Four-legged robot anti-skid leg structure for wind farm inspection

Abstract

This utility model relates to the technical field of anti-slip leg structure for quadruped robots used in wind farm inspection, and discloses an anti-slip leg structure for quadruped robots used in wind farm inspection, including a mounting plate with mounting holes on the inner wall of the mounting plate. The DC power supply fault arc detection device is equipped with a positioning groove, threaded hole, fixing plate, positioning block, fastening bolt, leg body, screw, rubber anti-slip pad, nut, and anti-slip protrusions. By setting multiple anti-slip protrusions on the rubber anti-slip pad, the friction with the contact surface is enhanced, preventing the robot from slipping during movement. This solves the problem of insufficient anti-slip performance of quadruped robots in complex and slippery environments in the prior art. The rubber anti-slip pad adopts a detachable design. When the rubber anti-slip pad wears out due to long-term use, the old rubber anti-slip pad can be removed by unscrewing the nut, replaced with a new one, and then fixed with the nut again. The operation is convenient and the maintenance cost is low.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an anti-slip leg structure for a quadruped robot used for wind farm inspection. Background Technology

[0002] With the rapid development of the new energy industry, the scale of wind farms is constantly expanding, which puts forward higher requirements for the efficiency and safety of equipment inspection. Traditional manual inspection methods have problems such as low efficiency, high risk and high labor intensity. Especially in the case of severe weather or complex terrain, the limitations of manual inspection are more obvious. In recent years, quadruped robots have gradually become an important tool for wind farm inspection due to their superior terrain adaptability and mobility.

[0003] However, the inspection environment of wind farms is usually quite complex. The ground may be covered with gravel, oil, water, or snow. At the same time, the surface of wind turbine towers is mostly made of smooth metal, which is easily eroded by wind and rain and becomes slippery. These factors put forward higher requirements for the anti-slip structure of the legs of quadruped robots.

[0004] The prior art patent document CN108297965B discloses a quadruped robot. The robot's mechanical legs have high flexibility. The thighs adopt a parallel structure, and the extension and retraction of the electric cylinder drives the thigh support frame to achieve the pitch and roll movements of the thighs. The lower legs adopt a series structure, and the servo motor drives the knee joint movement through the synchronous pulley, synchronous belt, reduction pulley and planetary reducer, thereby driving the lower legs of the mechanical legs to lift and lower, realizing the movement of the mechanical legs.

[0005] While the aforementioned existing technologies employ a combination of parallel and series drive methods to improve the flexibility and mobility of the legs, the design does not optimize for anti-slip performance. This makes the robot prone to slipping on wet and slippery surfaces, affecting its stability and operational safety. Furthermore, the anti-slip pads of traditional leg structures are usually fixed with glue, making replacement inconvenient after wear. Therefore, we need an anti-slip leg structure for quadruped robots used in wind farm inspections. Utility Model Content

[0006] The purpose of this invention is to provide an anti-slip leg structure for a quadruped robot used for wind farm inspection, which solves the problems of existing quadruped robots in the background art being prone to slipping in the complex environment of wind farms, having insufficient anti-slip performance, and being inconvenient to replace anti-slip parts.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0008] A non-slip leg structure for a quadruped robot used for wind farm inspection includes a mounting plate, the inner wall of which has mounting holes, and a small leg is fixedly connected to the outer wall of the mounting plate. One end of the small leg is provided with a mounting component.

[0009] The mounting assembly includes a positioning groove, a threaded hole on the inner wall of the lower leg, a fixing plate detachably connected to one end of the lower leg, a positioning block fixedly connected to the outer wall of the fixing plate, a fastening bolt threadedly connected to the inner wall of the fixing plate, a foot fixedly connected to the outer wall of the fixing plate, a screw fixedly connected to the outer wall of the foot, a rubber anti-slip pad detachably connected to the outer wall of the foot, a nut threadedly connected to the outer wall of the screw, anti-slip protrusions on the outer wall of the rubber anti-slip pad, and a fixing assembly on the inner wall of the foot.

[0010] The fixing component includes a mounting cavity, and a fixing sleeve is fixedly connected to the inner wall of the mounting cavity. A first through groove is opened on the inner wall of the foot body, and a second through groove is opened on the inner wall of the rubber anti-slip pad. A fixing bolt is provided on the outer wall of the fixing sleeve, and a mounting block is slidably connected to the inner wall of the fixing sleeve. A first bolt hole is opened on the upper side of the mounting block, and a second bolt hole is opened on the lower side of the mounting block. A toe is fixedly connected to one end of the mounting block.

