A deformable robot mechanism and inspection robot

Abstract

A deformable robot mechanism and an inspection robot, the robot mechanism includes: a function device box, a balance side shell, a battery component and a control board; the balance side shells are rotatably installed on both sides of the function device box; the battery component is installed in the balance side shell on one side, and the control board is installed in the balance side shell on the other side; the balance side shell is detachably connected to the function device box; the inspection robot includes: a robot mechanism, a robot moving component and a visual component; the robot moving component is installed in the function device box and is used to drive the robot mechanism to move; the visual component is installed in the function device box and has the function of shooting and recording. This robot mechanism is used on the robot to provide a base for the robot, so that the robot has a quick-detachable structure of the battery component and the control board, and improves the balance of the robot, ensuring that the robot obtains sufficient balance during the activity, and also facilitates the maintenance of the battery component and the control board.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a deformable robot mechanism and an inspection robot. Background Art

[0002] Overhead power transmission line inspection robots run on the ground wire of high-voltage transmission lines and can adapt to outdoor climate environments. The robots can be equipped with a variety of detection equipment to perform autonomous inspections of overhead power transmission lines that cross large rivers, mountains, and even primeval forests and uninhabited areas. The existing inspection robot structure is generally considered from a functional layout perspective, with large size and irregular appearance, and the packaging occupies a large space, which is inconvenient to transport and store. Summary of the invention

[0003] The object of the present invention is to provide a deformable robot mechanism, in which a battery component and a control board are installed in a balancing side shell on both sides of a functional device box.

[0004] The present invention also provides an inspection robot which uses a deformable robot mechanism.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A deformable robot mechanism, comprising: a functional device box, a balancing side shell, a battery component and a control panel;

[0007] The balancing side shells are rotatably mounted on both sides of the functional device box; the battery component is mounted in the balancing side shell on one side, and the control board is mounted in the balancing side shell on the other side; the balancing side shell is detachably connected to the functional device box.

[0008] Preferably, it also includes: a shell connection component;

[0009] The balancing side shell is connected to the functional device box through the shell connecting assembly;

[0010] The shell connection assembly includes: a shell connection plate;

[0011] The functional device box is provided with a shell installation slot; the shell connecting plate is installed in the shell installation slot;

[0012] The balancing side shell is rotatably connected to the shell connecting plate through a hinge.

[0013] Preferably, the shell connection assembly includes: a shell fixing column with an external thread structure

[0014] The shell installation slot includes: a shell snap-in slot and a column fixing slot;

[0015] The shell connecting plate is provided with a horizontal clamping block and a vertical connecting plate;

[0016] The horizontal clamping block is provided with a fixing through hole; the column fixing groove is provided with a column fixing hole with an internal thread structure; the vertical connecting plate is vertically inserted into the shell clamping groove, so that the horizontal clamping block is clamped in the column fixing groove; the shell fixing column passes through the column fixing through hole and is matched in the column fixing hole through a threaded structure, so that the horizontal clamping block can be removably fixed in the column fixing groove.

[0017] Preferably, the functional device box is provided with a limiting inclined surface at an angle on one side of the balancing side shell;

[0018] The robot mechanism is provided with an unfolded state and an angle adjustment state;

[0019] When the robot mechanism is in the unfolded state, the balancing side shells on both sides are respectively tilted downward, and the bottom of the balancing side shells abuts against the limiting inclined surface;

[0020] When the robot mechanism is in the angle adjustment state, the balancing side shells on both sides are respectively arranged to tilt upward or vertically upward, and the bottom of the balancing side shell is separated from the limiting inclined surface.

[0021] Preferably, it also includes: a connecting joint;

[0022] The connection connector is installed on the balancing side shell; one end of the connection connector inside the balancing side shell is connected to the battery component or the control board, and the other end extends out of the balancing side shell; the end of the connection connector extending outside the balancing side shell is used to connect to a functional device outside the balancing side shell.

