Inspection robot having automatic charging function

Abstract

An inspection robot having an automatic charging function, comprising a mechanical dog body (1), a first mounting frame (11) being mounted on the mechanical dog body (1), and a charging hole (111) being formed in the first mounting frame (11). The inspection robot further comprises a clamping and positioning device (2), the clamping and positioning device (2) comprising sliding rods (21), telescopic structures (22) and a linear driving assembly (23), and there being two sliding rods (21) and two telescopic structures (22). Each sliding rod (21) is slidably mounted on the first mounting frame (11), a clamping plate (211) being mounted on the end portion of each sliding rod (21) away from the first mounting frame (11). The two ends of each telescopic structure (22) are respectively connected to the linear driving assembly (23) and the sliding rod (21) on the corresponding side, and the linear driving assembly (23) is mounted on the first mounting frame (11).

Description

Patrol robot with automatic charging function

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 7, 2023, with application number 202310981661.6, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of patrol robots, for example, to a patrol robot with an automatic charging function. Background Art

[0003] Today, robotics technology is rapidly developing, replacing manual labor in many repetitive tasks. This is particularly true for substation inspections, which are often performed by inspection robots. Inspection robots typically have batteries. When the batteries run out, they need to be recharged at charging stations. To enhance the intelligence of inspection robots, positioning devices are often used for automatic charging. However, automatic charging can be prone to unstable contact, leading to unstable voltage and failure to charge properly.

[0004] To this end, Chinese patent CN217823336U discloses a charging device for a wheeled inspection robot. The charging device can adapt to the situation where the vehicle body docking position is inconsistent within the error range. The effective contact area between the conductive column and the receiving electrode plate is large, the charging reliability is high, and the hidden conductive column can avoid the risk of electric shock.

[0005] However, this only applies to wheeled robots. When using a four-legged robotic dog, its movement trajectory is more complicated, and it is difficult to align the four-legged robotic dog with the charging device, which results in the automatic charging technology being unable to operate stably.

[0006] Summary of the Invention

[0007] In response to the above problems, the present application provides a patrol robot with automatic charging function to solve the problem that traditional patrol robots cannot stably dock with charging devices.

[0008] The present application provides a patrol robot with an automatic charging function, including a mechanical dog body, a first mounting bracket installed on the mechanical dog body, and a charging hole on the first mounting bracket; the patrol robot also includes a clamping and positioning device, the clamping and positioning device includes a sliding rod, a telescopic structure and a linear drive assembly, and there are two sliding rods and two telescopic structures; each sliding rod is slidably installed on the first mounting bracket, and a splint is installed at the end of each sliding rod away from the first mounting bracket, and the two ends of each telescopic structure are respectively connected to the linear drive assembly and the sliding rod on the corresponding side, and the linear drive assembly is installed on the first mounting bracket.

[0009] In some embodiments, each telescopic structure includes a transverse slide rail, a longitudinal slide rail, a first articulated seat, two second articulated seats, two connecting rods, a fixed slide rail and two third articulated seats; the transverse slide rail and the longitudinal slide rail are installed on the first mounting frame, the first articulated seat is slidably installed on the transverse slide rail, and the two second articulated seats are slidably installed on the longitudinal slide rail; through holes are opened at both ends and the middle position of each connecting rod, the middle through holes of the two connecting rods are connected to the first articulated seat, the fixed slide rail is connected to the slide rod on the corresponding side, the two third articulated seats are slidably installed on the fixed slide rail, the first ends of the two connecting rods are respectively hinged to the two second articulated seats, the second ends of the two connecting rods are respectively hinged to the two third articulated seats, and each second articulated seat is transmission-connected to the linear drive assembly.

[0010] In some embodiments, the linear drive assembly includes a first rotary driver, two first screws and two second screws; the first rotary driver is mounted on a first mounting frame, the first screw and the second screw on the same side are rotatably mounted on a longitudinal slide rail, and the first screw and the second screw on the same side are coaxially fixedly connected, the thread rotation directions of the first screw and the second screw on the same side are opposite, and each first screw is connected to the driving end of the first rotary driver; the first screw and the second screw on the same side are respectively threadedly connected to the two second articulated seats on the corresponding sides.

