Electric power inspection quadruped robot

Abstract

The utility model discloses an electric power inspection quadruped robot, which relates to the technical field of robots and comprises a robot dog, an inspection acquisition component, a network communication module and a master control base. The robot dog comprises a robot dog body, four-limb structures arranged on the two sides of the front portion and the two sides of the rear portion of the robot dog body and a driving device used for driving the four-limb structures to swing. The inspection collection assembly is arranged at the top of the robot dog body; the inspection collection assembly comprises a camera module and an ultrasonic ranging module, the camera module is used for collecting image signals, and the ultrasonic ranging module is used for collecting spatial orientation signals; the network communication module is arranged on the robot dog body; the main control base is mounted at the top of the robot dog body and located at the bottom of the inspection collection assembly; the main control base is electrically connected with the driving device, the camera module, the ultrasonic ranging module and the network communication module. The device has the functions of cross-country obstacle crossing, stair climbing and the like, and the inspection range is expanded.

Description

Technical Field

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

[0002] In the scenario of substation inspection operations, power inspection robots are generally used to replace manual inspection operations, which have the application advantages of safety and high efficiency. Through power inspection robots, they can effectively assist inspection technicians in conducting long-distance and rapid inspections and quickly handle potential hazard points.

[0003] Publication No. CN109483508A discloses a power inspection robot, which includes a vehicle body, an inspection device, a detection radar, and an intelligent control center. The inspection device includes an inspection camera and a safety sensor for collecting the working information of power equipment inside the unmanned power station during the inspection process; the detection radar is used to detect obstacles around during the movement of the vehicle body and feedback to the intelligent control center to adjust the inspection route; through the multi-layer setting of the mounting plate, the first telescopic device in the vertical direction can be started in multiple stages, with a larger telescopic range and more flexible position adjustment in the vertical direction; the sliding connection between the square mounting plate and the mounting groove limits the shaking of the entire position adjustment module in the horizontal direction, so that the inspection device obtains a stable working platform and the inspection operation of power equipment can be carried out smoothly.

[0004] However, the above-mentioned power inspection robot using a wheeled robot does not have functions such as cross-country obstacle crossing and stair climbing, and can only be used on paved roads, with limited movement range. Summary of the Utility Model

[0005] In view of this, the utility model provides a four-legged robot for power inspection to overcome the technical problem that the wheeled robot in the prior art does not have functions such as cross-country obstacle crossing and stair climbing, resulting in limited inspection range.

[0006] To solve the above problems, the utility model provides a four-legged robot for power inspection, and the four-legged robot includes:

[0007] A robotic dog, including a robotic dog body, limb structures arranged on both sides of the front and rear of the robotic dog body, and a driving device for driving the limb structures to swing;

[0008] An inspection and acquisition component, arranged on the top of the robotic dog body, and the inspection and acquisition component is used to collect the working information of power equipment inside the unmanned power station during the inspection process; the inspection and acquisition component includes a camera module and an ultrasonic ranging module, the camera module is used to collect image signals, and the ultrasonic ranging module is used to collect spatial orientation signals;

[0009] A network communication module, which is arranged on the main body of the robotic dog;

[0010] A main control base, which is installed on the top of the main body of the robotic dog and is located at the bottom of the inspection and acquisition component; the main control base is electrically connected to the driving device, the camera module, the ultrasonic ranging module and the network communication module respectively.

[0011] Furthermore, the camera module includes a camera bottom support plate fixedly installed at the center of the top of the main body of the robotic dog, a camera base connected to the upper surface of the camera bottom support plate, a camera rotating head connected to the upper surface of the camera base, and two cameras connected to both sides of the camera rotating head. The camera is adapted to rotate relative to the camera rotating head in a vertical plane; the camera rotating head is adapted to rotate around the vertical central axis in a horizontal plane to drive the camera to rotate and adjust the direction in the horizontal direction.

[0012] Furthermore, the driving device includes a lateral rotation motor, a vertical swing motor and a leg swing motor fixed on the main body of the robotic dog. The output shaft of the lateral rotation motor is fixedly connected to the vertical swing motor. The output shaft of the vertical swing motor is perpendicular to the output shaft of the lateral rotation motor and is fixedly connected to the leg swing motor. The leg swing motor is connected between the limb structure and the vertical swing motor.

