Quadruped robot for inspection

Abstract

The quadruped robot comprises a robot body, a first shell and a second shell are arranged on the robot body, the first shell and the second shell are fixedly connected through a connecting plate, a mounting plate is arranged on the second shell, a first camera is arranged on the mounting plate, and a second camera is arranged on the first camera. According to the scheme, a servo motor is driven to rotate forwards, and a driving gear is matched with a driven gear, so that a rotating ring drives a plurality of groups of micro cameras to rotate around the robot by 360 degrees in all directions, and the micro cameras can perform dead-corner-free image acquisition on the surrounding environment by taking the robot as the center; therefore, the comprehensiveness and accuracy of inspection are greatly improved, and no important information is missed.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, specifically to a quadruped robot used for inspection. Background Technology

[0002] In numerous fields such as industrial production, energy facility maintenance, and security monitoring, inspection is a crucial link in ensuring the normal operation of equipment and timely detection of potential safety hazards. Traditional inspection methods often rely on manual labor, which suffers from high labor intensity, low efficiency, numerous environmental limitations, and difficulty in real-time monitoring. With the continuous development of robotics technology, quadruped robots, with their flexible mobility and good terrain adaptability, are gradually becoming a research hotspot and application direction in the field of inspection.

[0003] Currently, existing quadruped robots typically use cameras and other visual acquisition devices to obtain environmental information during inspection tasks. However, most of these cameras are fixedly installed, and their angle adjustment range is limited, especially in the areas around the sides of the robot, where there are large blind spots. This limitation makes it difficult for the robot to obtain comprehensive and detailed information about its surrounding environment in actual inspection scenarios.

[0004] Therefore, based on this, a design or technical improvement is proposed to solve the above-mentioned problems. Utility Model Content

[0005] The purpose of this invention is to address the aforementioned shortcomings and provide a quadruped robot for inspection.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A quadruped robot for inspection includes a robot body, a first shell and a second shell on the robot body, the first shell and the second shell are fixedly connected by a connecting plate, the second shell is provided with a mounting plate, and a first camera is provided on the mounting plate;

[0008] A servo motor is fixedly installed inside the first housing, and a drive gear is fixedly installed on the output shaft of the servo motor.

[0009] A fixed shell is fixedly installed on the second outer shell, a fixed rod is fixedly installed on the fixed shell, and a planetary carrier is fixedly installed on the fixed rod. Two sets of second shafts and a first shaft are rotatably arranged on the planetary carrier, and a driven gear is rotatably arranged at the end of each set of second shafts and first shafts. The driven gear meshes with the drive gear. A rotating ring is rotatably meshed on the outer surface of the driven gear, and multiple miniature cameras are arranged on the outer surface of the rotating ring.

[0010] The second housing is equipped with a lifting component for controlling the height adjustment of the first camera.

[0011] Furthermore, two sets of second bearing seats are fixedly installed on the inner wall of the second outer shell, and a rotating rod is rotatably installed on each of the two sets of second bearing seats. A first bevel tooth is fixedly installed on the rotating rod, and the end of the rotating rod is fixedly connected to the two sets of second shafts. The first bevel tooth meshes with the lifting assembly.

[0012] Furthermore, multiple sets of first bearing seats are fixedly installed inside the second outer shell, and a lead screw is rotatably arranged between the multiple sets of first bearing seats. The lifting assembly includes a second bevel tooth that meshes with the first bevel tooth, and the second bevel tooth is fixedly installed at the end of the lead screw. A long plate is slidably arranged on the outer surface of the lead screw, and two sets of guide rods are fixedly installed on the long plate. Both sets of guide rods penetrate the outer surface of the second outer shell, and a mounting plate is fixedly installed at the top of the two sets of guide rods. A first camera is arranged on the mounting plate.

[0013] Furthermore, multiple sets of fan blades are fixedly installed at the end of the rotating rod.

[0014] Furthermore, a heat dissipation groove is provided on one side of the second outer casing.