[0011] In some embodiments, a roller is rotatably mounted on each clamping plate.

[0012] In some embodiments, a second mounting frame is installed on the mechanical dog body, and the patrol robot also includes a supporting device, which includes a pillar, a drive control component and a transmission component; there are at least two pillars, each of which is slidably installed on the second mounting frame, and the drive control component is installed on the second mounting frame, and the two ends of the transmission component are respectively connected to the pillar and the drive control component.

[0013] In some embodiments, the transmission assembly includes a rotating shaft and a rack; there are two rotating shafts, which are rotatably mounted on a second mounting frame, each rotating shaft is sleeved with a rotating gear, and the two adjacent rotating gears on different rotating shafts are gear-meshed, the drive control assembly is transmission-connected to one of the two rotating shafts, a rack is mounted on each pillar, and each rotating gear is transmission-connected to the rack on the corresponding pillar.

[0014] In some embodiments, the drive control assembly includes a second rotary driver, a worm gear and a worm; the second rotary driver is mounted on a second mounting frame, the worm gear is sleeved on one of the two rotating shafts, the worm is rotatably mounted on the second mounting frame, the worm gear is transmission-connected to the worm, and the driving end of the second rotary driver is transmission-connected to the worm.

[0015] In some embodiments, a supporting pad is installed at the bottom end of each pillar.

[0016] In some embodiments, a protective plate is mounted on the first mounting bracket.

[0017] In some embodiments, a level sensor is mounted on the second mounting bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a perspective schematic diagram of a patrol robot with an automatic charging function;

[0019] FIG2 is a perspective schematic diagram of a gripping and positioning device of a patrol robot with an automatic charging function in an unfolded state;

[0020] FIG3 is a perspective schematic diagram of a single-side clamping and positioning device of a patrol robot with an automatic charging function in an expanded state;

[0021] FIG4 is a front view of a gripping and positioning device of a patrol robot with an automatic charging function in an expanded state;

[0022] FIG5 is a perspective schematic diagram of a slide bar, a telescopic structure, and a linear drive assembly in a patrol robot with an automatic charging function;

[0023] FIG6 is a perspective schematic diagram of a support device of a patrol robot with an automatic charging function;

[0024] FIG7 is a partial enlarged schematic diagram of point A in FIG6;

[0025] FIG8 is a perspective schematic diagram of a drive control assembly and a transmission assembly in a patrol robot with an automatic charging function;

[0026] FIG9 is a three-dimensional schematic diagram of a clamping and positioning device in a patrol robot with an automatic charging function in a retracted state.

[0027] The numbers in the figure are: 1. Robot dog body; 11. First mounting bracket; 111. Charging port; 112. Protective plate; 113. Limiting bar; 12. Second mounting bracket; 121. Level sensor; 2. Clamping and positioning device; 21. Sliding rod; 211. Clamping plate; 212. Roller; 22. Telescopic structure; 221. Horizontal slide rail; 222. Longitudinal slide rail; 223. First hinge seat; 224. Second hinge seat; 225. Connecting rod; 226. Fixed slide rail; 227. Third hinge seat; 23. Linear drive assembly; 231. First rotary driver; 232. First screw; 233. Second screw; 234. First synchronous belt; 3. Support device; 31. Pillar; 311. Support pad; 312. Limiting block; 32. Drive control assembly; 321. Second rotary driver; 322. Worm gear; 323. Worm; 324. Sleeve; 325. Second synchronous belt; 33. Transmission assembly; 331. Rotating shaft; 332. Rotating gear; 333. Rack; 4. Charging pile. DETAILED DESCRIPTION

[0028] The present application is described below in conjunction with the accompanying drawings and specific implementation methods.

[0029] Referring to Figures 1-2: A patrol robot with automatic charging function includes a mechanical dog body 1, a first mounting frame 11 is installed on the mechanical dog body 1, and a charging hole 111 is opened on the first mounting frame 11; the patrol robot also includes a clamping and positioning device 2, the clamping and positioning device 2 includes a slide bar 21, a telescopic structure 22 and a linear drive assembly 23, and there are two slide bars 21 and two telescopic structures 22; each slide bar 21 is slidably installed on the first mounting frame 11, and a splint 211 is installed at the end of each slide bar 21 away from the first mounting frame 11, and the two ends of each telescopic structure 22 are respectively connected to the linear drive assembly 23 and the slide bar 21 on the corresponding side, and the linear drive assembly 23 is installed on the first mounting frame 11.