[0023] A patrol inspection robot comprises: a robot mechanism, a robot moving component and a visual component;

[0024] The robot mechanism is the above-mentioned robot mechanism; the robot moving component is installed in the functional device box and is used to drive the robot mechanism to move;

[0025] The visual component is installed in the functional device box and has the functions of shooting and recording.

[0026] Preferably, the robot moving assembly comprises: a vertical connecting arm and a moving wheel assembly; the vertical connecting arm is installed on the functional device box; the moving wheel assembly is installed on the vertical connecting arm;

[0027] The visual component comprises: an arm monitoring camera; the arm monitoring camera is installed in the functional device box; the arm monitoring camera is tilted, and its lens faces the robot moving component;

[0028] The functional device box is provided with a visual installation slot; the visual installation slot is provided with an inclined visual installation slope; the arm monitoring camera is installed in the functional device box, and its lens is located on the visual installation slope, which is used to shoot and record the robot moving components.

[0029] Preferably, the moving wheel assembly comprises: an active drive, an active rotating wheel, a vertical moving track, a vertical moving seat, a driven moving wheel and a vertical drive;

[0030] The active driver is installed on the vertical connecting arm, and its output end is connected to the active rotating wheel to drive the active rotating wheel to rotate;

[0031] The vertical moving track is installed on the vertical connecting arm; the vertical moving seat can be vertically movably installed on the vertical moving track; the driven moving wheel is installed on the vertical moving seat; the vertical driver is installed on the vertical connecting arm, and its output end is connected to the vertical moving seat, which is used to drive the vertical moving seat to move on the vertical moving track, so that the driven moving wheel approaches and moves away from the active rotating wheel.

[0032] Preferably, the active rotating wheel comprises: a hub member, a wear-resistant member and a conductive material;

[0033] The hub member is provided with a wear-resistant recess; the wear-resistant member is installed in the wear-resistant recess for contacting and moving on the electric substrate; the wear-resistant member is provided with a conductive groove for setting the conductive material; one end of the conductive material contacts the hub member, and the other end contacts the electric substrate, so that the hub member is connected to the electric substrate.

[0034] Preferably, the visual component comprises: an external monitoring camera;

[0035] The external monitoring camera is arranged at the bottom of the functional device box and is located below the balancing side shell; the lens of the external monitoring camera can be rotated toward the moving direction of the inspection robot.

[0036] Beneficial effects of the present invention:

[0037] The robot mechanism is used on a robot to provide a base for the robot, so that the robot has a quick-detachable structure for a battery component and a control board, and improves the balance of the robot, ensuring that the robot obtains sufficient balance during activities, and also facilitates the maintenance of the battery component and the control board. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the robot mechanism when it is in an unfolded state;

[0039] Figure 2 yes Figure 1Enlarged view of part A in the middle;

[0040] Figure 3 It is a schematic diagram of the structure of the robot mechanism when it is in an angle adjustment state;

[0041] Figure 4 Yes, schematic diagram of the inspection robot structure;

[0042] Figure 5 Schematic diagram of the structure of the active rotating wheel;

[0043] Figure 6 is a schematic cross-sectional view of an active rotating wheel;

[0044] in:

[0045] Robot mechanism 001, robot moving component 002, visual component 003;

[0046] Functional device box 1, balance side shell 2, battery component 3, control board 4; shell connection component 5; connection joint 6; arm monitoring camera 7, external monitoring camera 9

[0047] Shell installation slot 11, limiting inclined surface 12, visual installation slot 13; shell snap-in slot 111, column fixing slot 112; visual installation inclined surface 131;

[0048] Shell connecting plate 51; Shell fixing column 52;

[0049] Horizontal clamping block 511, vertical connecting plate 512; fixing through hole 5111;

[0050] Vertical connecting arm 61, active driver 62, active rotating wheel 63, vertical moving track 64, vertical moving seat 65, driven moving wheel 66, vertical driver 67;

[0051] Hub member 81 , wear-resistant member 82 , conductive material 83 ; wear-resistant recess 811 ; conductive groove 821 . DETAILED DESCRIPTION

[0052] The technical solution of the present invention is further described below through specific implementation modes in conjunction with the accompanying drawings.

