Quadruped robot

Abstract

The utility model discloses a quadruped robot which comprises a robot body, four mechanical legs used for driving the robot body to move are arranged on the outer side of the robot body, a radar is fixedly installed at the upper end of the robot body, and an infrared monitor is fixedly installed on the front side of the upper end of the robot body. A probe is fixedly mounted on the front side of the robot body, and mounting shells are fixedly mounted at the positions, corresponding to the four mechanical legs, of the outer side of the robot body. The rope winding column is driven by the micro servo motor to rotate, the swing block is controlled to swing through winding and unwinding by means of the two traction ropes wound in the spiral rope winding groove in the rope winding column in a mirroring mode, then the mechanical legs are driven to swing, and the winding and unwinding scale of the traction ropes is accurately controlled according to the number of turns of rotation of the rope winding column. Therefore, the swing range of the mechanical legs is precisely controlled, and the problems that an existing quadruped robot is low in walking precision due to transmission structure defects and difficult to meet the operation requirements of complex scenes are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a quadruped robot. Background Art

[0002] Quadruped robots are widely used in scenarios such as power stations, pipe galleries, power plants, and industrial parks due to their good terrain adaptability and flexible mobility, and are responsible for tasks such as equipment inspection and data collection. To meet the high-precision operation requirements in complex environments, the motion control accuracy of quadruped robots is crucial, and the transmission structure of their mechanical legs directly affects the accuracy of movement.

[0003] Existing quadruped robots often use gear transmission to control the swing of the robotic arm to achieve the movement of the robot. In this transmission method, the gears rely on the meshing of the teeth to transmit power and motion. However, due to manufacturing process limitations and wear during long-term use, there must be tooth gaps between the gears. During the movement of the robot, when the direction of power transmission changes, the driving gear needs to first eliminate the tooth gap between it and the driven gear before it can drive the driven gear to rotate, which results in deviations in the starting position and swing angle of the robotic arm. For example, when performing precise inspection tasks on equipment in a power station, the robot needs to accurately stay at the designated position of the equipment for inspection. However, due to the tooth gap problem of gear transmission, it is difficult to accurately control the swing position of the mechanical leg, and the robot cannot accurately reach the target position, resulting in situations such as deviation and omission of inspection data, and cannot meet the requirements of high-precision movement in actual operations. In addition, this problem of insufficient accuracy will also reduce the operation efficiency of the robot, increase the number of repeated operations, and affect the overall progress of the work.

[0004] Therefore, the utility model provides a quadruped robot to solve the problems mentioned above. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a quadruped robot to solve the problems mentioned in the above background art.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A quadruped robot, comprising a robot body. Four mechanical legs for driving the robot body to move are arranged on the outer side of the robot body. A radar is fixedly installed at the upper end of the robot body. An infrared monitor is fixedly installed on the front side of the upper end of the robot body. A probe is fixedly installed on the front side of the robot body. Installation shells are fixedly installed at the positions corresponding to the four mechanical legs on the outer side of the robot body. An installation disk is fixedly installed on one side wall surface of the installation shell close to the robot body. A support column is fixedly installed on the side wall surface of the installation disk far from the robot body. A swing block is movably connected to the side of the support column far from the robot body through a bearing. One side wall surface of the mechanical leg adjacent to the corresponding swing block is fixedly connected. A micro servo motor is fixedly installed on the side wall surface of the installation disk far from the robot body and above the support column. A winding column is fixedly connected to the output end of the micro servo motor. A traction mechanism for driving the mechanical leg to swing is arranged on the winding column. A first groove is formed on the side wall surface of the winding column far from the robot body. A detection mechanism for detecting the traction mechanism is arranged inside the first groove. An adjustment mechanism for adjusting the traction mechanism is arranged inside the first groove.

[0008] Preferably, the traction mechanism includes a winding groove and a traction rope. A winding groove is formed on the outer wall surface of the winding column. The winding groove is a spiral groove. Two traction ropes are wound mirror-symmetrically inside the winding groove. The two traction ropes do not contact each other, and one ends of the two traction ropes close to each other are fixedly installed inside the winding groove through screws. The other ends of the two traction ropes away from each other are respectively fixedly connected to both sides of the outer wall surface of the swing block.