[0030] This application utilizes the robotic dog body 1, first mounting bracket 11, and clamping and positioning device 2 to achieve a stable connection between the charging port 111 and the charging station 4. This achieves the goal of maintaining the mobility of the robotic dog body 1 while enabling stable automatic charging. This solves the problem of traditional patrol devices, such as patrol robots, being unable to stably dock with charging devices, such as the charging station 4. The linear drive assembly 23 and the robotic dog body 1 are electrically connected to a controller within the patrol robot. The operator activates the robotic dog body 1, which then drives the patrol device to move and perform patrol tasks. When the battery of the robot dog body 1 is low, it automatically moves to the charging pile 4 according to the navigation information, and then the controller sends a signal to the linear drive component 23, and the linear drive component 23 drives the two slide bars 21 to slide in the direction away from the first mounting bracket 11, and the slide bar 21 drives the splint 211 to move, and then continues to approach the charging pile 4 until the first mounting bracket 11 contacts the charging pile 4. At this time, the controller sends a signal to the linear drive component 23 again, and the linear drive component 23 drives the two slide bars 21 to slide in the direction close to the first mounting bracket 11. After the splint 211 contacts the charging pile 4, it drives the robot dog body 1 to adjust its posture. When the two splints 211 are reset, the clamping and positioning device 2 stably cooperates with the charging pile 4. Then the robot dog body 1 adjusts the height of the first mounting bracket 11 so that the charging hole 111 is aligned with the charging pile 4 for automatic charging.

[0031] In some embodiments, referring to FIG. 2 , two sliding bars 21 are respectively disposed on both sides of the first mounting bracket 11 .

[0032] In some embodiments, the charging pile 4 can be a charging device located at a designated location on the patrol mission site. For example, if the patrol robot performs a patrol mission at a substation, the charging pile 4 can be a charging device near the substation.

[0033] 1 to 5: Each telescopic structure 22 includes a transverse slide rail 221, a longitudinal slide rail 222, a first hinge seat 223, a second hinge seat 224, a connecting rod 225, a fixed slide rail 226 and a third hinge seat 227; the transverse slide rail 221 and the longitudinal slide rail 222 are mounted on the first mounting frame 11, and the first hinge seat 223 and the second hinge seat 224 are slidably mounted on the transverse slide rail 221 and the longitudinal slide rail 222 respectively; there are two second hinge seats 224, and two connecting rods 225 are provided. , and through holes are opened at both ends and the middle position of each connecting rod 225. The middle through holes of the two connecting rods 225 are connected to the first hinge seat 223, the fixed slide rail 226 is connected to the slide rod 21, and the third hinge seat 227 is provided with two and is slidably installed on the fixed slide rail 226. The first ends of the two connecting rods 225 are respectively hinged to the two second hinge seats 224, and the second ends of the two connecting rods 225 are respectively hinged to the two third hinge seats 227, and the second hinge seat 224 is transmission-connected to the linear drive assembly 23.

[0034] Two limiting bars 113 for limiting the movement range of the fixed slide rail 226 are respectively provided at both ends of the first mounting frame 11 .