[0053] A deformable robot mechanism, characterized in that it comprises: a functional device box 1, a balancing side shell 2, a battery component 3 and a control board 4;

[0054] The balancing side shell 2 is rotatably mounted on both sides of the functional device box 1; the battery component 3 is mounted in the balancing side shell 2 on one side, and the control board 4 is mounted in the balancing side shell 2 on the other side; the balancing side shell 2 is detachably connected to the functional device box 1.

[0055] An image transmission module is provided in the functional device box 1 for transmitting pictures, videos and sounds to the engineer's terminal so that the engineer can receive information from the inspection robot.

[0056] The robot mechanism 001 is used on the robot to provide a base for the robot, so that the robot has a quick-detachable structure of the battery unit 3 and the control board 4, and improves the balance of the robot, ensuring that the robot obtains sufficient balance during activities, and also facilitates the maintenance of the battery unit 3 and the control board 4.

[0057] Specifically, the robot mechanism 001 is a functional device for carrying the robot, such as a robot arm, a manipulator, a robot mobile structure, etc. In this solution, the control board 4 and the battery unit 3 are detachably installed in the functional device box 1 through the balancing side shell 2. In actual use, the battery unit 3 or the control board 4 associated with the balancing side shell 2 can be directly taken out, and the battery unit 3 and the control board 4 can be directly replaced on site; at the same time, the balancing side shell 2 can be rotated. Although the positions of the battery unit 3 and the control board 4 are adjusted, the battery unit 3 and the control board 4 are modularly installed, and the rotation of the two will not affect the power supply of the battery unit 3. Or the normal operation of the control board 4; and because the balancing side shell 2 can rotate, it is more convenient to carry the robot mechanism 001; further, the battery component 3 and the control board 4 of the robot are generally heavy, and the battery component 3 and the control board 4 are respectively arranged in the rotatable balancing side shell 2, which can reduce the pressure of the functional device box 1 and distribute the pressure of the balancing side shell 2 on both sides of the functional device box 1; when the functional device box 1 moves, the balancing side shells 2 on both sides disperse the force of the functional device box 1, making the functional device box 1 more balanced, ensuring that the center of gravity of the robot remains unchanged during the movement, and improving the stability of the movement. The battery component 3 is used to power the components of the robot, and the control board 4 is used to control the working state of the robot.

[0058] When the robot mechanism 001 is used for an inspection robot, engineers are often required to take the inspection robot to a high altitude. At this time, the position of the balancing side shell 2 can be directly adjusted to adjust the balancing side shell 2 of the inspection robot to the best position, which has the advantage of being convenient for engineers to take the inspection robot to a high altitude. After the inspection robot is taken to a high altitude, engineers only need to install the robot on an electric substrate (such as ground wires and other cables) and adjust the balancing side shells 2 on both sides to a position that balances the inspection robot. Preferably, the balancing side shell 2 of the robot mechanism 001 is installed with a battery unit 3 or a control board 4, and the balancing side shell 2 is detachable. During maintenance, engineers only need to take the battery unit 3 or the control board 4 to a high altitude to achieve the advantage of convenient disassembly in a high altitude environment.

[0059] Preferably, it also includes: a shell connecting component 5; the balancing side shell 2 is connected to the functional device box 1 through the shell connecting component 5; the shell connecting component 5 includes: a shell connecting plate 51; the functional device box 1 is provided with a shell mounting groove 11; the shell connecting plate 51 is installed in the shell mounting groove 11; the balancing side shell 2 is rotatably connected to the shell connecting plate 51 through a hinge 53.

[0060] The balancing side shell 2 is connected to the shell connecting plate 51 by a hinge, so that the balancing side shell 2 can be rotatably installed on the functional device box 1 to control the angle adjustment of the battery unit 3 and the control board 4, which meets the use state required by engineers to use the robot. The shell connecting plate 51 is installed in the shell installation groove 11 by a snap-on connection method, which reduces the work intensity of engineers in a high-altitude environment, and engineers do not need to spend a lot of time to install the balancing side shell 2.