[0009] Preferably, the detection mechanism includes a connecting column, a movable sleeve, a pressing block, a second groove, a tension spring and an observation piece. The connecting column is fixedly connected to one side wall surface of the first groove close to the robot body. The movable sleeve is movably sleeved on the connecting column. A second groove is formed at one end of the movable sleeve close to the robot body. A tension spring is fixedly connected inside the second groove. The free end of the tension spring is fixedly connected to one side wall surface of the first groove close to the robot body, and the tension spring is movably clamped on the connecting column. Both the connecting column and the movable sleeve extend to the outside of the winding column, and an observation piece is fixedly connected to the outer wall surface of the connecting column. The observation piece is attached to one side wall surface of the movable sleeve away from the robot body.

[0010] Preferably, the detection mechanism further includes a pressing block and a pressing groove. Two first through holes are symmetrically formed in the outer wall surface of the rope winding column. Pressing blocks are movably clamped inside both of the two first through holes. The outer side wall surfaces of the two pressing blocks away from each other are arc-shaped surfaces. Pressing grooves are formed in the outer wall surface of the movable sleeve corresponding to the positions of the two pressing blocks. The pressing groove is a groove with a V-shaped cross-section, and the inclined surface inside the pressing groove corresponds to the upper and lower sides of the side of the pressing block away from the robot body.

[0011] Preferably, clamping blocks are fixedly connected to both sides of the outer wall surface of the pressing block. Two clamping grooves are formed in the inner wall surface of the first through hole corresponding to the positions of the two clamping blocks on the pressing block. The clamping blocks are movably clamped inside the corresponding clamping grooves.

[0012] Preferably, the adjusting mechanism includes a threaded rod, a nut, a movable ring, a second through hole, an L-shaped ejector rod, and an auxiliary groove. A third groove is formed in the side wall surface of the connecting column away from the robot body. A threaded rod is movably installed through a bearing on the side wall surface of the third groove close to the robot body. One end of the threaded rod away from the robot body extends to the outside of the connecting column. A nut is threadedly connected to the threaded rod. Two second through holes are symmetrically formed in the outer wall surface of the connecting column corresponding to the position of the nut. One side wall surface of the nut close to the robot body is movably connected through a bearing to a rotatable movable ring. Two L-shaped ejector rods are fixedly connected to the outer wall surface of the movable ring corresponding to the positions of the two second through holes. Two auxiliary grooves are formed in the inner wall surface of the movable sleeve corresponding to the positions of the two L-shaped ejector rods.

[0013] Preferably, both of the two L-shaped ejector rods extend to the outside of the connecting column and are located inside the corresponding auxiliary grooves.

[0014] Preferably, an arc-shaped movable hole is formed in the outer wall surface of the mechanical leg corresponding to the position of the connecting column. The connecting column penetrates through the inside of the corresponding arc-shaped movable hole and extends to the outside of the mechanical leg.

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

[0016] 1. The traction mechanism composed of a micro servo motor, a rope winding column, a rope winding groove, a traction rope and other structures in the utility model drives the mechanical leg to swing, realizing precise control of the movement position of the robot body. The micro servo motor drives the rope winding column to rotate. By using two traction ropes mirror-wound in the spiral rope winding groove on the rope winding column, the swing block is controlled to swing by winding and unwinding the ropes, and then the mechanical leg is driven to swing. The winding and unwinding scale of the traction rope is accurately controlled according to the number of turns of the rope winding column rotating, so as to accurately control the swing range of the mechanical leg, solving the problem that the existing quadruped robot has low movement accuracy due to the defect of the transmission structure and is difficult to meet the operation requirements of complex scenarios.

[0017] 2. The utility model is provided with a detection mechanism composed of a connecting column, a movable sleeve, a pressing block, a tension spring and an observation piece, etc. By using the mechanical structure linkage caused by the change of the traction rope tension, when the traction rope is loose, the tension spring drives the movable sleeve to move, so that the observation piece is separated from the movable sleeve, realizing the intuitive detection of the state of the traction rope. It solves the problems that it is difficult for the existing quadruped robot to monitor the state of the traction component in real time and conveniently, and it is easy for the robot to run abnormally due to the failure of the traction component.

[0018] 3. The utility model is provided with an adjustment mechanism composed of a threaded rod, a nut, a movable ring, an L-shaped ejector rod and an auxiliary groove, etc. The staff can rotate the threaded rod to make the nut drive the L-shaped ejector rod to push the movable sleeve to move, so as to tighten and adjust the loose traction rope. It solves the problems that when the traction component of the existing quadruped robot is loose, it is difficult to quickly carry out temporary treatment and restore the operation function of the equipment, resulting in a long downtime of the equipment and low maintenance efficiency.