[0013] Furthermore, the limb structure includes a thigh member and a calf member fixedly connected to the leg swing motor, and a belt transmission assembly for driving the relative rotation of the thigh member and the calf member. The upper end of the calf member is hinge-connected to the lower end of the thigh member through a penetrating rotating shaft. One end of the belt transmission assembly is sleeved on the rotating shaft, and the other end is sleeved on the output end of the leg swing motor to drive the calf member to swing around the hinge joint with the thigh member by using the leg swing motor.

[0014] Furthermore, the belt transmission assembly includes a driven belt pulley located at the upper end of the calf member and sleeved on the rotating shaft, a driving belt pulley fixed on the output end of the leg swing motor, and a transmission belt sleeved outside the driving belt pulley and the driven belt pulley.

[0015] Furthermore, the leg swing motor includes a first motor mounting base, a first planetary gear train and a first mounting bearing located within the first motor mounting base, a first transmission shaft perpendicular to the thigh member and passing through the first planetary gear train, a first motor cover adapted to cover the first motor mounting base, and a first driving member connected to the first motor cover; the first transmission shaft and the first planetary gear train are rotatably mounted within a motor housing formed by the first motor mounting base and the first motor cover through the first mounting bearing, and the first driving member is in transmission connection with the first transmission shaft to drive the first planetary gear train to move, thereby driving the driving pulley to move.

[0016] Furthermore, four ultrasonic ranging modules are provided, and the four ultrasonic ranging modules are respectively mounted on the front, back, left, and right sides of the camera base.

[0017] Furthermore, the thigh member includes a thigh arm and a first mounting base connected to each other. The first mounting base is adapted to mount the driving pulley and is connected to the outer side wall of the leg swing motor.

[0018] Furthermore, the calf member includes a calf arm and a foot inserted at the bottom end of the calf arm; a second mounting base adapted to accommodate the driven pulley is further provided inside the calf arm on the side close to the thigh arm, and the foot is provided in a spherical shape.

[0019] Furthermore, the network communication module is a 5G transmission antenna.

[0020] The utility model has remarkable advantages and beneficial effects compared with the prior art, which are specifically reflected in the following aspects:

[0021] 1. The four-legged robot for power inspection consists of a robotic dog, an inspection and acquisition component, a network communication module, and a main control base. The robotic dog serves as the mobile carrier for the inspection and acquisition component, the network communication module, and the main control base. The robotic dog is composed of a robotic dog body, a four-limbed structure, and a driving device. The four-limbed structure is used to support the mobile robotic dog body, and the driving device is used to provide the driving force for the four-limbed structure. This robotic dog has a simple structure, is easy to manufacture, and has a low cost. It can imitate biological actions and tasks, with functions such as cross-country obstacle crossing and stair climbing, enabling a wide inspection range for the four-legged robot for power inspection. The inspection and acquisition component consists of a camera module and an ultrasonic ranging module. The camera module and the ultrasonic ranging module are installed on the robotic dog and move to the inspection range required by the power station under the drive of the robotic dog. Then, the camera module acquires images of the inspection area and transmits them for analysis and judgment by the remote control center through long-distance transmission. The ultrasonic ranging module is used for distance measurement during the inspection process of the robotic dog and has functions such as judging obstacles ahead, enabling the robotic dog to walk stably, replacing manual labor to enter the power station site, and realizing intelligent inspection and data acquisition. In such a special scenario, the four-legged robot not only has stronger locomotion ability than humans but also better adapts to unstructured scenarios than tracked or wheeled robots, serving as a supplement and replacement for existing tracked and wheeled robots in application scenarios such as power stations. Multiple non-contact detection elements such as the camera module and the ultrasonic ranging module effectively ensure the overall inspection accuracy. The main control base is used to control the movement of the driving device according to the ultrasonic ranging module and, under the action of the network communication module, transmit data such as real-time captured photos, videos, and sounds in real time. Compared with wheeled and tracked robots, this four-legged robot for power inspection has more advantages in terms of locomotion ability. Considering factors such as stability, ease of control, and manufacturing cost, the four-legged robot is the best form of legged robot.