[0061] Preferably, the shell connection assembly 5 comprises: a shell fixing column 52 with an external thread structure

[0062] The shell installation slot 11 includes: a shell snap-in slot 111 and a column fixing slot 112;

[0063] The shell connecting plate 51 is provided with a horizontal clamping block 511 and a vertical connecting plate 512;

[0064] The horizontal clamping block 511 is provided with a fixing through hole 5111; the column fixing groove 112 is provided with a column fixing hole with an internal thread structure; the vertical connecting plate 512 is vertically inserted into the shell clamping groove 111, so that the horizontal clamping block 511 is clamped in the column fixing groove 112; the shell fixing column 52 passes through the column fixing through hole 5111 and is matched in the column fixing hole through a threaded structure, so that the horizontal clamping block 511 can be detachably fixed in the column fixing groove 112.

[0065] The shell fixing column 52 is preferably a bolt; when the vertical connecting plate 512 is vertically inserted into the shell snap-in groove 111, the horizontal snap-in block 511 enters the column fixing groove 112, so that the shell connecting plate 51 is limited by both the shell snap-in groove 111 and the column fixing groove 112 respectively; at the same time, the shell fixing column 52 passes through the column fixing through hole 5111 of the horizontal snap-in block 511, and then cooperates with the column fixing hole of the column fixing groove 112; in this shell connection assembly 5, the shell connecting plate 51 is snap-fitted to the snap-in groove and the column fixing groove 112, and its position is restricted. After the shell fixing column 52 is fixed, the shell connecting plate 51 can provide sufficient supporting force for the balancing side shell 2, thereby improving the rotation stability of the balancing side shell 2; since the bolt head of the shell fixing column 52 faces outward, it is more convenient to adjust the cooperation between the shell fixing column 52 and the column fixing hole by a screwdriver.

[0066] Preferably, the functional device box 1 is provided with a limiting slope 12 at an angle on one side of the balancing side shell 2; the robot mechanism 001 is provided with an unfolded state and an angle adjustment state; when the robot mechanism 001 is in the unfolded state, the balancing side shells 2 on both sides are respectively tilted downward, and the bottom of the balancing side shell 2 is against the limiting slope 12; when the robot mechanism 001 is in the angle adjustment state, the balancing side shells 2 on both sides are respectively tilted upward or vertically upward, and the bottom of the balancing side shell 2 is separated from the limiting slope 12.

[0067] The robot mechanism 001 has two states, namely, the unfolded state and the angle adjustment state; Figure 1 In the unfolded state, the inspection robot connected to the robot mechanism 001 needs to be installed on the cable and moved. At this time, the functional device box 1 has limiting slopes 12 on both sides, and the balancing side shell 2 is attached to the limiting slope 12, so that the balancing side shell 2 is tilted downward, providing sufficient balancing force for the inspection robot to ensure that the robot can move in a balanced manner.

[0068] When the inspection robot is in the angle adjustment state, it is the state in which the engineer needs to adjust the tilt angle of the balancing side shell 2, and the bottom of the balancing side shell 2 is separated from the limiting inclined surface 12. Figure 3 At this time, the balancing side shell 2 can be adjusted to a vertical state to retract the balancing side shell 2 as close to the inside of the robot as possible, so that the balancing side shell 2 is tilted upward or vertically set upward, which makes it more convenient for engineers to transfer the inspection robot.

[0069] Preferably, it also includes: a connecting connector 6; the connecting connector 6 is installed on the balancing side shell 2; one end of the connecting connector 6 inside the balancing side shell 2 is connected to the battery component 3 or the control board 4, and the other end extends out of the balancing side shell 2; the end of the connecting connector 6 extending out of the balancing side shell 2 is used to connect to a functional device outside the balancing side shell 2.

