a bracket one (300), a bracket two (310) and a drive motor, wherein the bracket one (300) is hingedly connected to the bracket two (310), and the drive motor is installed on the rear surface of the hinge between the bracket one (300) and the bracket two (310), and the inspection camera (320) is installed on the end of the bracket two (310) away from the bracket one (300), and a protective shell component is magnetically installed on the outer surface of the inspection component, and two walking foot components are symmetrically electrically installed on the front surface and the rear surface of the box body (100).

2. The inspection quadruped robot according to claim 1, characterized in that: The walking foot assembly comprises: a walking foot bracket 1 (200), a walking foot bracket 2 (210) and a walking foot bracket 3 (230); the walking foot bracket 3 (230) is hinged between the walking foot bracket 1 (200) and the walking foot bracket 2 (210); an electric push rod (220) is installed between the walking foot bracket 3 (230) and the walking foot bracket 2 (210); the walking foot bracket 2 (210) is electrically connected to a motor inside a box (100); and a circuit control module, a power supply module and a signal module are installed inside the box (100).

3. The inspection quadruped robot according to claim 2, characterized in that: Two foot supports (210) are symmetrically and evenly mounted on the front and rear surfaces of the box body (100), and a box door (130) is symmetrically damped and hinged at the center of the front and rear surfaces of the box body (100), and one end of the foot support (200) away from the box body (100) is in contact with the ground.

4. The inspection quadruped robot according to claim 3, characterized in that: A magnetic ring 1 (111) is installed on the outer edge of the upper surface of the upper box plate (110), and the protective shell assembly includes: a protective shell body (400), a fixing plate (410), a magnetic ring 2 (420), a box door 2 (430), a signal antenna (440) and an observation window (450). The lower edge of the outer surface of the protective shell body (400) is integrally formed with a fixing plate (410), and the lower surface of the fixing plate (410) is installed with a magnetic ring 2 (420).

5. The inspection quadruped robot according to claim 4, characterized in that: The front side surface of the protective shell body (400) is hinged with a second box door (430), the front side surface of the protective shell body (400) is provided with an observation window (450), the upper side surface of the protective shell body (400) is installed with a signal antenna (440), the protective shell body (400) is magnetically mounted on the upper side surface of the upper box plate (110) through a second magnetic ring (420) and a first magnetic ring (111), and the inspection component is arranged inside the protective shell body (400).

6. The inspection quadruped robot according to claim 5, characterized in that: The walking foot assembly and the signal antenna (440) are connected to the circuit control module, the power module and the signal module inside the box (100) via wires; the two walking foot assemblies on the right side of the box (100) have the same structure; the two walking foot assemblies on the left side of the box (100) have the same structure; and the four walking foot assemblies are arranged in parallel.

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