[0022] 2. By using this four-legged robot for power inspection to replace manual inspection, the inspection tasks of high-voltage lines in the power station can be completed safely and quickly. This not only improves the efficiency and safety of the inspection work but also reduces the labor and material costs of the power station, better ensuring the reliable power supply of electrical equipment. At the same time, the robotic dog is equipped with a high-performance camera to collect data such as photos, videos, and sounds in real time, facilitating later analysis and maintenance management. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the four-legged robot for power inspection in one direction according to an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of the four-legged robot for power inspection in another direction according to an embodiment of the present invention;

[0025] Figure 3It is a front view structural schematic diagram of the four-legged robot for power inspection in the embodiment of the present utility model;

[0026] Figure 4 It is a structural schematic diagram of one direction of the robot dog in the embodiment of the present utility model;

[0027] Figure 5 It is a structural schematic diagram of another direction of the robot dog in the embodiment of the present utility model;

[0028] Figure 6 It is an assembly structural schematic diagram of the limb structure and the driving device in the embodiment of the present utility model;

[0029] Figure 7 It is a disassembly structural schematic diagram of one direction of the limb structure and the leg swing motor in the embodiment of the present utility model;

[0030] Figure 8 It is a disassembly structural schematic diagram of another direction of the limb structure and the leg swing motor in the embodiment of the present utility model;

[0031] Figure 9 It is a structural schematic diagram of the camera module in the embodiment of the present utility model.

[0032] Reference numerals:

[0033] 1 - Robot dog;

[0034] 11 - Robot dog body;

[0035] 12 - Limb structure;

[0036] 121 - Thigh member; 1211 - Thigh arm; 1212 - First mounting seat;

[0037] 122 - Calf member; 1221 - Calf arm; 12211 - Second mounting seat; 1222 - Foot;

[0038] 123 - Belt transmission assembly; 1231 - Driven pulley; 1232 - Driving pulley; 1233 - Transmission belt;

[0039] 124 - Rotating shaft;

[0040] 13 - Driving device;

[0041] 131 - Lateral rotation motor;

[0042] 132 - Vertical swing motor;

[0043] 133 - Leg swing motor; 1331 - First motor mounting seat; 1332 - First planetary gear train; 1333 - First mounting bearing; 1334 - First transmission shaft; 1335 - First motor cover; 1336 - First driving member;

[0044] 2 - Inspection and acquisition component;

[0045] 21 - Camera module; 211 - Camera bottom support plate; 212 - Camera base; 213 - Camera rotating head; 214 - Camera;

[0046] 22 - Ultrasonic ranging module;

[0047] 3 - Network communication module; 4 - Main control base. Specific embodiments

[0048] To make the above - mentioned objects, features, and advantages of the present utility model more obvious and understandable, the following detailed description of the specific embodiments of the present utility model is provided in conjunction with the accompanying drawings.

[0049] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be the communication inside two components. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above - mentioned terms in the present utility model can be understood according to specific situations.

[0050] In addition, the front, back, up, down and other orientation words involved in this article are defined based on the positions of the components in the drawings and the positions of the components relative to each other, only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the orientation words should not limit the scope of protection requested by this application.

[0051] Please refer to Figures 1-9 As shown in the figure, the embodiment of the present utility model provides a four - legged robot for power inspection. The four - legged robot for power inspection includes a robot dog 1, an inspection and acquisition component 2, a network communication module 3, and a main control base 4, where:

[0052] The robot dog 1 includes a robot dog body 11, a four - limb structure 12, and a driving device 13. The four - limb structure 12 is arranged on both sides of the front and rear of the robot dog body 11, and the driving device 13 is used to drive the four - limb structure 12 to swing.

[0053] The inspection and collection component 2 is arranged on the top of the robot dog body 11, and is used to collect the working information of the internal power equipment in the unmanned power station during the inspection process; the inspection and collection component 2 includes a camera module 21 and an ultrasonic ranging module 22. The camera module 21 is used to collect image signals, and the ultrasonic ranging module 22 is used to collect spatial orientation signals; the network communication module 3 is arranged on the robot dog body 11; the main control base 4 is installed on the top of the robot dog body 11 and is located at the bottom of the inspection and collection component 2; the main control base 4 is electrically connected to the driving device 13, the camera module 21, the ultrasonic ranging module 22 and the network communication module 3 respectively.

