Tunnel inspection robot charging device and inspection robot

Abstract

This application provides a charging device and a tunnel inspection robot, belonging to the field of robot charging technology. The charging device includes: a charging platform with a charging plug on top; a pair of strip blocks symmetrically arranged on both sides of a support platform, with sliding rods slidably connected to the strip blocks; a pair of stop bars rotatably connected to one end of the pair of strip blocks; a pair of first pushing mechanisms, each including a set of friction wheels and crossbars, the friction wheels being vertically rotatably connected to the top of the crossbars via a first rotating shaft, the pair of crossbars being vertically arranged above the pair of vertical bars, and the pair of vertical bars being connected to the outward-facing ends of the pair of sliding rods; a second pushing mechanism, located between the pair of sliding rods, for driving the two sliding rods to slide synchronously; the inspection robot includes a main body and two pairs of mechanical legs located on both sides of the main body, with a power receiving socket at the bottom of the main body. The charging device can automatically charge the inspection robot without the need for infrared / laser guidance, is less prone to failure, and is highly practical.

Description

Technical Field

[0001] This invention belongs to the field of robot charging technology, and is particularly related to a charging device for a tunnel inspection robot and the inspection robot itself. Background Technology

[0002] Intelligent inspection robots are automated devices integrating multi-sensor fusion and artificial intelligence technologies, capable of replacing manual labor in dangerous or harsh environments to perform inspection tasks. Through autonomous navigation, real-time monitoring, and intelligent analysis, they can perform comprehensive inspections of the objects being inspected, accurately identify abnormal states such as equipment malfunctions, leaks, and overheating, and provide timely warnings of potential safety hazards. Because quadruped robots possess multiple movement capabilities such as walking, running, and jumping, and can adapt to various terrains, they are currently commonly chosen as inspection robots for infrastructure construction sites. Existing quadruped robot charging methods include manual charging and automatic charging. Manual charging requires the human to insert the charging head into the quadruped robot's power receiving port, which is labor-intensive. Automatic charging requires infrared / laser guidance to move the quadruped robot to the charging device and dock with the charging head, reducing manual labor; however, this method is sensitive to ambient light or obstructions, and is significantly affected by interference in strong light environments, making it difficult for the quadruped robot to align with the charging device. Therefore, improvements are necessary. Summary of the Invention

[0003] To address the aforementioned deficiencies in the prior art, this application provides a charging device for a tunnel inspection robot and an inspection robot in general. The charging device can automatically charge the inspection robot with the power socket located below without requiring infrared / laser guidance.

[0004] To achieve the above objectives, the present invention employs the following techniques:

[0005] A charging device for a tunnel inspection robot includes:

[0006] The charging platform is vertically movable above an inverted U-shaped support platform, and a charging plug is provided on the top of the charging platform.

[0007] A pair of strip blocks are symmetrically arranged on both sides of the support platform. The length direction of the strip blocks is parallel to the length direction of the support platform, and a sliding rod is slidably connected to the strip blocks along their width direction.

[0008] A pair of stop levers are rotatably connected to one end of a pair of strip blocks, and the rotation axis of the stop levers is parallel to the length direction of the strip blocks;

[0009] Each of the first pushing mechanisms includes a set of friction wheels and a crossbar. The friction wheels are vertically rotatably connected to the top of the crossbar via a first rotating shaft. The friction wheels are driven to rotate by a first motor. The pair of crossbars are vertically positioned above the pair of vertical bars. The vertical bars of the pair of first pushing mechanisms are respectively connected to the outward-facing ends of the pair of sliding bars. The first pushing mechanism is used to push the inspection robot that has reached the top of the strip block toward the stop bar.

[0010] The second pushing mechanism includes a cylinder, a push rod, and a pair of connecting rods. One end of the pair of connecting rods is hinged to both ends of the push rod, and the other end of the pair of connecting rods is hinged to the inward end of a pair of sliding rods. The telescopic end of the cylinder is connected to the middle of the push rod.

[0011] Furthermore, each set of friction wheels consists of two friction wheels, which are rotatably connected to the crossbar via two first rotating shafts. One of the first rotating shafts passes through the bottom of the crossbar and is connected to the output shaft of a first motor. The first motor is fixed on the crossbar. Synchronous pulleys are provided outside the first rotating shafts, and the two synchronous pulleys are meshed and connected in a synchronous belt.