[0035] The present application realizes the function of driving the slide bar 21 to slide through the transverse slide rail 221, the longitudinal slide rail 222, the first hinge seat 223, the second hinge seat 224, the connecting rod 225, the fixed slide rail 226 and the third hinge seat 227, thereby achieving the effect of controlling the splint 211 to perform auxiliary positioning. When the battery of the mechanical dog body 1 is low, it automatically moves to the charging pile 4 according to the navigation information. Then the controller sends a signal to the linear drive component 23, which drives the two second hinge seats 224 to slide along the longitudinal slide rail 222. The two second hinge seats 224 respectively pull the two connecting rods 225 to move, and then the other ends of the two connecting rods 225 drive the two third hinge seats 227 to move. The third hinge seats 227 push the fixed slide rail 226 to move. The two fixed slide rails 226 drive the two slide bars 21 to slide in the direction away from the first mounting bracket 11, and the slide bar 21 drives the splint 211 to move, and then continues to approach the charging pile 4 until the first mounting bracket 11 contacts the charging pile 4. At this time, the controller sends a signal to the linear drive component 23 again, and the linear drive component 23 drives the two slide bars 21 to slide in the direction close to the first mounting bracket 11. After the splint 211 contacts the charging pile 4, it drives the mechanical dog body 1 to adjust its posture. When the two splints 211 are reset, the clamping and positioning device 2 stably cooperates with the charging pile 4. Then the mechanical dog body 1 adjusts the height of the first mounting bracket 11 so that the charging hole 111 is aligned with the charging pile 4 for automatic charging.

[0036] Referring to Figures 1 to 5: the linear drive assembly 23 includes a first rotary driver 231, two first screws 232 and two second screws 233; the first rotary driver 231 is installed on the first mounting frame 11, and the first screw 232 and the second screw 233 on the same side are rotatably installed on the longitudinal slide rail 222, and the first screw 232 and the second screw 233 on the same side are coaxially fixedly connected, and the thread rotation directions of the first screw 232 and the second screw 233 on the same side are opposite, and each first screw 232 is connected to the driving end of the first rotary driver 231; the first screw 232 and the second screw 233 on the same side are respectively threadedly connected to the two second hinge seats 224 on the corresponding side.

[0037] The linear drive assembly 23 further includes a first synchronous belt 234 , and both ends of the first synchronous belt 234 are respectively sleeved on the first screws 232 of the longitudinal slide rails 222 on both sides.

[0038] The present application realizes the function of driving the third articulated seat 227 to move through the first rotary driver 231, the first screw 232 and the second screw 233. The first rotary driver 231 is, for example, a servo motor, which is electrically connected to the controller. When performing the charging operation, the controller first sends a signal to the first rotary driver 231, and the first rotary driver 231 drives the first screw 232 to rotate. The first screw 232 drives the second screw 233 to rotate synchronously. The first screw 232 and the second screw 233 respectively drive the two second articulated seats 224 threadedly connected thereto to move, and then push the splint 211 to move through the connecting rod 225. Then, the mechanical dog body 1 drives the first mounting frame 11 to move and make the first mounting frame 11 contact with the charging pile 4. Then, the first rotary driver 231 drives the two splints 211 to move closer to each other to complete the auxiliary positioning function.

[0039] 1 to 3 : A roller 212 is rotatably mounted on the clamping plate 211 .

[0040] The present application achieves the function of avoiding severe wear between the splint 211 and the charging pile 4 through the roller 212, achieving the effect of replacing the sliding friction between the splint 211 and the charging pile 4 with the rolling friction between the roller 212 and the charging pile 4. When auxiliary positioning is performed by the clamping positioning device 2, the two splints 211 are brought close to each other, squeezing the charging pile 4 to drive the mechanical dog body 1 to move, and adjusting the position of the first mounting frame 11 to align the charging hole 111 with the charging pile 4. During this process, a large squeezing effect will occur between the splint 211 and the charging pile 4. In order to avoid severe friction between the charging pile 4 and the splint 211, a roller 212 is designed on the splint 211. When the splint 211 squeezes the charging pile 4, the roller 212 rolls along the charging pile 4, thereby replacing the sliding friction between the charging pile 4 and the splint 211, greatly reducing the wear of parts.

[0041] Referring to Figures 1 and 6: A second mounting frame 12 is installed on the mechanical dog body 1, and the patrol robot also includes a supporting device 3, which includes a pillar 31, a drive control component 32 and a transmission component 33; there are at least two pillars 31, each pillar 31 is slidably installed on the second mounting frame 12, the drive control component 32 is installed on the second mounting frame 12, and the two ends of the transmission component 33 are respectively connected to the pillar 31 and the drive control component 32.