[0054] In the specific solution of this embodiment, the four-legged power inspection robot is composed of a robot dog 1, an inspection and collection component 2, a network communication module 3 and a main control base 4. Among them, the robot dog 1 serves as the mobile carrier of the inspection and collection component 2, the network communication module 3 and the main control base 4. As a preferred method of this embodiment, the robot dog 1 is composed of a robot dog body 11, a four-limbed structure 12 and a driving device 13. The four-limbed structure 12 is used to support the mobile robot dog body 11, and the driving device 13 is used to provide the driving force for the four-limbed structure 12. This robot dog 1 has a simple structure, is easy to manufacture, and has a low cost. It can imitate living things to complete a series of actions and tasks, and has functions such as cross-country and obstacle climbing, making the inspection range of this four-legged power inspection robot wide; the inspection and collection component 2 is composed of a camera module 21 and an ultrasonic ranging module 22. The camera module 21 and the ultrasonic ranging module 22 are installed on the robot dog 1 and move to the range that needs to be inspected in the power station under the drive of the robot dog 1. Then, the camera module 21 obtains the images of the inspection area and transmits them to the remote transmission centralized control center for analysis and judgment; the ultrasonic ranging module 22 is used for distance measurement during the inspection process of the robot dog 1 and has functions such as judging obstacles in front, so that the robot dog 1 can walk stably, replace humans to enter the power station site, and realize intelligent inspection and data collection. In such a special scenario, four-legged animals not only have stronger locomotion ability than humans, but also are better adapted to unstructured scenarios than tracked or wheeled robots, which is a supplement and replacement for existing tracked and wheeled robots in application scenarios such as power stations. A variety of non-contact detection elements such as the camera module 21 and the ultrasonic ranging module 22 effectively ensure the overall inspection accuracy; the main control base 4 is used to control the movement of the driving device 13 according to the ultrasonic ranging module 22, and under the action of the network communication module 3, real-time data such as collected photos, videos, and sounds are transmitted in real time.

[0055] Compared with wheeled and tracked robots, this four-legged power inspection robot has more advantages in terms of locomotion ability. Considering comprehensively from aspects such as stability, ease of control and manufacturing cost, the four-legged robot is the best form of legged robot.

[0056] Thus, by using this four-legged power inspection robot to replace manual inspection, the inspection tasks of high-voltage lines in the power station can be completed safely and quickly. This not only improves the efficiency and safety of the inspection work, but also reduces the labor and material costs of the power station, better ensuring the reliable power supply of electrical equipment. At the same time, the robot dog is equipped with a high-performance camera to collect data such as photos, videos, and sounds in real time, facilitating later analysis and maintenance management.

[0057] It should be noted specifically that the main control base 4 in this application is an existing module, and the control connections between it and the drive device 13, the camera module 21, the ultrasonic ranging module 22, and the network communication module 3 are all existing simple control programs, without involving improvements to the programs.

[0058] Furthermore, please refer to Figure 2 、 3 As shown in Figures 8 and 9, the camera module 21 includes a camera bottom support plate 211, a camera base 212, a camera rotating head 213, and a camera 214. The camera bottom support plate 211 is fixedly installed at the top center of the robot dog body 11. The camera base 212 is connected to the upper surface of the camera bottom support plate 211. The camera rotating head 213 is connected to the upper surface of the camera base 212. Two cameras 214 are connected to both sides of the camera rotating head 213. The camera 214 is adapted to rotate relative to the camera rotating head 213 in the vertical plane; the camera rotating head 213 is adapted to rotate around the vertical central axis in the horizontal plane to drive the camera 214 to rotate and adjust the direction in the horizontal direction.

