Four-footed inspection robot

Abstract

The utility model relates to the technical field of four-footed inspection robots, and discloses a four-footed inspection robot which comprises a robot body, a protective cover is fixedly connected to the bottom surface of the robot body, a rotating rod is further rotatably connected to the bottom surface of the robot body, the rotating rod is located in the middle of the interior of the protective cover, and two movable assemblies are connected to the outer wall of the rotating rod. The two ends, away from each other, of the two movable assemblies penetrate through the two ends of the protective cover correspondingly and extend out of the protective cover, and a limiting assembly is connected to the exterior of the tail of the robot body. According to the four-foot inspection robot, when the robot body breaks down in the inspection process and cannot automatically move, maintenance personnel can pull out the two movable assemblies from the interior of the robot body after loosening the limiting assemblies and then drag the robot body to walk on the ground through the two movable assemblies, and then the problems that the robot body is heavy, and the robot body cannot move automatically can be solved. And the problem of inconvenience in transfer is solved.

Description

Technical Field

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

[0002] A quadruped inspection robot is an automated device with four mechanical legs, designed to mimic the walking pattern of quadruped animals and move in various complex terrains.

[0003] Most existing quadruped inspection robots have the function of avoiding obstacles, mainly due to various sensors and technologies equipped on the robot, such as lidar (LIDAR), cameras, ultrasonic sensors, etc. These devices can help the robot perceive the surrounding environment and construct a map of the environment. Combined with advanced algorithms, such as SLAM (Simultaneous Localization and Mapping) technology, the robot can real-time understand its own position and plan a safe path to avoid obstacles.

[0004] A patent with the current publication number CN218229219U discloses a quadruped robot applied to park inspection, including: a quadruped robot body, an accommodation groove is provided inside the quadruped robot body, hydraulic cylinders are fixedly provided on both sides inside the accommodation groove, and the hydraulic cylinders are driven by a hydraulic pump, a shock absorption mechanism, the shock absorption mechanism is arranged inside the accommodation groove, and the shock absorption mechanism is in transmission connection with the hydraulic cylinders; a monitoring mechanism, the monitoring mechanism is arranged at the upper end of the quadruped robot body, and the monitoring mechanism is integrated with the quadruped robot body. When on a flat road surface, the hydraulic cylinders drive the lifting plate to descend, thereby driving the driving wheels to extend out of the accommodation groove, and the quadruped robot body is driven to move quickly by the driving wheels. During movement, the mounting plate pushes the sliding sleeve to slide on the surface of the sliding rod through the hinge support rod, thereby squeezing the spring for shock absorption to maintain the stability of the movement, and can quickly inspect the park. When encountering special terrains, it can switch to quadruped drive.

[0005] However, in the actual use process of the above-mentioned quadruped robot, there are still the following problems:

[0006] Quadruped robots rely on multiple joints and drive devices to move. If any one of these components suddenly fails, such as a motor damage, gear wear or breakage, etc., it may cause the robot to be unable to walk normally; in addition, if there is a short circuit in the internal circuit of the quadruped robot or the controller fails, etc., it will also cause the quadruped robot to be unable to continue walking. At this time, maintenance personnel need to come to the quadruped robot to take it back for repair. However, existing quadruped robots are usually heavy, and they may be even heavier if carrying other items, which is not convenient for transferring them. Summary of the Utility Model

[0007] In view of the deficiencies of the prior art, the utility model provides a quadruped inspection robot, which facilitates maintenance personnel to transfer it when the robot body fails and cannot move.

[0008] The utility model provides the following technical solution: a quadruped inspection robot, which includes a robot body. A protective cover is fixedly connected to the bottom surface of the robot body. A rotating rod is also rotatably connected to the bottom surface of the robot body. The rotating rod is located in the middle of the protective cover. Two sets of movable components are connected to the outer wall of the rotating rod. The two ends of the two sets of movable components away from each other respectively penetrate through both ends of the protective cover and reach the outside of the protective cover. A limiting component is connected to the outside of the tail of the robot body. The limiting component is connected to the movable component penetrating through the rear end of the protective cover. And the movable component penetrating through the rear end of the protective cover is also connected with two moving components.