[0042] The present application realizes the function of supporting the mechanical dog body 1 during the charging process through the pillars 31, the drive control component 32 and the transmission component 33, thereby achieving the effect of improving the charging stability. When charging is required, the mechanical dog body 1, in cooperation with the clamping and positioning device 2, makes the charging hole 111 accurately dock with the charging pile 4, and then sends a signal to the drive control component 32 through the controller. The drive control component 32 drives multiple pillars 31 to slide downward in the vertical direction at the same time through the transmission component 33, and then props up the supporting dog. The support of the pillars 31 can make the mechanical dog body 1 maintain a stable posture during the charging process, avoiding the misalignment of the charging hole 111 and the charging pile 4 during the subsequent charging process, and the support of the pillars 31 can make the height of the mechanical dog body 1 controllable and fixed, thereby improving the docking accuracy of the charging hole 111.

[0043] Referring to Figures 1, 6, 7 and 8: the transmission assembly 33 includes a rotating shaft 331 and a rack 333; there are two rotating shafts 331, and the two rotating shafts 331 are rotatably mounted on the second mounting frame 12, and each rotating shaft 331 is sleeved with a rotating gear 332, and the two adjacent rotating gears 332 located on different rotating shafts 331 are gear-meshed and connected, the drive control assembly 32 is transmission-connected to one of the two rotating shafts 331, the rack 333 is mounted on the pillar 31, and each rotating gear 332 is transmission-connected to the rack 333 on the corresponding pillar 31.

[0044] Two rotating gears 332 are sleeved on each rotating shaft 331 , and four are provided on the pillar 31 . A rack 333 is installed on each pillar 31 . The four rotating gears 332 are respectively connected to the four racks 333 , and the rotating gears 332 are connected to the rotating gears 332 on the adjacent rotating shaft 331 .

[0045] The present application realizes the function of controlling the sliding of the support 31 through the rotating shaft 331, rotating gear 332 and rack 333. When charging is required, the mechanical dog body 1, in cooperation with the clamping and positioning device 2, accurately docks the charging port 111 with the charging pile 4. Then, the controller sends a signal to the drive control component 32. After receiving the signal, the drive control component 32 drives the rotating shaft 331 connected to it to rotate. The rotating shaft 331 drives the rotating gear 332 to rotate. The rotating gear 332 drives the adjacent rotating gear 332 connected to it to rotate. The rotating gear 332 drives the rack 333 connected to it to move. The rack 333 drives the support 31 to slide downward in the vertical direction, thereby propping up the support dog. The support of the support 31 can keep the mechanical dog body 1 stable during the charging process, avoiding misalignment of the charging port 111 and the charging pile 4 during subsequent charging. The support of the support 31 can also make the height of the mechanical dog body 1 controllable and fixed, improving the docking accuracy of the charging port 111.

[0046] In some embodiments, a limiting block 312 is installed on the second mounting frame 12. The limiting block 312 is configured to limit the rotation gear 332 to fix the rotation gear 332, thereby ensuring stable meshing between two adjacent rotation gears 332.

[0047] Referring to Figures 1, 6, 7 and 8: the drive control component 32 includes a second rotation driver 321, a worm gear 322 and a worm 323; the second rotation driver 321 is installed on the second mounting frame 12, the worm gear 322 is sleeved on one of the two rotating shafts 331, the worm 323 is rotatably installed on the second mounting frame 12, the worm gear 322 is transmission-connected to the worm 323, and the driving end of the second rotation driver 321 is transmission-connected to the worm 323.

[0048] The drive control assembly 32 also includes a sleeve 324 and a second synchronous belt 325 . There are two sleeves 324 , which are respectively sleeved on the driving end of the second rotary driver 321 and the worm 323 . Both ends of the second synchronous belt 325 are respectively sleeved on the two sleeves 324 .