[0059] Furthermore, please refer to Figure 6 As shown in Figure 10, the drive device 13 includes a lateral rotation motor 131, a vertical swing motor 132, and a leg swing motor 133. The lateral rotation motor 131 is fixed to the robot dog body 11. The output shaft of the lateral rotation motor 131 is fixedly connected to the vertical swing motor 132. The output shaft of the vertical swing motor 132 is perpendicular to the output shaft of the lateral rotation motor 131 and is fixedly connected to the leg swing motor 133. The leg swing motor 133 is connected between the limb structure 12 and the vertical swing motor 132.

[0060] Specifically in this embodiment, the drive device 13 is configured such that the lateral rotation motor 131 and the vertical swing motor 132 are 90 degrees apart. The position of the leg swing motor 133 is parallel to the lateral rotation motor 131. The leg swing motor 133 uses a belt and pulley to drive and support the lower leg, reducing the moment of inertia at the end of the supported lower leg.

[0061] In this embodiment, when the robotic dog 1 walks, the lateral rotation motor 131 drives the vertical swing motor 132, the leg swing motor 133, and the entire limb structure 12 to swing to the inside and outside of the robotic dog body 11. The vertical swing motor 132 is used to achieve the front and back swing of the plane where the leg swing motor 133 and the limb structure 12 are located. In this way, the vertical swing motor 132 and the leg swing motor 133 control two degrees of freedom of the knee joint of the limb structure 12, with a simple structure, convenient manufacturing, low cost, and the ability to imitate a biological organism to complete a series of actions and tasks.

[0062] Further, please refer to Figure 9 As shown, the limb structure 12 includes a thigh member 121, a calf member 122, a belt transmission assembly 123, and a rotating shaft 124. The thigh member 121 and the calf member 122 are fixedly connected to the leg swing motor 133. The belt transmission assembly 123 is used to drive the relative rotation of the thigh member 121 and the calf member 122. The upper end of the calf member 122 and the lower end of the thigh member 121 are hinged through the penetrating rotating shaft 124. One end of the belt transmission assembly 123 is sleeved on the rotating shaft 124, and the other end is sleeved on the output end of the leg swing motor 133 to use the leg swing motor 133 to drive the calf member 122 to swing around the hinge with the thigh member 121.

[0063] Thus, the leg swing motor 133 is used to control the driving of the calf member 122 to swing around the hinge with the thigh member 121 through the belt transmission assembly 123. In this way, the mechanical leg composed of the upper end of the calf member 122 and the thigh member 121 has three degrees of freedom, enabling the entire robotic dog 1 to have twelve degrees of freedom and smoothly achieve various gaits.

[0064] Further, please refer to Figure 6 、 7 As shown in Figures 7 and 8, the belt transmission assembly 123 includes a driven belt pulley 1231, a driving belt pulley 1232, and a transmission belt 1233. The driven belt pulley 1231 is located at the upper end of the calf member 122 and is sleeved on the rotating shaft 124. The driving belt pulley 1232 is fixed on the output end of the leg swing motor 133. The transmission belt 1233 is sleeved outside the driving belt pulley 1232 and the driven belt pulley 1231.

[0065] Thus, the transmission belt 1233 and the belt pulley are used to drive and support the calf, reducing the rotational inertia at the end of the supporting calf. In this way, the small robotic dog body 11 and the leg structure can walk on rough and uneven complex terrains.

[0066] Further, please refer to Figure 7 、 8As shown in the figure, the leg swing motor 133 includes a first motor mount 1331, a first planetary gear train 1332, a first mounting bearing 1333, a first transmission shaft 1334, a first motor cover 1335, and a first driving member 1336. The first planetary gear train 1332 and the first mounting bearing 1333 are located within the first motor mount 1331. The first transmission shaft 1334 is perpendicular to the thigh member 121 and is disposed on the first planetary gear train 1332. The first motor cover 1335 is adapted to cover the first motor mount 1331. The first driving member 1336 is connected to the first motor cover 1335. The first transmission shaft 1334 and the first planetary gear train 1332 are adapted to be rotatably mounted within the motor housing formed by the first motor mount 1331 and the first motor cover 1335 through the first mounting bearing 1333. The first driving member 1336 is in transmission connection with the first transmission shaft 1334 to drive the first planetary gear train 1332 to move, and further drive the driving pulley 1232 to move.