[0009] Further, the movable component includes a first sliding rod, a gear and a second sliding rod. The gear is sleeved and fixedly connected to the outer wall of the rotating rod. The first sliding rod and the second sliding rod are arranged in parallel, and the first sliding rod and the second sliding rod are respectively located on both sides of the gear. One end of the first sliding rod and the second sliding rod is located inside the protective cover. The other ends of the first sliding rod and the second sliding rod both penetrate through the protective cover to the outside of the protective cover. And a tooth is arranged at one end of the first sliding rod located inside the protective cover. The tooth meshes with the gear. One ends of the first sliding rod and the second sliding rod located inside the protective cover are fixedly connected. The first sliding rod and the second sliding rod penetrating through the rear end of the protective cover are respectively connected with the two moving components, and are also both connected with the limiting component.

[0010] Further, both of the two moving components include a roller and an L-shaped rod. One ends of the two L-shaped rods are respectively fixedly connected to one ends of the first sliding rod and the second sliding rod penetrating through the rear end of the protective cover. The other ends of the two L-shaped rods respectively penetrate through the two rollers, and the outer walls of the two L-shaped rods are respectively rotatably connected to the inner walls of the two rollers.

[0011] Further, a connecting rod is fixedly connected between the two L-shaped rods.

[0012] Further, two sockets are respectively opened on the surfaces of the first sliding rod and the second sliding rod penetrating through the rear end of the protective cover. The limiting component is matched with both of the two sockets.

[0013] Furthermore, the limiting component includes a limiting box, two insertion blocks, and two clamping plates. One side of the outer wall of the limiting box is fixedly connected to the outer wall of the rear end of the robot body. Two symmetrically arranged spring cavities are provided inside the limiting box. The bottom surfaces of the two spring cavities are both penetrated with sliding openings. The outer walls of the two insertion blocks are respectively slidably connected to the inner walls of the two spring cavities. The mutually remote ends of the two insertion blocks respectively penetrate the two spring cavities and are slidably connected to the inner walls of the two insertion openings. The bottom surfaces of the two insertion blocks are respectively fixedly connected to the upper ends of the two clamping plates. The lower ends of the two clamping plates respectively penetrate the two sliding openings, and the outer walls of the two sliding openings are respectively slidably connected to the inner walls of the two sliding openings.

[0014] Furthermore, on the inner walls of the adjacent sides of the two spring cavities, extrusion springs are fixedly connected respectively. The other ends of the two extrusion springs are respectively fixedly connected to the ends of the two insertion blocks remote from the insertion openings.

[0015] Furthermore, sealing plates are sleeved and fixedly connected to the outer walls of one ends of the two clamping plates located at the sliding openings. The upper surfaces of the two sealing plates are respectively slidably connected to the bottom surface of the limiting box, and the length and width of the two sealing plates are not less than the length and width of the sliding openings.

[0016] Furthermore, a partition plate is fixedly connected to the middle of the inner wall of the protective cover. The two sets of movable components are respectively located on the upper and lower sides of the partition plate.

[0017] Furthermore, a pull rod is fixedly connected between the first sliding rod and the second sliding rod penetrating the front end of the protective cover.

[0018] Compared with the prior art, the present utility model has the following beneficial effects:

[0019] For this four-legged inspection robot, by arranging a protective cover and a rotating rod below the robot body, and connecting two movable components, a limiting component, and two moving components through the rotating rod. When the robot body fails and cannot move by itself during the inspection process, at this time, the maintenance personnel can pull out the two movable components from the inside of the robot body after loosening the limiting component, and then drag and walk on the ground through the two moving components, thereby solving the problem that the robot body is too heavy and inconvenient to transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the overall external view schematic diagram of the present utility model;

[0021] Figure 2 is the overall external view schematic diagram of another perspective of the present utility model;

[0022] Figure 3 is the internal structure schematic diagram of the protective cover of the present utility model;

[0023] Figure 4 is the present utility model Figure 3Explosion schematic diagram of each component in

[0024] Figure 5 Explosion schematic diagram of two groups of movable components of the present utility model;

[0025] Figure 6 Detailed external view schematic diagram of each component of the limit component of the present utility model;

[0026] Figure 7 For the present utility model Figure 6 Explosion schematic diagram of each component in.

[0027] In the figure: 1, robot body; 2, protective cover; 3, pull rod; 4, roller; 5, L-shaped rod; 6, connecting rod; 7, limit box; 701, spring cavity; 702, sliding port; 8, first sliding rod; 801, socket; 9, rotating rod; 10, gear; 11, second sliding rod; 12, partition board; 13, compression spring; 14, insertion block; 15, buckle plate; 16, sealing plate. Specific embodiments

[0028] 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.