[0049] The present application realizes the function of driving the rotating shaft 331 to rotate through the second rotating driver 321, the worm gear 322 and the worm 323, and achieves the function of driving the pillar 31 to slide through the transmission component 33. The second rotating driver 321 is, for example, a servo motor, which is electrically connected to the controller; when charging is required, the mechanical dog body 1 makes the charging port 111 accurately dock with the charging pile 4 with the cooperation of the clamping and positioning device 2, and then sends a signal to the second rotating driver 321 through the controller. After receiving the signal, the second rotating driver 321 drives the worm 323 to rotate through the synchronous belt, and the worm 323 drives the worm gear 322 connected to it to rotate, and the worm gear 322 drives the rotating shaft 331 to rotate, and the rotating shaft 331 drives the rotating gear 332 to rotate, and the rotating gear 332 drives the adjacent rotating shaft connected to it to rotate. The gear 332 rotates, and the rotating gear 332 drives the rack 333 connected to it to move, and the rack 333 drives the pillar 31 to slide downward in the vertical direction, and then prop up the support dog. The support of the pillar 31 can make the mechanical dog body 1 maintain a stable posture during the charging process, avoiding the misalignment of the charging hole 111 and the charging pile 4 during the subsequent charging process, and the support of the pillar 31 can make the height of the mechanical dog body 1 controllable and fixed, thereby improving the docking accuracy of the charging hole 111; the self-locking ability of the worm gear 322 and the worm 323 can prevent the second mounting bracket 12 from falling automatically during the charging process.

[0050] 1 , 6 , 7 and 8 : A supporting rubber pad 311 is installed at the bottom end of each pillar 31 .

[0051] The present application achieves the function of preventing the pillar 31 from slipping by using the support rubber pad 311. Since the charging pile 4 is mostly installed indoors, and the indoor floor is relatively flat, in order to prevent the pillar 31 from slipping and causing the mechanical dog body 1 to collide with the charging pile 4, a support rubber pad 311 is installed at the bottom of the pillar 31. The support rubber pad 311 prevents the pillar 31 from slipping with the floor, thereby improving charging stability.

[0052] 1 and 9 : a protective plate 112 is mounted on the first mounting frame 11 .

[0053] The present application achieves the function of preventing the charging pile 4 from colliding with the telescopic structure 22 through the protective plate 112, thereby protecting the telescopic structure 22. The telescopic structure 22 is located between the first mounting frame 11 and the protective plate 112. The mechanical dog body 1 moves to the charging pile 4, and then the controller sends a signal to the linear drive component 23, which drives the slide bar 21 to extend. Then the mechanical dog body 1 continues to drive the first mounting frame 11 to move until the protective plate 112 contacts the charging pile 4. Then the controller sends a signal to the linear drive component 23 again, which drives the slide bar 21 to retract, and then assists the positioning of the first mounting frame 11 through the splint 211, so that the charging hole 111 docks with the charging pile 4 for charging.

[0054] 1 , 6 and 8 : a level sensor 121 is mounted on the second mounting bracket 12 .

[0055] The present application realizes the function of detecting the horizontal state of the second mounting frame 12 through the horizontal sensor 121, so as to achieve the effect of automatically adjusting the posture of the mechanical dog body 1 according to the ground. The horizontal sensor 121 is electrically connected to the controller; when the charging port 111 is docked with the charging pile 4, the horizontal sensor 121 senses the horizontal state of the second mounting frame 12 and feeds back a signal to the controller. The controller adjusts the horizontal state of the second mounting frame 12 according to the signal fed back by the horizontal sensor 121, so that the second mounting frame 12 remains horizontal, and then sends a signal to the drive control component 32 through the controller. The drive control component 32 drives the pillars 31 to descend, so that multiple pillars 31 can contact the ground at the same time. If the posture of the mechanical dog body 1 is not aligned and the second mounting frame 12 tilts, it will cause one side pillar 31 to contact the ground first, thereby destroying the balance of the mechanical dog body 1 and causing the mechanical dog body 1 to lose balance and fall to the ground.

Claims

1. A patrol robot with an automatic charging function, comprising a mechanical dog body (1), a first mounting frame (11) being mounted on the mechanical dog body (1), and a charging hole (111) being provided on the first mounting frame (11); The patrol robot further comprises a clamping and positioning device (2), the clamping and positioning device (2) comprising a slide bar (21), a telescopic structure (22) and a linear drive assembly (23), and two slide bars (21) and two telescopic structures (22) are provided; Each slide bar (21) is slidably mounted on the first mounting frame (11); a clamping plate (211) is mounted on the end of each slide bar (21) away from the first mounting frame (11); both ends of each telescopic structure (22) are respectively connected to a linear drive assembly (23) and the slide bar (21) on the corresponding side; and the linear drive assembly (23) is mounted on the first mounting frame (11).