[0015] Furthermore, observation windows are provided on both sides of the connecting plate.

[0016] Furthermore, the bottom of the mounting plate is wrapped with rubber.

[0017] Compared with existing technologies, the beneficial effects of this solution are:

[0018] 1. By driving the servo motor to rotate forward, and through the engagement of the drive and driven gears, the rotating ring drives multiple miniature cameras to rotate 360 ​​degrees around the robot. This allows the miniature cameras to capture images of the surrounding environment without blind spots, centered on the robot. This greatly improves the comprehensiveness and accuracy of inspections, ensuring that no important information is missed. Whether it's minor damage to the equipment surface or potential safety hazards in the environment, everything can be captured in a timely manner. Secondly, the observation windows on both sides of the connecting plate provide excellent viewing channels for the miniature cameras. Even when the cameras are moved to their corresponding positions inside the robot, normal light and image transmission is guaranteed, avoiding obstruction of observation due to structural factors.

[0019] 2. The lifting assembly is driven by a moving gear, enabling height adjustment of the first camera. The rotating rod also drives the fan blades for heat dissipation. These design features offer significant advantages. The height-adjustable function of the first camera allows for flexible adjustment of the shooting height according to different inspection needs, thereby acquiring environmental information at different height levels and meeting diverse inspection requirements. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the first explosive structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the second explosive structure of this utility model;

[0024] Figure 4 This is a cross-sectional structural diagram of the present invention;

[0025] Figure 5 This is a schematic diagram of the internal structure of this utility model;

[0026] Figure 6 This utility model Figure 4 A magnified view of a portion of the image.

[0027] In the diagram: 1. Robot body; 2. First outer shell; 3. Second outer shell; 4. Heat dissipation groove; 5. Connecting plate; 6. Observation window; 7. Rotating ring; 8. Miniature camera; 9. Fixed shell; 911. Mounting plate; 912. First camera; 811. Rotating rod; 812. First bevel gear; 711. Servo motor; 712. Drive gear; 611. First bearing seat; 612. Lead screw; 613. Second bevel gear; 511. Fixed rod; 512. Planetary carrier; 513. Driven gear; 514. First shaft; 515. Second shaft; 411. Long plate; 412. Guide rod; 311. Fan blade; 312. Second bearing seat. Detailed Implementation

[0028] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] like Figure 1-6The quadruped robot shown includes a robot body 1, a first outer shell 2 and a second outer shell 3 mounted on the robot body 1. The first outer shell 2 and the second outer shell 3 are fixedly connected by a connecting plate 5. A mounting plate 911 is mounted on the second outer shell 3, and a first camera 912 is mounted on the mounting plate 911. A servo motor 711 is fixedly mounted inside the first outer shell 2, and a drive gear 712 is fixedly mounted on the output shaft of the servo motor 711. A fixing shell 9 is fixedly mounted on the second outer shell 3, and a fixing rod 5 is fixedly mounted on the fixing shell 9. 11. A planetary carrier 512 is fixedly installed on the fixed rod 511. Two sets of second shafts 515 and first shafts 514 are rotatably arranged on the planetary carrier 512. The ends of the two sets of second shafts 515 and first shafts 514 are rotatably provided with driven gears 513. The driven gears 513 mesh with the drive gears 712. A rotating ring 7 is rotatably meshed on the outer surface of the driven gears 513. Multiple miniature cameras 8 are arranged on the outer surface of the rotating ring 7. A lifting assembly is provided on the second housing 3 for controlling the height adjustment of the first camera 912.

[0030] In one embodiment, two sets of second bearing seats 312 are fixedly installed on the inner wall of the second outer shell 3, and a rotating rod 811 is rotatably installed on each of the two sets of second bearing seats 312. A first bevel tooth 812 is fixedly installed on the rotating rod 811, and the ends of the rotating rod 811 are fixedly connected to two sets of second shafts 515. The first bevel tooth 812 meshes with the lifting assembly. The rotating rod 811, as an intermediate transmission component, transmits the rotational motion of the second shaft 515 to the first bevel tooth 812. The first bevel tooth 812 meshes with the lifting assembly, realizing the power transmission from the camera rotation system to the height adjustment system.