[0029] Please refer to Figures 1-7 , a quadruped inspection robot, including a robot body 1, a protective cover 2 is fixedly connected to the bottom surface of the robot body 1, a rotating rod 9 is also rotatably connected to the bottom surface of the robot body 1, the rotating rod 9 is located in the middle of the protective cover 2, two groups of movable components are connected to the outer wall of the rotating rod 9, and the two ends of the two groups of movable components away from each other respectively penetrate through both ends of the protective cover 2 and both reach the outside of the protective cover 2. A limit component is connected to the outside of the tail of the robot body 1, the limit component is connected to the movable component penetrating through the rear end of the protective cover 2, and two moving components are also connected to the movable component penetrating through the rear end of the protective cover 2.

[0030] A quadruped inspection robot in the present utility model is similar in structure to the existing quadruped inspection robot, such as a quadruped robot for park inspection disclosed in the patent with the publication number CN218229219U. As Figures 1 to 7As shown, when the quadruped inspection robot in the present utility model fails and cannot move by itself during the inspection process, at this time, the maintenance personnel can walk to the position where the robot body 1 stops, and then manually loosen the limiting component from the rear end of the robot body 1. After the limiting component is loosened, continue to pull the two moving components outward from the rear of the robot body 1. As the two moving components are pulled outward, the movable component will be pulled to move together. At this time, after the movable component moves, it will drive another movable component to extend from the front end of the robot body 1. When the movable component located at the rear end of the robot body 1 moves to the tail of the protective cover 2, the limiting component is connected to the movable component again for limiting. Then, the maintenance personnel only need to walk to the front of the robot body 1 and manually lift and tilt the robot body 1 from the front. At this time, the two moving components will rest on the ground, and then the maintenance personnel can normally drag the robot body 1 back to the maintenance area.

[0031] Please refer mainly to Figures 3-5 , the movable component includes a first sliding rod 8, a gear 10 and a second sliding rod 11. The gear 10 is sleeved and fixedly connected to the outer wall of the rotating rod 9. The first sliding rod 8 and the second sliding rod 11 are arranged in parallel, and the first sliding rod 8 and the second sliding rod 11 are respectively located on both sides of the gear 10. One end of the first sliding rod 8 and the second sliding rod 11 is located inside the protective cover 2, and the other ends of the first sliding rod 8 and the second sliding rod 11 both penetrate through the protective cover 2 to the outside of the protective cover 2. And a tooth is provided at one end of the first sliding rod 8 located inside the protective cover 2, and the tooth meshes with the gear 10. One ends of the first sliding rod 8 and the second sliding rod 11 located inside the protective cover 2 are fixedly connected, and the first sliding rod 8 and the second sliding rod 11 penetrating through the rear end of the protective cover 2 are respectively connected to the two moving components, and are also both connected to the limiting component.

[0032] More specifically, when it is necessary to pull the moving component out of the robot body 1, only need to pull the first sliding rod 8 and the second sliding rod 11 outward at the same time.

[0033] Similarly, when the first sliding rod 8 and the second sliding rod 11 located at the rear end of the protective cover 2 are pulled, at this time, due to the meshing of the tooth and the gear 10, it will drive another gear 10 connected to the rotating rod 9 to rotate, and then through the meshing between the gear 10 and the tooth again, another movable component can be pushed out from the front end of the protective cover 2.

[0034] Please refer mainly to Figures 2-5 , both of the two moving components include a roller 4 and an L-shaped rod 5. One ends of the two L-shaped rods 5 are respectively fixedly connected to one ends of the first sliding rod 8 and the second sliding rod 11 penetrating through the rear end of the protective cover 2. The other ends of the two L-shaped rods 5 respectively penetrate through the two rollers 4, and the outer walls of the two L-shaped rods 5 are respectively rotatably connected to the inner walls of the two rollers 4.

[0035] More specifically, when it is necessary to pull the robot body 1, just place the roller 4 on the ground, and then pull it from the movable component at the front end of the protective cover 2, and the entire robot body 1 can be pulled and moved.

[0036] Please mainly refer to Figures 2-5 , a connecting rod 6 is fixedly connected between two L-shaped rods 5.

[0037] More specifically, by setting the connecting rod 6, it can be more convenient to operate when pulling out the roller 4 outward and inserting the roller 4 back into the robot body 1.

[0038] Please mainly refer to Figures 3-5 , two sockets 801 are respectively opened on the surfaces of the first sliding rod 8 and the second sliding rod 11 passing through the rear end of the protective cover 2, and the limiting component is matched with both of the two sockets 801.