[0019] 4. The utility model is provided with an arc-shaped movable hole on the outer wall of the mechanical leg, which is adapted to the movement track of the connecting column, ensuring that the mechanical leg swings in coordination with the detection and adjustment mechanisms and moves more smoothly. It solves the problems that the movement of the mechanical leg of the existing quadruped robot is blocked, the wear is aggravated and the service life is shortened due to the structural interference between components. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of the utility model;

[0021] Figure 2 is a partial disassembly schematic diagram of the utility model;

[0022] Figure 3 is a schematic diagram of the installation plate of the utility model;

[0023] Figure 4 is a half-sectional schematic diagram of the rope winding column of the utility model;

[0024] Figure 5 is a side view of the rope winding column of the utility model;

[0025] Figure 6 is the utility model Figure 1 the enlarged view at A in;

[0026] Figure 7 is the utility model Figure 4 the enlarged view at B in;

[0027] Figure 8 is the utility model Figure 4 the enlarged view at C in.

[0028] In the figure: 1, robot body; 2, mechanical leg; 3, radar; 4, infrared monitor; 5, probe; 6, mounting shell; 7, mounting disc; 8, support column; 9, swing block; 10, micro servo motor; 11, rope winding post; 12, rope winding groove; 13, towing rope; 14, first groove; 15, connecting column; 16, movable sleeve; 17, first through hole; 18, extrusion block; 19, card slot; 20, clamping block; 21, extrusion groove; 22, second groove; 23, tension spring; 24, third groove; 25, threaded rod; 26, nut; 27, movable ring; 28, second through hole; 29, L-shaped ejector rod; 30, observation piece; 31, arc-shaped movable hole; 32, auxiliary groove. Detailed implementation manner

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figures 1 to 8, in the embodiment of the present utility model, a quadruped robot includes a robot body 1. The robot body 1 can be flexibly equipped with intelligent devices including a dual-light pan-tilt, a video and audio device, a gas detector, etc., and comprehensively utilize various technical means such as robotics, image recognition, big data, AI, digital twin, etc. For scenarios such as power stations, pipe galleries, power plants (and industrial parks and stations in non-power scenarios), it can meet the maintenance needs of full coverage, unmanned, digital, and intelligent operation, and at the same time realize functions such as autonomous inspection, automatic identification and warning of meters and defects, equipment temperature measurement, report export and sending, and intelligent linkage with the superior system, providing assistance for the new power system (and other intelligent industries). Four mechanical legs 2 for driving the movement of the robot body 1 are arranged on the outer side of the robot body 1. A radar 3 is fixedly installed at the upper end of the robot body 1, an infrared monitor 4 is fixedly installed on the front side of the upper end of the robot body 1, and a probe 5 is fixedly installed on the front side of the robot body 1. Among them, the radar 3, the infrared monitor 4, and the probe 5 are all prior arts and will not be described here, and their connection methods are also conventional existing connection methods. When in use, the infrared monitor 4 and the probe 5 cooperate with each other to be able to configure various types of inspection contents such as comprehensive inspection, routine inspection, special inspection, and special inspection according to the inspection requirements. Installation shells 6 are fixedly installed at positions corresponding to the four mechanical legs 2 on the outer side of the robot body 1. On the inner side wall surface of the installation shell 6 close to the robot body 1, an installation disk 7 is fixedly installed. On the outer side wall surface of the installation disk 7 away from the robot body 1, a support column 8 is fixedly installed. The outer side of the support column 8 away from the robot body 1 is movably connected by a bearing with a swing block 9. The swing block 9 can rotate on the support column 8. One side wall surface of the mechanical leg 2 adjacent to the corresponding swing block 9 is fixedly connected. When the swing block 9 rotates, it can drive the mechanical leg 2 to swing together, so as to achieve the effect of completing the displacement of the robot body 1 through the mechanical leg 2. A micro servo motor 10 is fixedly installed on the outer side wall surface of the installation disk 7 away from the robot body 1 and above the support column 8. A rope winding column 11 is fixedly connected to the output end of the micro servo motor 10. A traction mechanism for driving the mechanical leg 2 to swing is arranged on the rope winding column 11. A first groove 14 is formed on the outer side wall surface of the rope winding column 11 away from the robot body 1. A detection mechanism for detecting the traction mechanism is arranged inside the first groove 14, and an adjustment mechanism for adjusting the traction mechanism is arranged inside the first groove 14.