[0012] Furthermore, multiple charging stations are arrayed along the length of the support platform. A pair of strip blocks are slidably connected to a pair of slide rails parallel to the length of the support platform. Each pair of strip blocks is connected to the movable end of a linear mechanism, and the movable end of the linear mechanism moves in a direction parallel to the length of the support platform.

[0013] Furthermore, the linear mechanism includes a second motor, a lead screw, and a movable block. The two ends of the lead screw are rotatably connected to the two ends of the support platform, the output shaft of the second motor is connected to one end of the lead screw, the movable block is threadedly connected to the lead screw, and the two sides of the movable block are connected to one end of a pair of strip blocks through two connecting plates.

[0014] Furthermore, the bottom of multiple charging stations is connected to the telescopic ends of multiple lifting mechanisms. The lifting mechanisms are fixed on the support platform. When the telescopic ends of the lifting mechanisms are fully retracted, the distance between the top of the charging plug and the main body of the inspection robot is greater than the distance between the top of the strip block and the top of the slide rail. The bottom of each charging station is equipped with a guide rod, which is vertically inserted into the support platform.

[0015] Furthermore, each slide bar is provided with a strip-shaped through groove, the length of which is parallel to the width of the support platform. Each strip-shaped through groove has a rack along its length at the top. Each strip-shaped block has a connecting shaft passing through it along its length. One end of each connecting shaft is coaxially connected to a gear ring. The two gear rings are respectively engaged with the two racks. The other ends of the two connecting shafts pass through one end of each of the two strip-shaped blocks and are connected to one end of each of the two stop rods. When the extension end of the cylinder is fully retracted, the stop rod rotates downward to a horizontal position. When the extension end of the cylinder is fully extended, the stop rod rotates upward to a vertical position.

[0016] Furthermore, the side of the stop bar away from the connecting shaft is rotatably connected to the two connecting plates via two second rotating shafts, and the axial direction of the two second rotating shafts is the same as that of the two connecting shafts.

[0017] Furthermore, a first inclined block is provided at the end of the slide rail near the stop bar. The top of the first inclined block has a first inclined surface that slopes upward toward the slide rail. The height of the top of the first inclined surface matches the height of the top of the slide rail. A second inclined block is provided at the end of the slide rail away from the stop bar. The top of the second inclined block has a second inclined surface that slopes upward toward the slide rail. The height of the top of the second inclined surface matches the height of the top of the strip block.

[0018] An inspection robot includes a main body and two pairs of mechanical legs on both sides of the main body. The bottom of the main body is provided with a power receiving socket that matches the charging plug in the charging device of the tunnel inspection robot. When a pair of strip blocks move the inspection robot directly above them to the top of the corresponding charging platform, and the front end of the inspection robot abuts against the stop bar that has been rotated to a vertical position, the power receiving socket is aligned with the corresponding charging plug.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The coordination of the first push mechanism, the second push mechanism, and the stop lever enables the inspection robot with the power socket located below to automatically align with the charging station and start automatic charging without the need for infrared / laser guidance. It will not malfunction due to light conditions and is highly practical.

[0021] 2. Only one power source, the cylinder, is needed to drive a pair of sliding rods to move and drive a pair of stop levers to rotate synchronously. Attached Figure Description

[0022] Figure 1 This is a perspective view of the overall structure of the charging device according to an embodiment of this application.

[0023] Figure 2 This is a partial three-dimensional view of the charging device according to an embodiment of this application.

[0024] Figure 3 for Figure 2 Enlarged view of section A in the middle.

[0025] Figure 4 This is a first-view perspective structural perspective of the inspection robot positioned on the charging device, according to an embodiment of this application.

[0026] Figure 5 This is a second-view perspective structural perspective view of the inspection robot positioned on the charging device, according to an embodiment of this application.

[0027] Figure 6 for Figure 5 Enlarged view of section B in the middle.

[0028] Figure 7This is a side view of the charging device according to an embodiment of this application.

[0029] Figure 8 This is a perspective view of the connection structure between the stop bar and the strip block in the charging device of this application embodiment.

[0030] Figure 9 This is a perspective view of another part of the structure of the charging device according to an embodiment of this application.