[0039] More specifically, by setting the sockets 801, connectivity between the limiting component and the first sliding rod 8 and the second sliding rod 11 can be provided.

[0040] Please mainly refer to Figure 6 and Figure 7 , the limiting component includes a limiting box 7, two insertion blocks 14 and two clamping plates 15. One side of the outer wall of the limiting box 7 is fixedly connected to the outer wall of the rear end of the robot body 1. Two symmetrically arranged spring chambers 701 are opened inside the limiting box 7. The bottom surfaces of the two spring chambers 701 are respectively penetrated with sliding openings 702. The outer walls of the two insertion blocks 14 are respectively slidably connected to the inner walls of the two spring chambers 701. The mutually remote ends of the two insertion blocks 14 respectively penetrate through the two spring chambers 701 and are slidably connected to the inner walls of the two sockets 801. The bottom surfaces of the two insertion blocks 14 are respectively fixedly connected to the upper ends of the two clamping plates 15. The lower ends of the two clamping plates 15 respectively penetrate through the two sliding openings 702, and the outer walls of the two sliding openings 702 are respectively slidably connected to the inner walls of the two sliding openings 702.

[0041] More specifically, when the robot body 1 is walking normally, the two insertion blocks 14 are respectively inserted into the two sockets 801 at the ends of the first sliding rod 8 and the second sliding rod 11 away from the protective cover 2. At this time, due to the blocking of the insertion blocks 14 and the sockets 801, the first sliding rod 8 and the second sliding rod 11 cannot slide out by themselves.

[0042] When the robot body 1 breaks down and cannot move by itself, at this time, the maintenance personnel push the clamping plate 15 to retract the insertion block 14 into the spring chamber 701. After that, the first sliding rod 8 and the second sliding rod 11 can be slid. When the first sliding rod 8 and the second sliding rod 11 slide to the corresponding positions, the insertion block 14 is inserted into the socket 801 near the protective cover 2 again for limiting. At this time, the first sliding rod 8 and the second sliding rod 11 are also limited and cannot be retracted for the same reason. Therefore, the roller 4 can be normally placed on the ground and moved through it.

[0043] Please refer mainly to Figure 6 and Figure 7 On the inner walls of the adjacent sides of the two spring chambers 701, an extrusion spring 13 is fixedly connected, and the other ends of the two extrusion springs 13 are respectively fixedly connected to one ends of the two insertion blocks 14 away from the insertion openings 801.

[0044] More specifically, by providing the extrusion spring 13, after the insertion block 14 is pulled out of the insertion opening 801 and the first sliding rod 8 and the second sliding rod 11 are slid a certain distance, the insertion block 14 can be released. In this way, when the insertion block 14 moves to the position of another insertion opening 801, it can be automatically inserted into the insertion opening 801 under the action of the extrusion spring 13.

[0045] Please refer mainly to Figure 6 and Figure 7 On the outer walls of one ends of the two clamping plates 15 located at the sliding openings 702, a sealing plate 16 is sleeved and fixedly connected. The upper surfaces of the two sealing plates 16 are slidably connected to the bottom surface of the limiting box 7, and the length and width of the two sealing plates 16 are not less than the length and width of the sliding openings 702.

[0046] More specifically, by providing the sealing plate 16, it is possible to prevent sundries in the external environment from falling into the spring chamber 701 and hindering the normal contraction of the extrusion spring 13.

[0047] Please refer mainly to Figure 3 and Figure 4 In the middle of the inner wall of the protective cover 2, a partition plate 12 is fixedly connected, and the two sets of movable components are respectively located on the upper and lower sides of the partition plate 12.

[0048] More specifically, by providing the partition plate 12, a limit can be provided for the two movable components respectively to avoid the situation of prying up and down.

[0049] Please refer mainly to Figures 1-5 A pull rod 3 is fixedly connected between the first sliding rod 8 and the second sliding rod 11 passing through the front end of the protective cover 2.

[0050] More specifically, by providing the pull rod 3, it is more convenient to grasp when pulling the robot body 1 to move.

[0051] Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A quadruped inspection robot, comprising a robot body (1), characterized in that: A protective cover (2) is fixedly connected to the bottom surface of the robot body (1). A rotating rod (9) is also rotatably connected to the bottom surface of the robot body (1). The rotating rod (9) is located in the middle of the protective cover (2). Two sets of movable components are connected to the outer wall of the rotating rod (9). The two ends of the two sets of movable components away from each other respectively penetrate through the two ends of the protective cover (2) and both extend to the outside of the protective cover (2). A limiting component is connected to the outside of the tail of the robot body (1). The limiting component is connected to the movable component penetrating through the rear end of the protective cover (2), and the movable component penetrating through the rear end of the protective cover (2) is also connected to two moving components.