[0031] As shown in the figure for reference Figure 3 and Figure 5, the traction mechanism includes a rope winding groove 12 and traction ropes 13. A rope winding groove 12 is formed on the outer wall surface of the rope winding post 11. The rope winding groove 12 is a spiral groove. Two traction ropes 13 are wound mirror - image inside the rope winding groove 12. The two traction ropes 13 do not contact each other, and the one - side ends of the two traction ropes 13 close to each other are fixedly installed inside the rope winding groove 12 through screws. The one - side ends of the two traction ropes 13 far from each other are respectively fixedly connected to both sides of the outer wall surface of the swing block 9.

[0032] During use, the micro - servo motor 10 can drive the rope winding post 11 to rotate clockwise or counterclockwise. Since the rope winding groove 12 is formed on the rope winding post 11 and two mirror - image traction ropes 13 are wound inside the rope winding groove 12, and at the same time the two traction ropes 13 are respectively connected to both sides of the outer wall surface of the swing block 9. When the micro - servo motor 10 drives the rope winding post 11 to rotate clockwise, one of the traction ropes 13 will be wound up and the other traction rope 13 will unwind. Vice versa. Therefore, when the micro - servo motor 10 drives the rope winding post 11 to rotate alternately clockwise and counterclockwise regularly, the swing block 9 will swing back and forth under the action of the two traction ropes 13, thereby driving the mechanical leg 2 to complete the swinging operation. At the same time, according to the different number of turns of the rope winding post 11, the winding and unwinding scales of the traction ropes 13 are different, and thus the swinging range of the swing block 9 can be accurately controlled, so as to achieve the effect of accurately controlling the movement position of the robot body 1. The traditional quadruped robot controls the swing of the robotic arm by using gear transmission. However, due to the influence of tooth gaps, the gear cannot accurately position the swing position of the robotic arm. In contrast, the traction mechanism in this solution can more accurately control the swing amplitude of the mechanical leg 2 during use, with higher accuracy.

[0033] The detection mechanism includes a connecting column 15, a movable sleeve 16, a pressing block 18, a second groove 22, a tension spring 23 and an observation piece 30. The connecting column 15 is fixedly connected to the side wall surface close to the robot body 1 inside the first groove 14. A movable sleeve 16 is movably sleeved on the connecting column 15. A second groove 22 is formed at one end of the movable sleeve 16 close to the robot body 1. A tension spring 23 is fixedly connected inside the second groove 22. The free end of the tension spring 23 is fixedly connected to the side wall surface close to the robot body 1 inside the first groove 14, and the tension spring 23 is movably clamped on the connecting column 15. Both the connecting column 15 and the movable sleeve 16 extend to the outside of the rope winding post 11, and an observation piece 30 is fixedly connected to the outer wall surface of the connecting column 15. The observation piece 30 is in contact with the side wall surface of the movable sleeve 16 far from the robot body 1.

[0034] The detection mechanism further includes a pressing block 18 and a pressing groove 21. Two first through holes 17 are symmetrically formed on the outer wall surface of the rope winding post 11. The two first through holes 17 are both movably clamped with a pressing block 18 inside, and the outer wall surfaces of the two pressing blocks 18 away from each other are arc-shaped surfaces. Corresponding to the positions of the two pressing blocks 18, two pressing grooves 21 are formed on the outer wall surface of the movable sleeve 16. The pressing groove 21 is a groove with a V-shaped cross section, and the inclined surface inside the pressing groove 21 corresponds to the upper and lower parts of the side of the pressing block 18 away from the robot body 1. As Figure 4 shown.