[0031] Figure 10 for Figure 9 Enlarged view of section C.

[0032] Figure 11 This is a three-dimensional view of the overall structure of the inspection robot according to an embodiment of this application.

[0033] Reference numerals: Charging platform-1, Support platform-2, Strip block-3, First pushing mechanism-4, Stop bar-5, Cylinder-6, Linear mechanism-7, Inspection robot-8, Charging plug-101, Lifting mechanism-102, Guide rod-103, Slide rail-301, First inclined block-302, Second inclined block-303, Friction wheel-401, First rotating shaft-402, Synchronous pulley-403, Synchronous belt-404, First Motor-405, Vertical rod-406, Horizontal rod-407, Sliding rod-408, Strip groove-4081, Rack-4082, Connecting shaft-501, Gear ring-502, Push rod-601, Connecting rod-602, Lead screw-701, Second motor-702, Movable block-703, Connecting plate-7031, Second rotating shaft-7032, Main body-801, Mechanical leg-802, Power receiving socket-8011. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. However, the embodiments described in this invention are only some embodiments of the present invention, and not all embodiments.

[0035] On the one hand, embodiments of this application provide a charging device for a tunnel inspection robot, such as... Figures 1-10 As shown, it includes a charging platform 1, a strip block 3, a stop bar 5, a first pushing mechanism 4, a second pushing mechanism, etc.

[0036] Specifically, the charging platform 1 is vertically movable above an inverted U-shaped support platform 2. The support platform 2 includes a horizontal section and a vertical section connected to both ends. The length of the support platform 2 is perpendicular to the horizontal section. The top of the charging platform 1 is equipped with a charging plug 101 for charging the inspection robot 8, whose power receiving socket 8011 is located at the bottom. The specific position of the charging plug 101 on the charging platform 1 can be set according to the position of the power receiving socket 8011 at the bottom of the inspection robot. A pair of strip blocks 3 are symmetrically arranged on both sides of the support platform 2. The length of the strip blocks 3 is parallel to the length of the support platform 2 and is used to support the inspection robot 8. A sliding rod 408 is slidably connected to the strip block 3 along its width direction. More specifically, the top height of the sliding rod 408 matches the top height of the strip block 3. A pair of stop rods 5 are rotatably connected to one end of a pair of strip blocks 3. The rotation axis of the stop bar 5 is parallel to the length direction of the strip block 3. The stop bar 5 can be driven to rotate by a rotary motor. The first pushing mechanism 4 is a pair, each including a set of friction wheels 401 and a crossbar 407. The friction wheels 401 are vertically rotatably connected to the top of the crossbar 407 through the first rotating shaft 402. The friction wheels 401 are driven to rotate by the first motor 405. The pair of crossbars 407 are respectively vertically arranged above the pair of vertical bars 406. The pair of vertical bars 406 are respectively connected to the outward end of the pair of sliding bars 408. The first pushing mechanism 4 is used to push the inspection robot 8 that has reached the top of the strip block 3 toward the stop bar 5. The second pushing mechanism includes a cylinder 6, a push rod 601, and a pair of connecting rods 602. One end of the pair of connecting rods 602 is respectively hinged to both ends of the push rod 601. The other end of the pair of connecting rods 602 is respectively hinged to the inward end of the pair of sliding bars 408. The telescopic end of the cylinder 6 is connected to the middle of the push rod 601. Specifically, the cylinder 6 can be fixed to one end of the strip block 3 by a fixing component. When the telescopic end of the cylinder 6 is fully retracted, the pushing part of the first pushing mechanism 4 is outside the coverage area of ​​the top surface of the strip block 3. When the telescopic end of the cylinder 6 is fully extended and the inspection robot 8 is above a pair of strip blocks 3, the two sets of friction wheels 401 respectively abut against the two sides of the main body 801 of the inspection robot 8, and are used to push the inspection robot 8 toward the stop bar 5 by friction.