[0011] Preferably, one end of the positioning block extends into the positioning groove, and the outer wall of the positioning block is in contact with the inner wall of the positioning groove.

[0012] Preferably, the lower leg is fixed to the fixing plate by fastening bolts, and one end of the fastening bolt is threaded through the fixing plate and extends into the threaded hole for connection.

[0013] Preferably, one end of the screw passes through a rubber anti-slip pad and is connected to the nut.

[0014] Preferably, there are multiple anti-slip protrusions, and the multiple anti-slip protrusions are evenly spaced on the rubber anti-slip mat.

[0015] Preferably, the inner wall shape and size of the fixing sleeve match the outer wall shape and size of the mounting block, and the inner wall of the fixing sleeve fits into the outer wall of the mounting block.

[0016] Preferably, the fixing sleeve is fixed by a fixing bolt and a second bolt hole, and one end of the fixing bolt extends into the second bolt hole for connection.

[0017] Compared with the prior art, the beneficial effects achieved by this utility model are:

[0018] 1. This utility model is equipped with a positioning groove, threaded hole, fixing plate, positioning block, fastening bolt, foot, screw, rubber anti-slip pad, nut and anti-slip protrusion. By setting multiple anti-slip protrusions on the rubber anti-slip pad, the friction with the contact surface is enhanced, and the robot is prevented from slipping during movement. This solves the problem of insufficient anti-slip performance of quadruped robots in complex wet and slippery environments in the prior art. The rubber anti-slip pad adopts a detachable design. When the rubber anti-slip pad is worn due to long-term use, the old rubber anti-slip pad can be removed by unscrewing the nut, replaced with a new one, and then fixed with the nut. The operation is convenient and the maintenance cost is low.

[0019] 2. This utility model is provided with an installation cavity, a fixing sleeve, a first through groove, a second through groove, a fixing bolt, an installation block, a first bolt hole, a second bolt hole, and a foot tip. When the fixing bolt is fixed to the first bolt hole on the installation block, the foot tip extends out of the first and second through grooves. At this time, the extended foot tip penetrates the snow layer to form a stable support point, improving the robot's anti-slip ability in snowy environments. In non-icy and snowy road environments, by fixing the fixing bolt to the second bolt hole of the installation block, the foot tip is retracted to avoid unnecessary wear on the foot tip. At the same time, the anti-slip protrusions of the rubber anti-slip pad ensure the anti-slip effect on regular road surfaces. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the lower leg and positioning groove structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the fixing plate and positioning block structure of this utility model;

[0023] Figure 4 This utility model Figure 3 Enlarged structural diagram at point A in the middle;

[0024] Figure 5 This is a schematic diagram of the fixing sleeve and mounting block structure of this utility model.

[0025] The components are as follows: 1. Mounting plate; 2. Mounting hole; 3. Lower leg; 4. Mounting assembly; 401. Positioning groove; 402. Threaded hole; 403. Fixing plate; 404. Positioning block; 405. Fastening bolt; 406. Foot body; 407. Screw; 408. Rubber anti-slip pad; 409. Nut; 410. Anti-slip protrusion; 5. Fixing assembly; 501. Mounting cavity; 502. Fixing sleeve; 503. First through groove; 504. Second through groove; 505. Fixing bolt; 506. Mounting block; 507. First bolt hole; 508. Second bolt hole; 509. Foot toe. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] like Figure 1-5 As shown, a quadruped robot anti-slip leg structure for wind farm inspection includes a mounting plate 1, an mounting hole 2 on the inner wall of the mounting plate 1, and a small leg 3 fixedly connected to the outer wall of the mounting plate 1. A mounting component 4 is provided at one end of the small leg 3.

[0028] The mounting component 4 includes a positioning groove 401, a threaded hole 402 on the inner wall of the lower leg 3, and a fixing plate 403 detachably connected to one end of the lower leg 3. A positioning block 404 is fixedly connected to the outer wall of the fixing plate 403, and a fastening bolt 405 is threadedly connected to the inner wall of the fixing plate 403. A foot body 406 is fixedly connected to the outer wall of the fixing plate 403, and a screw 407 is fixedly connected to the outer wall of the foot body 406. A rubber anti-slip pad 408 is detachably connected to the outer wall of the foot body 406. A nut 409 is threadedly connected to the outer wall of the screw 407. Anti-slip protrusions 410 are provided on the outer wall of the rubber anti-slip pad 408. A fixing component 5 is provided on the inner wall of the foot body 406.