[0035] When in use, since the traction rope 13 is wound around the rope winding post 11, under the action of the traction rope 13, the two pressing blocks 18 will be pressed and received into the corresponding first through holes 17. And because the inclined surface inside the pressing groove 21 corresponds to the upper and lower parts of the side of the pressing block 18 away from the robot body 1, when the pressing block 18 moves towards the inside of the first groove 14 under the action of the traction rope 13, the pressing block 18 will contact and press the inner wall surface of the corresponding pressing groove 21 on the movable sleeve 16. Since the inner wall surface of the pressing groove 21 is an inclined surface, the movable sleeve 16 will move towards the side away from the robot body 1 under the pressing of the pressing block 18. At this time, the tension spring 23 is deformed by force, and at the same time, the observation piece 30 contacts the movable sleeve 16. Since the traction rope 13 has a deformation amount, when the traction rope 13 becomes loose and lengthens, it will not be able to exert a stable pressing effect on the pressing block 18. At this time, the acting force generated by the deformation of the tension spring 23 will drive the movable sleeve 16 to move towards the side close to the robot body 1 to lift the pressing block 18, and at the same time, the observation piece 30 and the movable sleeve 16 will be separated, so as to facilitate the staff to observe. When it is found that the movable sleeve 16 and the observation piece 30 are separated, the traction rope 13 can be replaced or maintained in time, so as to ensure the accuracy of the equipment during use.

[0036] On both sides of the outer wall surface of the pressing block 18, clamping blocks 20 are fixedly connected. Corresponding to the positions of the two clamping blocks 20 on the pressing block 18, two clamping grooves 19 are formed on the inner wall surface of the first through hole 17. The clamping blocks 20 are movably clamped inside the corresponding clamping grooves 19. Through the cooperation of the clamping blocks 20 and the clamping grooves 19, the pressing block 18 can be movably clamped inside the first through hole 17 to prevent the pressing block 18 from detaching from the inside of the first through hole 17.

[0037] The adjusting mechanism includes a threaded rod 25, a nut 26, a movable ring 27, a second through hole 28, an L-shaped ejector rod 29, and an auxiliary groove 32. A third groove 24 is formed on the side wall of the connecting column 15 away from the robot body 1. The threaded rod 25 is movably installed on the side wall of the third groove 24 close to the robot body 1 through a bearing. The threaded rod 25 can rotate inside the third groove 24. One end of the threaded rod 25 away from the robot body 1 extends to the outside of the connecting column 15. The nut 26 is threadedly connected to the threaded rod 25. Two second through holes 28 are symmetrically formed on the outer wall of the connecting column 15 corresponding to the position of the nut 26. One side wall of the nut 26 close to the robot body 1 is movably connected through a bearing to a rotatable movable ring 27. Two L-shaped ejector rods 29 are fixedly connected to the outer wall of the movable ring 27 corresponding to the positions of the two second through holes 28. Two auxiliary grooves 32 are formed on the inner wall of the movable sleeve 16 corresponding to the positions of the two L-shaped ejector rods 29. The auxiliary grooves 32 are arranged in a staggered manner with the second through holes 28, as Figure 8 shown.

[0038] Both of the two L-shaped ejector rods 29 extend to the outside of the connecting column 15 and are located inside the corresponding auxiliary grooves 32.

[0039] When the towing rope 13 becomes loose, causing the movable sleeve 16 to separate from the observation piece 30, since the nut 26 is threadedly connected to the threaded rod 25, and the nut 26 is connected to the L-shaped ejector rod 29 through the movable ring 27, and the L-shaped ejector rod 29 extends through the inside of the corresponding second through hole 28 to the inside of the auxiliary groove 32, the nut 26 cannot revolve with the threaded rod 25 due to the limitation of the L-shaped ejector rod 29. Therefore, the staff can control the nut 26 to rotate towards the side close to the robot body 1 by rotating the threaded rod 25. At this time, since the auxiliary groove 32 and the second through hole 28 are arranged in a staggered manner, the L-shaped ejector rod 29 will contact the inner wall surface of the auxiliary groove 32. Subsequently, under the extrusion of the L-shaped ejector rod 29, the movable sleeve 16 will move towards the side of the robot body 1 and push up the extrusion block 18, thereby achieving a tightening effect on the towing rope 13. After the operation is completed, the staff should promptly maintain or replace the towing rope 13 to ensure the normal operation of the equipment during use.

[0040] An arc-shaped movable hole 31 is formed on the outer wall of the mechanical leg 2 corresponding to the position of the connecting column 15. The connecting column 15 extends through the inside of the corresponding arc-shaped movable hole 31 to the outside of the mechanical leg 2. The internal shape and size of the arc-shaped movable hole 31 are the same as the movement track of the connecting column 15. Therefore, during the operation of the equipment, the auxiliary groove 32 will not hinder the movement track of the connecting column 15. And since the connecting column 15 is located outside the mechanical leg 2, it is convenient for the staff to adjust and use the internal threaded rod 25.