[0037] In actual use, the inspection robot 8 is controlled to reach above a pair of strip blocks 3, and then the stop lever 5 is controlled to rotate upward to a vertical position. Next, the telescopic end of the cylinder 6 is controlled to extend, causing the two sliding rods 408 to drive a pair of vertical rods 406 to move inward, which in turn drives a pair of horizontal rods 407 to move inward, so that the two sets of friction wheels 401 abut against the two sides of the inspection robot 8, completing its alignment in the width direction of the support platform 2. Then, the friction wheels 401 are controlled to rotate, pushing the inspection robot 8 toward the stop lever 5. When the front end of the robot 8 abuts against the stop bar 5, the robot 8 can be aligned horizontally on the support platform 2, so that the power receiving socket 8011 is aligned with the charging plug 101. Finally, the telescopic end of the cylinder 6 is retracted, so that the two sets of friction wheels 401 are disengaged from the inspection robot. The charging platform 1 is then moved upward, so that the charging plug 101 can be inserted into the power receiving socket 8011 of the inspection robot 8 for charging. After charging is completed, the charging platform 1 is lowered to disengage the charging plug 101 from the power receiving socket 8011.

[0038] For details, please refer to Figure 3 Each set of friction wheels 401 consists of two friction wheels 401. The two friction wheels 401 are rotatably connected to the crossbar 407 via two first rotating shafts 402. One of the first rotating shafts 402 passes through the bottom of the crossbar 407 and is connected to the output shaft of a first motor 405. The first motor 405 is fixed on the crossbar 407. Each of the first rotating shafts 402 is provided with a synchronous pulley 403. The two synchronous pulleys 403 are meshed and connected in a synchronous belt 404. After the first motor 405 drives the first rotating shaft 402 to rotate, it can synchronously drive the two friction wheels 401 to rotate synchronously through the synchronous belt 404 and the two synchronous pulleys 403.

[0039] For details, please refer to Figure 4 , Figure 5 Multiple charging stations 1 are arrayed along the length of the support platform 2. A pair of strip blocks 3 are slidably connected to a pair of slide rails 301 parallel to the length of the support platform 2. Each pair of strip blocks 3 is connected to the movable end of a linear mechanism 7, the movable end of which moves parallel to the length of the support platform 2. When multiple inspection robots 8 need to be charged simultaneously, the linear mechanism 7 can transport the inspection robot 8 located above the strip blocks 3 to the required charging station 1 for charging. For more details, please refer to... Figure 5 , Figure 6The linear mechanism 7 includes a second motor 702, a lead screw 701, and a movable block 703. Both ends of the lead screw 701 are rotatably connected to both ends of the support platform 2. The output shaft of the second motor 702 is connected to one end of the lead screw 701. The movable block 703 is threadedly connected to the lead screw 701. Both sides of the movable block 703 are connected to one end of a pair of strip blocks 3 via two connecting plates 7031. The fixed end of the cylinder 6 can be connected to the movable block 703. When it is necessary to control the movement of the strip blocks 3, the second motor 702 is controlled to drive the lead screw 701 to rotate. The lead screw 701 will then drive the movable block 703 to move along the length of the support platform 2, which in turn will drive the strip blocks 3 to move along the length of the support platform 2 via the connecting plates 7031.

[0040] For details, please refer to Figure 7 The bottoms of multiple charging platforms 1 are connected to the telescopic ends of multiple lifting mechanisms 102. The lifting mechanisms 102 are fixed to the support platform 2. When the telescopic ends of the lifting mechanisms 102 are fully retracted, the distance between the top of the charging plug 101 and the main body 801 of the inspection robot 8 is greater than the distance between the top of the strip block 3 and the top of the slide rail 301. With this configuration, when the inspection robot 8 has finished charging and the strip block 3 is not below the inspection robot 8, controlling the telescopic ends of the lifting mechanisms 102 to retract allows the mechanical legs 802 of the inspection robot 8 to abut against the slide rail 301, thereby allowing the charging plug 101 to detach from the power socket 8011. More specifically, each charging platform 1 has a guide rod 103 at its bottom, which is vertically inserted into the support platform 2, improving the stability of the charging platform 1 during its vertical movement.