[0070] The balancing side shell 2 is provided with a connection connector 6, which can connect an external device to the battery unit 3 or the control board 4, such as the robot moving component 002 and the visual component 003 and other functional devices commonly used by the inspection robot; at the same time, the connection connector 6 can facilitate engineers to directly download data, upload data and manage data on the control board 4 and the battery unit 3 through the functional device; for example, the storage device is connected to the connection connector 6 of the control board 4 to download the data information of the inspection robot. The battery unit 3 and the control board 4 can also be regarded as functional devices, and the connection connector 6 of the battery unit 3 and the connection connector 6 of the control board 4 can be connected through wires to achieve the effect of using the battery unit 3 to power the control board 4.

[0071] A patrol robot comprises: a robot mechanism 001, a robot moving component 002 and a visual component 003; the robot mechanism 001 is the above-mentioned robot mechanism 001; the robot moving component 002 is installed in the functional device box 1, and is used to drive the robot mechanism 001 to move; the visual component 003 is installed in the functional device box 1, and has shooting and video recording functions.

[0072] Generally, the inspection robot has a visual component 003 with shooting and video recording functions. When the inspection robot moves on the cable through the robot moving component 002, it can obtain the on-site conditions of the cable through the visual component 003 to feed back to the engineer. In this solution, the battery component 3 and the control board 4 are respectively arranged on the balancing side shells 2 on both sides. The balancing side shells 2 on both sides of the functional device box 1 can provide sufficient balancing force for the inspection robot, and the heavier battery component 3 and control board 4 are symmetrically arranged so that the gravity of the inspection robot is as central as possible to solve the problem of unstable center of gravity during movement.

[0073] Preferably, the robot moving assembly 002 comprises: a vertical connecting arm 61 and a moving wheel assembly; the vertical connecting arm 61 is installed on the functional device box 1; the moving wheel assembly is installed on the vertical connecting arm 61;

[0074] The visual component 003 includes: an arm monitoring camera 7; the arm monitoring camera 7 is installed in the functional device box 1; the arm monitoring camera 7 is tilted, and its lens faces the robot moving component 002;

[0075] The functional device box 1 is provided with a visual installation slot 13; the visual installation slot 13 is provided with an inclined visual installation slope 131; the arm monitoring camera 7 is installed in the functional device box 1, and its lens is located on the visual installation slope 131, which is used to shoot and record the robot moving components.

[0076] In this solution, an arm monitoring camera 7 is also added to the functional device box 1. This solution seals the arm monitoring camera 7 in the functional device box 1. The lens part of the arm monitoring camera 7 is tilted, which can capture part of the robot moving component 002 and clearly understand the situation of the robot moving component 002 in time, thereby protecting the arm monitoring camera 7 to the maximum extent and preventing the arm monitoring camera 7 from being exposed to the outside, thereby improving the sealing performance of the arm monitoring camera 7 and not occupying the space outside the functional device box 1.

[0077] Preferably, the moving wheel assembly includes: an active driver 62, an active rotating wheel 63, a vertical moving track 64, a vertical moving seat 65, a driven moving wheel 66 and a vertical driver 67;

[0078] The active driver 62 is installed on the vertical connecting arm 61, and its output end is connected to the active rotating wheel 63, so as to drive the active rotating wheel 63 to rotate;

[0079] The vertical moving track 64 is installed on the vertical connecting arm 61; the vertical moving seat 65 can be vertically movably installed on the vertical moving track 64; the driven moving wheel 66 is installed on the vertical moving seat 65; the vertical driver 67 is installed on the vertical connecting arm 61, and its output end is connected to the vertical moving seat 65, which is used to drive the vertical moving seat 65 to move on the vertical moving track 64, so that the driven moving wheel 66 approaches and moves away from the active rotating wheel 63.