[0041] The working principle of the present utility model is:

[0042] During use, the micro servo motor 10 can drive the rope winding post 11 to rotate clockwise or counterclockwise. Since the rope winding post 11 is provided with a rope winding groove 12, and two mirror-image traction ropes 13 are wound inside the rope winding groove 12, and the two traction ropes 13 are respectively connected to both sides of the outer wall surface of the swing block 9. When the micro servo motor 10 drives the rope winding post 11 to rotate clockwise, one of the traction ropes 13 will be wound up and the other traction rope 13 will pay out. Vice versa. Therefore, when the micro servo motor 10 drives the rope winding post 11 to rotate alternately clockwise and counterclockwise regularly, the swing block 9 will swing back and forth under the action of the two traction ropes 13, thereby driving the mechanical leg 2 to complete the swinging operation. At the same time, according to the different number of rotations of the rope winding post 11, the winding and payout scales of the traction ropes 13 are different, so that the swinging range of the swing block 9 can be accurately controlled, thereby achieving the effect of accurately controlling the movement position of the robot body 1. Compared with the traditional quadruped robot that uses gear transmission to control the swing of the robotic arm, the gear cannot accurately position the swing position of the robotic arm due to the influence of the tooth gap. In contrast, the traction mechanism in this solution can more accurately control the swing amplitude of the mechanical leg 2 during use, with higher accuracy.

[0043] During use, since the traction ropes 13 are wound around the rope winding post 11, the two pressing blocks 18 will be pressed and received into the corresponding first through holes 17 under the action of the traction ropes 13. And because the inclined surface inside the pressing groove 21 corresponds to the side of the pressing block 18 away from the robot body 1 up and down, when the pressing block 18 moves towards the inside of the first groove 14 under the action of the traction rope 13, the pressing block 18 will contact and press the inner wall surface of the corresponding pressing groove 21 on the movable sleeve 16. Since the inner wall surface of the pressing groove 21 is an inclined surface, the movable sleeve 16 will move away from the robot body 1 under the pressing of the pressing block 18. At this time, the tension spring 23 is deformed by force, and at the same time, the observation piece 30 contacts the movable sleeve 16. Since the traction rope 13 has a deformation amount, when the traction rope 13 becomes loose and lengthens, it cannot exert a stable pressing effect on the pressing block 18. At this time, the acting force generated by the deformation of the tension spring 23 will drive the movable sleeve 16 to move towards the robot body 1 and push up the pressing block 18. At the same time, the observation piece 30 and the movable sleeve 16 will be separated, which is convenient for the staff to observe. When it is found that the movable sleeve 16 and the observation piece 30 are separated, the traction rope 13 can be replaced or maintained in time, thereby ensuring the accuracy of the equipment during use.

[0044] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, making equivalent substitutions or changes, shall be covered by the protection scope of the present utility model.

Claims

1. A quadruped robot, comprising a robot body (1), four mechanical legs (2) for driving the robot body (1) to move are arranged on the outer side of the robot body (1), a radar (3) is fixedly installed at the upper end of the robot body (1), an infrared monitor (4) is fixedly installed at the front side of the upper end of the robot body (1), and a probe (5) is fixedly installed at the front side of the robot body (1), characterized in that: On the outer side of the robot body (1), mounting shells (6) are fixedly installed corresponding to the positions of the four mechanical legs (2). On one side wall surface of the mounting shell (6) close to the robot body (1), a mounting plate (7) is fixedly installed. On one side wall surface of the mounting plate (7) far from the robot body (1), a support column (8) is fixedly installed. On the side of the support column (8) far from the robot body (1), a swing block (9) is movably connected through a bearing. One side wall surface of the mechanical leg (2) adjacent to the corresponding swing block (9) is fixedly connected. On one side wall surface of the mounting plate (7) far from the robot body (1) and above the support column (8), a micro servo motor (10) is fixedly installed. On the output end of the micro servo motor (10), a rope winding column (11) is fixedly connected. A traction mechanism for driving the mechanical leg (2) to swing is arranged on the rope winding column (11). On one side wall surface of the rope winding column (11) far from the robot body (1), a first groove (14) is opened. A detection mechanism for detecting the traction mechanism is arranged inside the first groove (14). An adjustment mechanism for adjusting the traction mechanism is arranged inside the first groove (14).