[0041] Preferred options, please refer to Figures 8-10 Each slide bar 408 has a strip-shaped through groove 4081. The length direction of the strip-shaped through groove 4081 is parallel to the width direction of the support platform 2. Each strip-shaped through groove 4081 has a rack 4082 along its length direction at the top. Each strip block 3 has a connecting shaft 501 passing through its length direction. One end of each connecting shaft 501 is coaxially connected to a gear ring 502. The two gear rings 502 are respectively engaged with the two racks 4082. The other ends of the two connecting shafts 501 pass through one end of each of the two strip blocks 3 and are connected to one end of each of the two stop rods 5. When the extension end of the cylinder 6 is fully retracted, the stop rod 5 rotates downward to a horizontal state. When the extension end of the cylinder 6 is fully extended, the stop rod 5 rotates upward to a vertical state. With this setup, only one power source, cylinder 6, is needed to move a pair of sliding rods 408 and rotate a pair of stop levers 5. This is because when the telescopic end of cylinder 6 is fully retracted, the two sliding rods 408 will move outwards due to friction, disengaging from the sides of the inspection robot 8. Figure 5 As shown, at this time, the stop lever 5 will rotate downwards to a horizontal position, and will not obstruct the front end of the inspection robot 8. When the linear control mechanism 7 moves the strip block 3 to its reset position, the stop lever 5 will not be interfered with by the inspection robot 8. For details, please refer to [link / reference]. Figure 9 The side of the stop bar 5 away from the connecting shaft 501 is rotatably connected to the two connecting plates 7031 through two second rotating shafts 7032. The axial direction of the two second rotating shafts 7032 is the same as that of the two connecting shafts 501, so that the stop bar 5 can rotate while the two connecting plates 7031 are fixed.

[0042] For details, please refer to Figure 7 The slide rail 301 is provided with a first inclined block 302 at one end near the stop bar 5. The top of the first inclined block 302 has a first inclined surface that slopes upward toward the slide rail 301. The top height of the first inclined surface matches the top height of the slide rail 301. The slide rail 301 is provided with a second inclined block 303 at one end away from the stop bar 5. The top of the second inclined block 303 has a second inclined surface that slopes upward toward the slide rail 301. The top height of the second inclined surface matches the top height of the strip block 3. By setting the second inclined block 303, it is convenient for the inspection robot 8 that needs to be charged to move above the strip block 3. By setting the first inclined block 302, it is convenient for the inspection robot 8 that has completed charging to move away from the slide rail 301.

[0043] On the other hand, see Figure 11 This application provides an inspection robot, including a main body 801 and two pairs of mechanical legs 802 disposed on both sides of the main body 801.

[0044] Specifically, the bottom of the main body 801 is provided with a power receiving socket 8011 that matches the charging plug 101 in the charging device of the tunnel inspection robot 8. When a pair of strip blocks 3 move the inspection robot 8 directly above them to the top of the corresponding charging platform 1, and the front end of the inspection robot 8 abuts against the stop bar 5 that has been rotated to a vertical state, the power receiving socket 8011 is aligned with the corresponding charging plug 101.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to be the only or limiting of the invention. Those skilled in the art should understand that various changes or equivalent substitutions made to the present invention without departing from its scope are all within the protection scope of the present invention.

Claims

1. A charging device for a tunnel inspection robot, characterized in that, include: The charging platform (1) is vertically movable above an inverted U-shaped support platform (2), and the top of the charging platform (1) is equipped with a charging plug (101). A pair of strip blocks (3) are symmetrically arranged on both sides of the support platform (2). The length direction of the strip blocks (3) is parallel to the length direction of the support platform (2). A sliding rod (408) is slidably connected on the strip blocks (3) along its width direction. A pair of stop bars (5) are rotatably connected to one end of a pair of strip blocks (3), and the rotation axis of the stop bars (5) is parallel to the length direction of the strip blocks (3); Each of the first pushing mechanisms (4) includes a set of friction wheels (401) and a crossbar (407). The friction wheels (401) are vertically rotatably connected to the top of the crossbar (407) via a first rotating shaft (402). The friction wheels (401) are driven to rotate by a first motor (405). The crossbar (407) is vertically positioned above the vertical bar (406). The vertical bars (406) of the pair of first pushing mechanisms (4) are respectively connected to the outward end of a pair of sliding bars (408). The first pushing mechanism (4) is used to push the inspection robot (8) that has reached the top of the strip block (3) toward the stop bar (5). The second pushing mechanism includes a cylinder (6), a push rod (601), and a pair of connecting rods (602). One end of the pair of connecting rods (602) is hinged to both ends of the push rod (601), and the other end of the pair of connecting rods (602) is hinged to the inward end of a pair of sliding rods (408). The telescopic end of the cylinder (6) is connected to the middle of the push rod (601).