2. The patrol robot with automatic charging function according to claim 1, wherein: Each telescopic structure (22) comprises a transverse slide rail (221), a longitudinal slide rail (222), a first hinge seat (223), two second hinge seats (224), two connecting rods (225), a fixed slide rail (226) and two third hinge seats (227); The transverse slide rail (221) and the longitudinal slide rail (222) are mounted on the first mounting frame (11), the first hinge seat (223) is slidably mounted on the transverse slide rail (221), and the two second hinge seats (224) are slidably mounted on the longitudinal slide rail (222); Through holes are provided at both ends and the middle position of each connecting rod (225); the middle through holes of the two connecting rods (225) are connected to the first hinge seat (223); the fixed slide rail (226) is connected to the slide rod (21) on the corresponding side; the two third hinge seats (227) are slidably installed on the fixed slide rail (226); the first ends of the two connecting rods (225) are respectively hinged to the two second hinge seats (224); the second ends of the two connecting rods (225) are respectively hinged to the two third hinge seats (227); and each second hinge seat (224) is transmission-connected to the linear drive assembly (23).

3. The patrol robot with automatic charging function according to claim 1, wherein: The linear drive assembly (23) comprises a first rotary drive (231), two first screw rods (232) and two second screw rods (233); The first rotary driver (231) is mounted on the first mounting frame (11); the first screw rod (232) and the second screw rod (233) on the same side are rotatably mounted on the longitudinal slide rail (222) on the corresponding side; the first screw rod (232) and the second screw rod (233) on the same side are coaxially fixedly connected; the thread rotation directions of the first screw rod (232) and the second screw rod (233) on the same side are opposite; each first screw rod (232) is connected to the driving end of the first rotary driver (231); the first screw rod (232) and the second screw rod (233) on the same side are respectively threadedly connected to the two second hinge seats (224) on the corresponding side.

4. The patrol robot with automatic charging function according to claim 1, wherein: A roller (212) is rotatably mounted on each clamping plate (211).

5. The patrol robot with automatic charging function according to any one of claims 1 to 4, wherein: A second mounting frame (12) is mounted on the mechanical dog body (1), and the patrol robot further comprises a supporting device (3), wherein the supporting device (3) comprises a support column (31), a driving control component (32) and a transmission component (33); At least two pillars (31) are provided, each pillar (31) is slidably mounted on the second mounting frame (12), the drive control assembly (32) is mounted on the second mounting frame (12), and the two ends of the transmission assembly (33) are respectively transmission-connected to the pillars (31) and the drive control assembly (32).

6. The patrol robot with automatic charging function according to claim 5, wherein: The transmission assembly (33) includes a rotating shaft (331) and a rack (333); Two rotating shafts (331) are provided, and the two rotating shafts (331) are rotatably mounted on the second mounting frame (12); a rotating gear (332) is sleeved on each rotating shaft (331); two adjacent rotating gears (332) located on different rotating shafts (331) are gear-engaged; the driving control component (32) is transmission-connected to one of the two rotating shafts (331); a rack (333) is mounted on each pillar (31); and each rotating gear (332) is transmission-connected to the rack (333) on the corresponding pillar (31).

7. The patrol robot with automatic charging function according to claim 6, wherein: The drive control assembly (32) includes a second rotary driver (321), a worm gear (322) and a worm (323); The second rotary driver (321) is mounted on the second mounting frame (12), the worm wheel (322) is sleeved on one of the two rotating shafts (331), the worm (323) is rotatably mounted on the second mounting frame (12), the worm wheel (322) is transmission-connected to the worm (323), and the driving end of the second rotary driver (321) is transmission-connected to the worm (323).

8. The patrol robot with automatic charging function according to claim 5, wherein: A supporting rubber pad (311) is installed at the bottom end of each support column (31).

9. The patrol robot with automatic charging function according to claim 1, wherein: A protection plate (112) is installed on the first mounting frame (11).

10. The patrol robot with automatic charging function according to claim 5, wherein: A level sensor (121) is mounted on the second mounting frame (12).

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