[0067] It should be particularly noted that the leg swing motor 133 in this embodiment uses an in-built planetary reducer DC brushless motor, and the motor control parameters include position and speed, which are combined by a PD controller, feedback current, and motor encapsulation.

[0068] Similarly, the lateral rotation motor 131 and the vertical swing motor 132 also use the same type of brushless motor as the leg swing motor 133.

[0069] Furthermore, please refer to Figure 1 As shown in the figure, four ultrasonic ranging modules 22 are provided, and the four ultrasonic ranging modules 22 are respectively installed on the front, back, left, and right sides of the camera base 212.

[0070] Thus, this power inspection quadruped robot uses the ultrasonic ranging module 22 to detect obstacles ahead, achieving the purpose of the robot avoiding obstacles.

[0071] During the specific use process, the ultrasonic ranging module 22 emits ultrasonic waves. During the propagation of the ultrasonic waves, when they encounter an obstacle and return, the ultrasonic ranging module 22 receives the returned ultrasonic waves to measure the distance between the power inspection quadruped robot and the obstacle.

[0072] When the distance between the power inspection quadruped robot and the obstacle exceeds the alarm threshold of the ultrasonic ranging module 22, the ultrasonic ranging module 22 sends a high-level signal to the main control base 4. After receiving the high-level signal, the main control base 4 controls the four-limb structure 12 to stop the periodic actions of the crawling step and start the turning action.

[0073] Furthermore, please refer to Figure 7As shown, the thigh member 121 includes a thigh arm 1211 and a first mounting base 1212 that are connected to each other. The first mounting base 1212 is adapted to mount a driving pulley 1232 therein and is connected to the outer sidewall of the leg swing motor 133.

[0074] In this embodiment, the thigh member 121 is composed of a thigh arm 1211 and a first mounting base 1212. The thigh arm 1211 is formed by combining two semi-wall shells. The internal space of the thigh arm 1211 is adapted to accommodate the belt transmission assembly 123, while the first mounting base 1212 is adapted to accommodate the driving pulley 1232, and the first mounting base 1212 is fixedly connected to the outer sidewall of the leg swing motor 133 to achieve linkage.

[0075] Further, please refer to Figure 7 , 8 As shown, the calf member 122 includes a calf arm 1221 and a foot 1222 inserted at the bottom end of the calf arm 1221; a second mounting base 12211 adapted to accommodate a driven pulley 1231 is further provided inside one side of the calf arm 1221 close to the thigh arm 1211, and the foot 1222 is provided in a spherical shape.

[0076] In this embodiment, considering that the calf member 122 needs to support the overall weight, the material of the calf member 122 is selected as aluminum alloy and processed by CNC machining. The structure of the calf arm 1221 can refer to the design of H-shaped steel to achieve the purpose of reducing weight and enhancing firmness; the foot 1222 uses a squash ball to absorb the reaction force generated when contacting the ground.

[0077] Further, please refer to Figures 1-3 As shown, as a preferred mode of this embodiment, the network communication module 3 is a 5G transmission antenna.

[0078] Thus, the power inspection quadruped robot can independently form a wireless communication network through the two 5G transmission antennas carried by itself, thereby ensuring the communication ability of the robot, greatly increasing the communication distance of the robot, and expanding the activity range of the robot.

[0079] Although the present utility model is disclosed as above, the protection scope of the present utility model is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present utility model.

Claims

1. A four-legged robot for power inspection, characterized in that, The quadruped robot includes: A robotic dog (1), including a robotic dog body (11), limb structures (12) arranged on both sides of the front and rear of the robotic dog body (11), and a driving device (13) for driving the limb structures (12) to swing; An inspection and acquisition component (2), arranged on the top of the robotic dog body (11), and the inspection and acquisition component (2) is used to acquire the working information of the internal power equipment of the unmanned power station during the inspection process; the inspection and acquisition component (2) includes a camera module (21) and an ultrasonic ranging module (22), the camera module (21) is used to acquire image signals, and the ultrasonic ranging module (22) is used to acquire spatial orientation signals; A network communication module (3), arranged on the robotic dog body (11); A main control base (4), installed on the top of the robotic dog body (11) and located at the bottom of the inspection and acquisition component (2); the main control base (4) is electrically connected to the driving device (13), the camera module (21), the ultrasonic ranging module (22), and the network communication module (3) respectively.