[0080] Under the driving action of the vertical driver 67, the vertical moving seat 65 can be moved to the vertical moving track 64, so that the driven moving wheel 66 is close to and away from the active rotating wheel 63; generally, the lower roll surface of the active rotating wheel 63 is clamped on the cable, and the upper roll surface of the driven moving wheel 66 is driven to contact the cable or the lower roll surface of the active rotating wheel 63; the active driver 62 drives the active rotating wheel 63 to rotate, and the active rotating wheel 63 and the driven moving wheel 66 interact with each other to clamp the cable, and the inspection robot is moved on the cable under the rotation of the active rotating wheel 63; and the number of the inspection robot moving wheel assemblies is at least 2, which are respectively located at the left and right ends of the functional device box 1; further improving the balance of the inspection robot.

[0081] The active driver 62 is a well-known rotary driver, preferably a motor; the vertical driver 67 is a well-known driver with a vertical function, such as a cylinder, a motor and a screw rod matching structure.

[0082] Preferably, the active rotating wheel 63 includes: a hub member 81, a wear-resistant member 82 and a conductive material 83; the hub member 81 is provided with a wear-resistant recess 811; the wear-resistant member 82 is installed in the wear-resistant recess 811, for contacting and moving on the electric substrate 004; the wear-resistant member 82 is provided with a conductive groove 821, for setting the conductive material 83; one end of the conductive material 83 contacts the hub member 81, and the other end contacts the electric substrate 004, so that the hub member 81 is connected to the electric substrate 004.

[0083] The active rotating wheel 63 of the present solution is used to be installed on the electric device. It can move on the electric substrate 004 and roll on the electric substrate through the wear-resistant part 82, so that the conductive material 83 connects the electric substrate with the hub part 81, thereby realizing the conduction between the active rotating wheel 63 and the electric substrate. At the same time, under the balancing action of the balancing side shells 2 on both sides of the inspection robot, the robot moves smoothly and the conductive material 83 can stably contact the electric substrate.

[0084] Specifically, the active rotating wheel 63 moves on the electric substrate, and the wear-resistant part 82 contacts the electric substrate; by selecting a material with better performance as the wear-resistant part 82, after the wear-resistant part 82 contacts the electric substrate, the conductive material 83 connects the outer electric substrate with the inner hub part 81; if the electric substrate is a ground wire, when the wear-resistant part 82 moves on the surface of the electric substrate, the wear-resistant part 82 guides the conductive material 83 to the surface of the electric substrate, and the conductive material 83 connects the hub part 81 to the ground wire, thereby improving the safety of the use of the electric device, such as transferring static electricity through the ground wire during the activity.

[0085] Preferably, the visual component 003 includes: an external monitoring camera 9; the external monitoring camera 9 is arranged at the bottom of the functional device box 1 and is located below the balancing side shell 2; the lens of the external monitoring camera 9 can be rotated toward the moving direction of the inspection robot.

[0086] The external monitoring camera 9 of this solution is set at the bottom of the functional device box 1; when the inspection robot is in the unfolded state, the balance side shells 2 on both sides of the functional device box 1 can block the top of the external monitoring camera 9. Since the balance side shells 2 are inclined, when rainwater passes through the upper surface of the balance side, the water can be drained downward through the inclined surface of the balance side, maximally isolating the external monitoring camera 9 from the rainwater, improving the waterproofness of the external monitoring camera 9 and reducing the impact of rainwater on the external monitoring camera 9. The external monitoring camera 9 can be used to shoot the situation on the cable and can feed back the cable situation to the engineer in real time.

[0087] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A deformable robot mechanism, characterized in that: include: Functional device box, balance side shell, battery parts, control board and shell connection components; The balancing side shells are rotatably mounted on both sides of the functional device box; the battery component is mounted in the balancing side shell on one side, and the control board is mounted in the balancing side shell on the other side; the balancing side shell is detachably connected to the functional device box; The balancing side shell is connected to the functional device box through the shell connecting assembly; The shell connection assembly includes: a shell connection plate; The functional device box is provided with a shell installation slot; the shell connecting plate is installed in the shell installation slot; The balancing side shell is rotatably connected to the shell connecting plate via a hinge; The functional device box is provided with a limiting inclined surface at an angle on one side of the balancing side shell; The robot mechanism is provided with an unfolded state and an angle adjustment state; When the robot mechanism is in the unfolded state, the balancing side shells on both sides are respectively tilted downward, and the bottom of the balancing side shells abuts against the limiting inclined surface; When the robot mechanism is in the angle adjustment state, the balancing side shells on both sides are respectively arranged to tilt upward or vertically upward, and the bottom of the balancing side shell is separated from the limiting inclined surface.