[0029] The fixing component 5 includes a mounting cavity 501, and a fixing sleeve 502 is fixedly connected to the inner wall of the mounting cavity 501. A first through groove 503 is opened on the inner wall of the foot body 406, and a second through groove 504 is opened on the inner wall of the rubber anti-slip pad 408. A fixing bolt 505 is provided on the outer wall of the fixing sleeve 502, and a mounting block 506 is slidably connected to the inner wall of the fixing sleeve 502. A first bolt hole 507 is opened on the upper side of the mounting block 506, and a second bolt hole 508 is opened on the lower side of the mounting block 506. A toe 509 is fixedly connected to one end of the mounting block 506.

[0030] Through the above technical solution, by setting multiple anti-slip protrusions 410 on the rubber anti-slip pad 408, the friction with the contact surface is enhanced, preventing the robot from slipping during movement. This solves the problem of insufficient anti-slip performance of quadruped robots in complex and slippery environments in existing technologies. The rubber anti-slip pad 408 adopts a detachable design. When the rubber anti-slip pad 408 wears out due to long-term use, the old rubber anti-slip pad 408 can be removed by unscrewing the nut 409, replaced with a new one, and then fixed with the nut 409. The operation is convenient and the maintenance cost is low. When the fixing bolt 505 is fixed to the first bolt hole 507 on the mounting block 506, the toe 509 extends out of the first through groove 503 and the second through groove 504. At this time, the extended toe 509 penetrates the snow layer to form a stable support point, improving the robot's anti-slip ability in snowy environments. In non-icy and snowy road environments, by fixing the fixing bolt 505 to the second bolt hole 508 of the mounting block 506, the toe 509 is retracted to avoid unnecessary wear on the toe 509. At the same time, the anti-slip protrusions 410 of the rubber anti-slip pad 408 ensure the anti-slip effect on regular roads.

[0031] Specifically, one end of the positioning block 404 extends into the positioning groove 401, and the outer wall of the positioning block 404 fits against the inner wall of the positioning groove 401.

[0032] Through the above technical solution, the cooperative design of positioning block 404 and positioning groove 401 can quickly realize the positioning of fixing plate 403 and lower leg 3, ensure the accuracy of position during installation, and provide a stable foundation for subsequent fastening connection.

[0033] Specifically, the lower leg 3 is fixed to the fixing plate 403 by fastening bolt 405, and one end of the fastening bolt 405 is threaded through the fixing plate 403 and extends into the threaded hole 402 for connection.

[0034] Through the above technical solution, the lower leg 3 and the fixing plate 403 are fixed by fastening bolts 405 to ensure the stability of the connection structure and facilitate disassembly and maintenance.

[0035] Specifically, one end of the screw 407 passes through the rubber anti-slip pad 408 and is connected to the nut 409.

[0036] Through the above technical solution, the screw 407 passes through the rubber anti-slip pad 408 and is connected to the nut 409, which can tightly fix the rubber anti-slip pad 408 on the foot body 406, ensuring the stability of the anti-slip pad during use and providing convenience for its disassembly and replacement.

[0037] Specifically, there are multiple anti-slip protrusions 410, and these multiple anti-slip protrusions 410 are evenly spaced on the rubber anti-slip pad 408.

[0038] Through the above technical solution, multiple equidistant anti-slip protrusions 410 can uniformly enhance the friction between the rubber anti-slip pad 408 and the contact surface, improve the anti-slip effect, and ensure the stability of the robot when moving on various road surfaces.

[0039] Specifically, the inner wall shape and size of the fixing sleeve 502 match the outer wall shape and size of the mounting block 506, and the inner wall of the fixing sleeve 502 fits against the outer wall of the mounting block 506.

[0040] Through the above technical solution, the fixing sleeve 502 can guide and limit the sliding of the mounting block 506, ensuring the stability of the toe 509 when it moves.

[0041] Specifically, the fixing sleeve 502 forms a fixing structure with the second bolt hole 508 through the fixing bolt 505, and one end of the fixing bolt 505 extends into the second bolt hole 508 for connection.

[0042] The above technical solution allows for the effective fixing of the mounting block 506 using the fixing bolt 505, facilitating installation and disassembly.