2. The four-legged robot for power inspection according to claim 1, wherein The camera module (21) includes a camera bottom support plate (211) fixedly installed at the center of the top of the robotic dog body (11), a camera base (212) connected to the upper surface of the camera bottom support plate (211), a camera rotating head (213) connected to the upper surface of the camera base (212), and two cameras (214) connected to both sides of the camera rotating head (213), and the camera (214) is adapted to rotate relative to the camera rotating head (213) in a vertical plane; the camera rotating head (213) is adapted to rotate around the vertical central axis in a horizontal plane to drive the camera (214) to rotate and adjust the direction in the horizontal direction.

3. The four-legged robot for power inspection according to claim 1, wherein The driving device (13) includes a lateral rotation motor (131), a vertical swing motor (132), and a leg swing motor (133) fixed to the robotic dog body (11), the output shaft of the lateral rotation motor (131) is fixedly connected to the vertical swing motor (132), the output shaft of the vertical swing motor (132) is perpendicular to the output shaft of the lateral rotation motor (131) and is fixedly connected to the leg swing motor (133), and the leg swing motor (133) is connected between the limb structure (12) and the vertical swing motor (132).

4. The four-legged robot for power inspection according to claim 3, characterized in that, The four - limb structure (12) includes a thigh member (121) fixedly connected to the leg swing motor (133), a calf member (122), and a belt transmission assembly (123) for driving the relative rotation of the thigh member (121) and the calf member (122). The upper end of the calf member (122) is hinged to the lower end of the thigh member (121) via a penetrating rotating shaft (124). One end of the belt transmission assembly (123) is sleeved on the rotating shaft (124), and the other end is sleeved on the output end of the leg swing motor (133) to drive the calf member (122) to swing around the hinge with the thigh member (121) by using the leg swing motor (133).

5. The four-legged robot for power inspection according to claim 4, wherein The belt transmission assembly (123) includes a driven pulley (1231) located at the upper end of the calf member (122) and sleeved on the rotating shaft (124), a driving pulley (1232) fixed on the output end of the leg swing motor (133), and a transmission belt (1233) sleeved outside the driving pulley (1232) and the driven pulley (1231).

6. The four-legged robot for power inspection according to claim 5, characterized in that, The leg swing motor (133) includes a first motor mounting base (1331), a first planetary gear train (1332) and a first mounting bearing (1333) located in the first motor mounting base (1331), a first transmission shaft (1334) perpendicular to the thigh member (121) and passing through the first planetary gear train (1332), a first motor cover (1335) adapted to cover the first motor mounting base (1331), and a first driving member (1336) connected to the first motor cover (1335); the first transmission shaft (1334) and the first planetary gear train (1332) are rotatably mounted in a motor housing composed of the first motor mounting base (1331) and the first motor cover (1335) through the first mounting bearing (1333), and the first driving member (1336) is in transmission connection with the first transmission shaft (1334) to drive the first planetary gear train (1332) to move, and then drive the driving pulley (1232) to move.

7. The four-legged robot for power inspection according to claim 2, wherein Four ultrasonic ranging modules (22) are provided, and the four ultrasonic ranging modules (22) are respectively installed on the front, back, left, and right sides of the camera base (212).

8. The four-legged robot for power inspection according to claim 5, wherein The thigh member (121) includes a thigh arm (1211) and a first mounting base (1212) connected to each other. The first mounting base (1212) is adapted to install the driving pulley (1232) and is connected to the outer side wall of the leg swing motor (133).

9. The power inspection quadruped robot according to claim 8, wherein The calf member (122) includes a calf arm (1221) and a foot (1222) inserted at the bottom end of the calf arm (1221); a second mounting seat (12211) adapted to accommodate the driven pulley (1231) is further provided inside one side of the calf arm (1221) close to the thigh arm (1211), and the foot (1222) is provided in a spherical shape.

10. The power inspection quadruped robot according to claim 1, characterized in that, The network communication module (3) is a 5G transmission antenna.

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