2. The charging device for a tunnel inspection robot according to claim 1, characterized in that, Multiple charging stations (1) are arranged in an array along the length of the support platform (2). A pair of strip blocks (3) are slidably connected to a pair of slide rails (301) parallel to the length of the support platform (2). Both of the strip blocks (3) are connected to the movable end of a linear mechanism (7). The movable end of the linear mechanism (7) moves in a direction parallel to the length of the support platform (2).

3. The charging device for a tunnel inspection robot according to claim 2, characterized in that, The linear mechanism (7) includes a second motor (702), a lead screw (701), and a movable block (703). The two ends of the lead screw (701) are rotatably connected to the two ends of the support platform (2). The output shaft of the second motor (702) is connected to one end of the lead screw (701). The movable block (703) is threadedly connected to the lead screw (701). The two sides of the movable block (703) are connected to one end of a pair of strip blocks (3) through two connecting plates (7031).

4. The charging device for a tunnel inspection robot according to claim 3, characterized in that, The bottom of multiple charging stations (1) is connected to the telescopic ends of multiple lifting mechanisms (102) respectively. The lifting mechanism (102) is fixed on the support platform (2). When the telescopic end of the lifting mechanism (102) is fully retracted, the distance between the top of the charging plug (101) and the main body (801) of the inspection robot (8) is greater than the distance between the top of the strip block (3) and the top of the slide rail (301).

5. A charging device for a tunnel inspection robot according to claim 4, characterized in that, The bottom of the charging platform (1) is equipped with guide rods (103), which are vertically inserted into the support platform (2).

6. A charging device for a tunnel inspection robot according to claim 1, characterized in that, Each slide bar (408) has a strip-shaped through groove (4081) with the length direction of the strip-shaped through groove (4081) parallel to the width direction of the support platform (2). Each strip-shaped through groove (4081) has a rack (4082) along its length direction at the top. Each strip block (3) has a connecting shaft (501) passing through its length direction. One end of each connecting shaft (501) is coaxially connected to a gear ring (502). The two gear rings (502) are respectively meshed with the two racks (4082). The other ends of the two connecting shafts (501) pass through one end of each of the two strip blocks (3) and are connected to one end of each of the two stop bars (5).

7. A charging device for a tunnel inspection robot according to claim 6, characterized in that, The side of the stop bar (5) away from the connecting shaft (501) is rotatably connected to the two connecting plates (7031) through two second rotating shafts (7032), and the axial direction of the two second rotating shafts (7032) is the same as that of the two connecting shafts (501).

8. A charging device for a tunnel inspection robot according to claim 2, characterized in that, The slide rail (301) is provided with a first inclined block (302) at one end near the stop bar (5). The top of the first inclined block (302) has a first inclined surface that slopes upward toward the slide rail (301). The top height of the first inclined surface matches the top height of the slide rail (301). The slide rail (301) is provided with a second inclined block (303) at one end away from the stop bar (5). The top of the second inclined block (303) has a second inclined surface that slopes upward toward the slide rail (301). The top height of the second inclined surface matches the top height of the strip block (3).

9. A charging device for a tunnel inspection robot according to claim 1, characterized in that, Each set of friction wheels (401) consists of two friction wheels (401). The two friction wheels (401) are rotatably connected to the crossbar (407) through two first rotating shafts (402). One of the first rotating shafts (402) passes through the bottom of the crossbar (407) and is connected to the output shaft of a first motor (405). The first motor (405) is fixed on the crossbar (407). Synchronous pulleys (403) are provided outside the first rotating shafts (402). The two synchronous pulleys (403) are meshed and connected in a synchronous belt (404).

10. An inspection robot, comprising a main body (801) and two pairs of mechanical legs (802) disposed on both sides of the main body (801), characterized in that, The bottom of the main body (801) is provided with a power receiving socket (8011) that matches the charging plug (101) in the charging device of the tunnel inspection robot (8) according to any one of claims 1-9. When a pair of strip blocks (3) move the inspection robot (8) directly above them to the top of the corresponding charging platform (1) and the front end of the inspection robot (8) abuts against the stop bar (5) rotated to the vertical state, the power receiving socket (8011) is aligned with the corresponding charging plug (101).

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