2. The quadruped robot according to claim 1, wherein: The traction mechanism includes a rope winding groove (12) and a traction rope (13). A rope winding groove (12) is opened on the outer wall surface of the rope winding column (11). The rope winding groove (12) is a spiral groove. Two traction ropes (13) are wound inside the rope winding groove (12) in a mirror image manner. The two traction ropes (13) do not contact each other. One side ends of the two traction ropes (13) close to each other are fixedly installed inside the rope winding groove (12) through screws. The other ends of the two traction ropes (13) far from each other are respectively fixedly connected to both sides of the outer wall surface of the swing block (9).

3. A quadruped robot according to claim 1, characterized in that: The detection mechanism includes a connecting column (15), a movable sleeve (16), a pressing block (18), a second groove (22), a tension spring (23) and an observation piece (30). The connecting column (15) is fixedly connected to one side wall surface of the first groove (14) close to the robot body (1). A movable sleeve (16) is movably sleeved on the connecting column (15). A second groove (22) is opened at one end of the movable sleeve (16) close to the robot body (1). A tension spring (23) is fixedly connected inside the second groove (22). The free end of the tension spring (23) is fixedly connected to one side wall surface of the first groove (14) close to the robot body (1), and the tension spring (23) is movably clamped on the connecting column (15). Both the connecting column (15) and the movable sleeve (16) extend to the outside of the rope winding column (11). An observation piece (30) is fixedly connected to the outer wall surface of the connecting column (15). The observation piece (30) is attached to one side wall surface of the movable sleeve (16) far from the robot body (1).

4. A quadruped robot according to claim 3, characterized in that: The detection mechanism further includes a pressing block (18) and a pressing groove (21). Two first through holes (17) are symmetrically formed on the outer wall surface of the rope winding post (11). The pressing block (18) is movably clamped inside each of the two first through holes (17). One side wall surface of the two pressing blocks (18) away from each other is an arc surface. Two pressing grooves (21) are formed on the outer wall surface of the movable sleeve (16) corresponding to the positions of the two pressing blocks (18). The pressing groove (21) is a groove with a V-shaped cross-section, and the inclined surface inside the pressing groove (21) corresponds to the upper and lower positions of the side of the pressing block (18) away from the robot body (1).

5. A quadruped robot according to claim 4, characterized in that: Both sides of the outer wall surface of the pressing block (18) are fixedly connected with clamping blocks (20). Two clamping grooves (19) are formed on the inner wall surface of the first through hole (17) corresponding to the positions of the two clamping blocks (20) on the pressing block (18). The clamping block (20) is movably clamped inside the corresponding clamping groove (19).

6. A quadruped robot according to claim 3, characterized in that: The adjusting mechanism includes a threaded rod (25), a nut (26), a movable ring (27), a second through hole (28), an L-shaped ejector rod (29), and an auxiliary groove (32). A third groove (24) is formed on the side wall surface of the connecting column (15) away from the robot body (1). The threaded rod (25) is movably installed through a bearing on the side wall surface of the third groove (24) close to the robot body (1). One end of the threaded rod (25) away from the robot body (1) extends to the outside of the connecting column (15). The nut (26) is threadedly connected to the threaded rod (25). Two second through holes (28) are symmetrically formed on the outer wall surface of the connecting column (15) corresponding to the position of the nut (26). One side wall surface of the nut (26) close to the robot body (1) is movably connected through a bearing with a rotatable movable ring (27). Two L-shaped ejector rods (29) are fixedly connected to the outer wall surface of the movable ring (27) corresponding to the positions of the two second through holes (28). Two auxiliary grooves (32) are formed on the inner wall surface of the movable sleeve (16) corresponding to the positions of the two L-shaped ejector rods (29).

7. A quadruped robot according to claim 6, characterized in that: Both of the two L-shaped ejector rods (29) extend to the outside of the connecting column (15) and are located inside the corresponding auxiliary grooves (32).

8. A quadruped robot according to claim 1, characterized in that: An arc-shaped movable hole (31) is formed on the outer wall surface of the mechanical leg (2) corresponding to the position of the connecting column (15). The connecting column (15) penetrates through the inside of the corresponding arc-shaped movable hole (31) and extends to the outside of the mechanical leg (2).

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