The invention belongs to the technical field of inspection robots, and discloses a hydraulic inspection quadruped robot capable of carrying various sensing devices. The device mainly comprises a machine body framework, a sensing acquisition system, a main controller, four mechanical legs, a hydraulic oil supply system, a lithium battery and the like, and the mechanical legs adopt an easy-to-protect mechanical leg structure layout that a main PSS transmission assembly is matched with two auxiliary PSS transmission assemblies to drive supporting legs. A stable hydraulic oil source can be provided for the hydraulic cylinder through servo control over the direct-current servo motor, and the hydraulic oil supply system still keeps the position of the tail end of the supporting leg unchanged under the condition of power failure by means of the characteristic of middle sealing of a reversing valve. The hydraulic drive quadruped robot can provide large output torque, the load capacity is greatly enhanced, and the obstacle crossing capacity and the anti-interference capacity of the hydraulic drive quadruped robot are enhanced; meanwhile, a plurality of sensing devices such as a thermal imager, a gas analyzer, a signal antenna, a high-fidelity noise reduction pickup, a laser radar, a danger alarm lamp and a pan-tilt depth camera can be carried to assist inspection.

    本发明属于巡检机器人的技术领域,公开了一种可携带多种传感设备的液压巡检四足机器人。其主要包括机身骨架、传感采集系统、主控制器、四个机械腿、液压供油系统以及锂电池等组成,其中机械腿采用一个主PSS传动组件配合两个辅助PSS传动组件传动支腿的易防护机械腿结构布局,并通过对直流伺服电机的伺服控制可为液压缸提供稳定的液压油源,而液压供油系统利用换向阀中封的特点,在断电的情况下仍保持支腿末端位置不变。本发明液压驱动四足机器人可提供较大的输出扭矩,负载能力大幅增强,使其越障能力、抗干扰能力加强;同时可以搭载热成像仪、气体分析仪、信号天线、高保真降噪拾音器、激光雷达、危险报警灯、云台深度相机等众多传感设备辅助巡检。


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    Titel :

    Hydraulic inspection quadruped robot capable of carrying various sensing devices


    Weitere Titelangaben:

    一种可携带多种传感设备的液压巡检四足机器人


    Beteiligte:
    ZHANG JINZHU (Autor:in) / CAO JIANDONG (Autor:in) / DOU YUHAN (Autor:in) / LI SENLIN (Autor:in) / MENG JIAHAO (Autor:in) / YAN ZIQI (Autor:in)

    Erscheinungsdatum :

    2023-03-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein



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