[0031] In one embodiment, multiple sets of first bearing seats 611 are fixedly installed inside the second outer shell 3. A lead screw 612 is rotatably arranged between the multiple sets of first bearing seats 611. The lifting assembly includes a second bevel tooth 613 that meshes with the first bevel tooth 812. The second bevel tooth 613 is fixedly installed at the end of the lead screw 612. A long plate 411 is slidably arranged on the outer surface of the lead screw 612. Two sets of guide rods 412 are fixedly installed on the long plate 411. Both sets of guide rods 412 penetrate the outer surface of the second outer shell 3. A mounting plate 911 is fixedly installed at the top of the two sets of guide rods 412. A first camera 912 is arranged on the mounting plate 911. The lead screw 612 rotates under the drive of the second bevel tooth 613. The long plate 411 moves up and down through the lead screw thread. The guide rods 412 provide guidance and support for the movement of the long plate 411. The mounting plate 911 is used to install the first camera 912, so that the first camera 912 can be height adjusted as the long plate 411 moves.

[0032] In one embodiment, multiple sets of fan blades 311 are fixedly installed at the end of the rotating rod 811. When the rotating rod 811 rotates, it drives the fan blades 311 to rotate, generating airflow to dissipate heat from the inside of the robot.

[0033] In one embodiment, a heat dissipation groove 4 is provided on one side of the second outer shell 3. The heat dissipation groove 4 provides a circulation channel between the robot's interior and the outside air, so that the airflow generated by the fan blade 311 can be smoothly discharged and take away the heat.

[0034] In one embodiment, observation windows 6 are provided on both sides of the connecting plate 5. The observation windows 6 provide a good field of view for the miniature camera 8 to capture images, and can ensure normal transmission of light and images even when the miniature camera 8 moves to the corresponding position inside the robot.

[0035] In one embodiment, the bottom of the mounting plate 911 is wrapped with rubber, which has the function of cushioning and shock absorption. The rubber wrapping at the bottom of the mounting plate 911 can play a role in cushioning and protecting the first camera 912 during the lifting and lowering process.

[0036] The specific workflow of this plan is as follows:

[0037] The servo motor 711 is driven to start rotating forward. The output shaft of the servo motor 711 drives the drive gear 712 to rotate synchronously. Since the drive gear 712 meshes with multiple sets of driven gears 513, the rotational torque of the drive gear 712 is transmitted to the driven gears 513, causing the multiple sets of driven gears 513 to revolve around the planet carrier 512. At the same time, each driven gear 513 also rotates on its own axis.

[0038] During rotation, the driven gear 513 meshes with the rotating ring 7 on its outer surface, thereby driving the rotating ring 7 to rotate. Multiple miniature cameras 8 mounted on the rotating ring 7 rotate synchronously. During rotation, the miniature cameras 8 can capture 360-degree images of the surrounding environment, centered on the robot itself.

[0039] The observation windows 6 on both sides of the connecting plate 5 provide a good field of view for the miniature camera 8. Even when the miniature camera 8 moves to the corresponding position inside the robot, the observation windows 6 can ensure the normal transmission of light and images, avoiding the impact of structural obstruction on the observation effect;

[0040] As the driven gear 513 rotates, it drives the second shaft 515 to rotate, which in turn drives the rotating rod 811 to rotate. The first bevel tooth 812 fixed on the rotating rod 811 rotates accordingly and meshes with the second bevel tooth 613 fixedly installed at the end of the lead screw 612, thereby transmitting the rotational torque to the lead screw 612 and causing the lead screw 612 to start rotating.