2. The quadruped inspection robot according to claim 1, characterized in that: The movable components include a first sliding rod (8), a gear (10) and a second sliding rod (11). The gear (10) is sleeved and fixedly connected to the outer wall of the rotating rod (9). The first sliding rod (8) and the second sliding rod (11) are arranged in parallel, and the first sliding rod (8) and the second sliding rod (11) are respectively located on both sides of the gear (10). One end of the first sliding rod (8) and the second sliding rod (11) is located inside the protective cover (2). The other ends of the first sliding rod (8) and the second sliding rod (11) both penetrate through the protective cover (2) to the outside of the protective cover (2). And a tooth is provided at one end of the first sliding rod (8) located inside the protective cover (2). The tooth meshes with the gear (10). One ends of the first sliding rod (8) and the second sliding rod (11) located inside the protective cover (2) are fixedly connected. The first sliding rod (8) and the second sliding rod (11) penetrating through the rear end of the protective cover (2) are respectively connected to the two moving components, and are also both connected to the limiting component.

3. The quadruped inspection robot according to claim 2, characterized in that: Both of the two moving components include rollers (4) and L-shaped rods (5). One ends of the two L-shaped rods (5) are respectively fixedly connected to one ends of the first sliding rod (8) and the second sliding rod (11) penetrating through the rear end of the protective cover (2). The other ends of the two L-shaped rods (5) respectively penetrate through the two rollers (4), and the outer walls of the two L-shaped rods (5) are respectively rotatably connected to the inner walls of the two rollers (4).

4. The quadruped inspection robot according to claim 3, characterized in that: A connecting rod (6) is fixedly connected between the two L-shaped rods (5).

5. A quadruped inspection robot according to claim 2, 3 or 4, characterized in that: Two sockets (801) are respectively formed on the surfaces of the first sliding rod (8) and the second sliding rod (11) penetrating through the rear end of the protective cover (2). The limiting component is matched with both of the two sockets (801).

6. The quadruped inspection robot according to claim 5, wherein: The limiting component includes a limiting box (7), two inserting blocks (14) and two buckling plates (15). One side of the outer wall of the limiting box (7) is fixedly connected to the outer wall of the rear end of the robot body (1). Two symmetrically arranged spring chambers (701) are formed inside the limiting box (7). The bottom surfaces of the two spring chambers (701) are respectively provided with sliding openings (702) penetrating through. The outer walls of the two inserting blocks (14) are respectively slidably connected to the inner walls of the two spring chambers (701). The ends of the two inserting blocks (14) away from each other respectively penetrate through the two spring chambers (701) and are slidably connected to the inner walls of the two sockets (801). The bottom surfaces of the two inserting blocks (14) are respectively fixedly connected to the upper ends of the two buckling plates (15). The lower ends of the two buckling plates (15) respectively penetrate through the two sliding openings (702), and the outer walls of the two sliding openings (702) are respectively slidably connected to the inner walls of the two sliding openings (702).

7. A quadruped inspection robot according to claim 6, characterized in that: The inner walls of the adjacent sides of the two spring chambers (701) are fixedly connected with extrusion springs (13), and the other ends of the two extrusion springs (13) are respectively fixedly connected with the ends of the two insertion blocks (14) far away from the insertion ports (801).

8. The quadruped inspection robot according to claim 6 or 7, characterized in that: Sealing plates (16) are sleeved and fixedly connected to the outer walls of one ends of the two clamping plates (15) located at the sliding ports (702). The upper surfaces of the two sealing plates (16) are slidably connected to the bottom surface of the limit box (7), and the lengths and widths of the two sealing plates (16) are not less than the lengths and widths of the sliding ports (702).

9. A quadruped inspection robot according to claim 1, 2, 3, 4, 6 or 7, characterized in that: A partition plate (12) is fixedly connected to the middle of the inner wall of the protective cover (2), and the two groups of movable components are respectively located on the upper and lower sides of the partition plate (12).

10. A quadruped inspection robot according to claim 2, 3, 4, 6 or 7, characterized in that: A pull rod (3) is fixedly connected between the first sliding rod (8) and the second sliding rod (11) passing through the front end of the protective cover (2).

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