[0043] During initial assembly, align the positioning block 404 on the fixing plate 403 with the positioning groove 401 on the lower leg 3. Then, screw the fastening bolt 405 through the fixing plate 403 into the threaded hole 402 of the lower leg 3 to achieve a stable connection between the foot body 406 and the lower leg 3. Place the rubber anti-slip pad 408 onto the screw 407, which serves as a positioning element. Tighten the nut 409 to fix the rubber anti-slip pad 408 onto the foot body 406. During use, connect the mounting plate 1 to the leg drive mechanism on the quadruped robot using bolts to complete the overall assembly. During operation, there are two anti-slip modes for different road conditions. On normal or slippery surfaces, screw the fixing bolt 505 into the second bolt hole 508 of the mounting block 506, causing the toe 509 to retract into the fixing sleeve 502. At this time, the rubber anti-slip pad... The sliding pad 408 contacts the ground, and its surface has equidistantly distributed anti-slip protrusions 410 to increase the friction with the contact surface and prevent the robot from slipping when moving. In a snowy environment, loosen the fixing bolt 505, slide the mounting block 506 along the fixing sleeve 502 until the toe 509 extends through the first through groove 503 and the second through groove 504, and then screw the fixing bolt 505 into the first bolt hole 507 to fix it. The toe 509 penetrates the snow layer to form a stable support point, improving the anti-slip ability in snow. When the rubber anti-slip pad 408 wears out due to long-term use, simply unscrew the nut 409 on the screw 407, remove the old anti-slip pad, replace it with a new one, and then tighten it again with the nut 409 to complete the maintenance. This completes all the work. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A non-slip leg structure for a quadruped robot used for wind farm inspection, comprising a mounting plate (1), characterized in that: The inner wall of the mounting plate (1) is provided with mounting holes (2), and the outer wall of the mounting plate (1) is fixedly connected with a small leg (3), and a mounting component (4) is provided at one end of the small leg (3). The mounting assembly (4) includes a positioning groove (401), the inner wall of the lower leg (3) is provided with a threaded hole (402), and one end of the lower leg (3) is detachably connected to a fixing plate (403). The outer wall of the fixing plate (403) is fixedly connected to a positioning block (404), and the inner wall of the fixing plate (403) is threadedly connected to a fastening bolt (405). The outer wall of the fixing plate (403) is fixedly connected to a foot body (406), and the outer wall of the foot body (406) is fixedly connected to a screw (407). The outer wall of the foot body (406) is detachably connected to a rubber anti-slip pad (408), the outer wall of the screw (407) is threadedly connected to a nut (409), the outer wall of the rubber anti-slip pad (408) is provided with an anti-slip protrusion (410), and the inner wall of the foot body (406) is provided with a fixing assembly (5). The fixing component (5) includes a mounting cavity (501), and a fixing sleeve (502) is fixedly connected to the inner wall of the mounting cavity (501). The inner wall of the foot (406) is provided with a first through groove (503), and the inner wall of the rubber anti-slip pad (408) is provided with a second through groove (504). The outer wall of the fixing sleeve (502) is provided with a fixing bolt (505), and the inner wall of the fixing sleeve (502) is slidably connected with a mounting block (506). The upper side of the mounting block (506) is provided with a first bolt hole (507), and the lower side of the mounting block (506) is provided with a second bolt hole (508). One end of the mounting block (506) is fixedly connected with a toe (509).

2. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: One end of the positioning block (404) extends into the positioning groove (401), and the outer wall of the positioning block (404) fits against the inner wall of the positioning groove (401).

3. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: The lower leg (3) is fixed to the fixing plate (403) by fastening bolts (405), and one end of the fastening bolt (405) is threaded through the fixing plate (403) and extends into the threaded hole (402) for connection.

4. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: One end of the screw (407) passes through the rubber anti-slip pad (408) and is connected to the nut (409).

5. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: The number of anti-slip protrusions (410) is multiple, and the multiple anti-slip protrusions (410) are equally spaced on the rubber anti-slip pad (408).

6. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: The inner wall shape and size of the fixing sleeve (502) match the outer wall shape and size of the mounting block (506), and the inner wall of the fixing sleeve (502) fits against the outer wall of the mounting block (506).

7. The anti-slip leg structure for a quadruped robot used for wind farm inspection according to claim 1, characterized in that: The fixing sleeve (502) forms a fixing structure with the second bolt hole (508) through the fixing bolt (505), and one end of the fixing bolt (505) extends into the second bolt hole (508) for connection.

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