[0041] When the lead screw 612 rotates, the long plate 411, which slides against its outer surface, moves up and down along the axis of the lead screw under the action of the screw thread. The two sets of guide rods 412 fixed on the long plate 411 also move up and down accordingly. The guide rods 412 penetrate the outer surface of the second housing 3, providing guidance and support for the movement of the long plate 411, ensuring the smoothness and accuracy of the movement. The mounting plate 911 fixed to the top of the guide rod 412 moves up and down under the drive of the guide rod 412, thereby adjusting the height of the first camera 912 on the mounting plate 911. Through this lifting component design, the first camera 912 can flexibly adjust its shooting height according to inspection needs to obtain environmental information at different height levels, meeting diverse inspection requirements.

[0042] As the rotating rod 811 drives the first bevel gear 812 to rotate, multiple sets of fan blades 311 fixedly installed at the end of the rotating rod 811 also rotate synchronously. The airflow generated by the rotation of the fan blades 311 is discharged through the heat dissipation slots 4 opened on one side of the second outer casing 3, forming effective air convection and reducing the internal temperature.

[0043] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A four-legged robot for inspection, comprising a robot body (1), a first shell (2) and a second shell (3) are arranged on the robot body (1), characterized in that: the first shell (2) and the second shell (3) are fixedly connected through a connecting plate (5), and the second shell (3) is provided with a mounting plate (911), and the mounting plate (911) is provided with a first camera (912); a servo motor (711) is fixedly installed in the first shell (2), and a drive gear (712) is fixedly installed on the output shaft of the servo motor (711); a fixed shell (9) is fixedly installed on the second shell (3), a fixed rod (511) is fixedly installed on the fixed shell (9), a planet carrier (512) is fixedly installed on the fixed rod (511), two groups of second shaft rods (515) and first shaft rods (514) are rotatably arranged on the planet carrier (512), and the end portions of the two groups of second shaft rods (515) and first shaft rods (514) are rotatably provided with driven gears (513), the driven gears (513) and the drive gear (712) are meshed with each other; a rotating ring (7) is rotatably meshed with the outer surface of the driven gear (513), and the outer surface of the rotating ring (7) is provided with a plurality of micro cameras (8); the second shell (3) is provided with a lifting assembly for controlling height adjustment of the first camera (912). The inner wall of the second shell (3) is fixedly installed with two groups of second bearing seats (312), and the two groups of second bearing seats (312) are rotatably provided with rotating rods (811), the rotating rods (811) are fixedly installed with first bevel gears (812), and the end portions of the rotating rods (811) are fixedly connected with the two groups of second shaft rods (515), the first bevel gears (812) are meshed with the lifting assembly. The second shell (3) is fixedly installed with a plurality of first bearing seats (611), a lead screw (612) is rotatably arranged between the plurality of first bearing seats (611), the lifting assembly comprises second bevel gears (613) meshed with the first bevel gears (812), the second bevel gears (613) are fixedly installed at the end portions of the lead screw (612), the outer surface of the lead screw (612) is slidably provided with a long plate (411), the long plate (411) is fixedly installed with two groups of guide rods (412), the two groups of guide rods (412) penetrate through the outer surface of the second shell (3), the top ends of the two groups of guide rods (412) are fixedly installed with the mounting plate (911), and the mounting plate (911) is provided with the first camera (912). The end portions of the rotating rods (811) are fixedly installed with a plurality of fan blades (311). A heat dissipation groove (4) is formed on one side of the second shell (3). The connecting plate (5) is provided with observation windows (6) on both sides.

2. The quadruped robot for inspection according to claim 1, characterized in that: The bottom of the mounting plate (911) is wrapped with rubber.

3. The quadruped robot for patrol according to claim 1 or 2, characterized in that: ​ 4. The quadruped robot for inspection according to claim 2, characterized in that: ​ 5. The quadruped robot for inspection according to claim 1, characterized in that: ​ 6. The quadruped robot for inspection according to claim 1, characterized in that: ​ 7. The quadruped robot for inspection according to claim 1, characterized in that: ​

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