2. A deformable robot mechanism according to claim 1, characterized in that: The shell connection assembly includes: a shell fixing column with an external thread structure; The shell installation slot includes: a shell snap-in slot and a column fixing slot; The shell connecting plate is provided with a horizontal clamping block and a vertical connecting plate; The horizontal clamping block is provided with a fixing through hole; the column fixing groove is provided with a column fixing hole with an internal thread structure; the vertical connecting plate is vertically inserted into the shell clamping groove, so that the horizontal clamping block is clamped in the column fixing groove; the shell fixing column passes through the fixing through hole and is matched in the column fixing hole through a threaded structure, so that the horizontal clamping block can be removably fixed in the column fixing groove.

3. A deformable robot mechanism according to claim 1, characterized in that: Also includes: Connecting joints; The connection connector is installed on the balancing side shell; one end of the connection connector inside the balancing side shell is connected to the battery component or the control board, and the other end extends out of the balancing side shell; the end of the connection connector extending outside the balancing side shell is used to connect to a functional device outside the balancing side shell.

4. A patrol robot, characterized in that: include: Robotic mechanisms, robotic movement components, and vision components; The robot mechanism is the robot mechanism according to any one of claims 1 to 3; The robot moving component is installed in the functional device box and is used to drive the robot mechanism to move; The visual component is installed in the functional device box and has the functions of shooting and recording.

5. The inspection robot according to claim 4, characterized in that: The robot moving assembly comprises: a vertical connecting arm and a moving wheel assembly; the vertical connecting arm is installed on the functional device box; the moving wheel assembly is installed on the vertical connecting arm; The visual component comprises: an arm monitoring camera; the arm monitoring camera is installed in the functional device box; the arm monitoring camera is tilted, and its lens faces the robot moving component; The functional device box is provided with a visual installation slot; the visual installation slot is provided with an inclined visual installation slope; the arm monitoring camera is installed in the functional device box, and its lens is located on the visual installation slope, which is used to shoot and record the robot moving components.

6. The inspection robot according to claim 5, characterized in that: The moving wheel assembly comprises: an active drive, an active rotating wheel, a vertical moving track, a vertical moving seat, a driven moving wheel and a vertical drive; The active driver is installed on the vertical connecting arm, and its output end is connected to the active rotating wheel to drive the active rotating wheel to rotate; The vertical moving track is installed on the vertical connecting arm; the vertical moving seat can be vertically movably installed on the vertical moving track; the driven moving wheel is installed on the vertical moving seat; the vertical driver is installed on the vertical connecting arm, and its output end is connected to the vertical moving seat, which is used to drive the vertical moving seat to move on the vertical moving track, so that the driven moving wheel approaches and moves away from the active rotating wheel.

7. The inspection robot according to claim 6, characterized in that: The active rotating wheel comprises: a hub part, a wear-resistant part and a conductive material; The hub member is provided with a wear-resistant recess; the wear-resistant member is installed in the wear-resistant recess for contacting and moving on the electric substrate; the wear-resistant member is provided with a conductive groove for setting the conductive material; one end of the conductive material contacts the hub member, and the other end contacts the electric substrate, so that the hub member is connected to the electric substrate.

8. The inspection robot according to claim 4, characterized in that: The visual component includes: an external monitoring camera; The external monitoring camera is arranged at the bottom of the functional device box and is located below the balancing side shell; the lens of the external monitoring camera can be rotated toward the moving direction of the inspection robot.

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