A self-balancing inspection robot

Abstract

The present invention provides a self-balancing inspection robot, comprising a base plate, on which is installed a driving steering mechanism for enabling the robot to walk and turn, and also comprising a momentum balancing mechanism, wherein the momentum balancing mechanism comprises a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel installed on the base plate, wherein the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate; when the robot tilts to the left, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism brakes, and when the robot tilts to the right, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes.

Description

Technical Field

[0001] The invention relates to a self-balancing inspection robot. Background Art

[0002] With the development of artificial intelligence technology, intelligent inspection robots have become one of the three major inspection methods in today's society. The mobile robot mechanism is an important part of the inspection robot. When the inspection robot encounters an obstacle, it may tilt or bounce. When tilting, the existing inspection robots often cannot adjust themselves to the right position sensitively, and tipping occurs from time to time. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a self-balancing inspection robot.

[0004] The present invention adopts the following technical solutions

[0005] A self-balancing inspection robot comprises a base plate, the base plate is provided with a driving steering mechanism for steering the robot while walking, and also comprises a momentum balancing mechanism, the momentum balancing mechanism comprises a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel installed on the base plate, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate;

[0006] When the robot tilts to the left, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism brakes; when the robot tilts to the right, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes.

[0007] Optionally, the first power mechanism includes a first motor, a first bevel gear, and a second bevel gear, the output shaft of the first motor and the first bevel gear are fixedly mounted, the first bevel gear and the second bevel gear are meshed, and the second bevel gear and the first momentum wheel are coaxially connected to each other; the second power mechanism includes a second motor, a third bevel gear, and a fourth bevel gear, the output shaft of the second motor and the third bevel gear are fixedly mounted, the third bevel gear and the fourth bevel gear are meshed, and the fourth bevel gear and the second momentum wheel are coaxially connected to each other.

[0008] Optionally, the driving steering mechanism includes a driving mechanism and a steering mechanism, the steering mechanism is rotatably mounted on the base plate, the driving mechanism is mounted under the base plate, and the steering mechanism drives the driving mechanism to steer.

[0009] Optionally, the steering mechanism includes a steering motor, a shift fork and a steering sleeve, the steering motor is mounted on the base plate, the steering sleeve is fixedly connected to the output shaft of the steering motor, one end of the shift fork is axially relatively slidable and circumferentially relatively fixedly connected to the steering sleeve, the steering sleeve is provided with a slide groove, one end of the shift fork is provided with a protrusion, one end of the shift fork extends into the steering sleeve, and the protrusion is slidably connected to the slide groove.

[0010] Optionally, a shock absorbing mechanism is provided between the base plate and the fork, and the shock absorbing mechanism includes a shock absorbing spring, a first spring bowl support and a second spring bowl support, the first spring bowl support is provided with a first inner hole, the second spring bowl support is provided with a second inner hole, one end of the fork passes through the first inner hole and the second inner hole, and the shock absorbing spring is provided between the first spring bowl support and the second spring bowl support.

[0011] Optionally, the steering mechanism includes a steering motor and a shift fork, the steering motor is installed on the base plate, the shift fork includes a transverse connecting member and a vertical connecting member, the transverse connecting member is fixedly connected to the output shaft of the steering motor, one end of the vertical connecting member is hinged to one side of the transverse connecting member, and a bouncing structure is provided between the other end of the vertical connecting member and the other side of the transverse connecting member.

[0012] Optionally, the bouncing structure includes a power motor, a guide column, a guide sleeve and a supporting connection piece, the supporting connection piece and the other end of the vertical connection piece are hinged, the power motor is installed on the supporting connection piece, the guide column and the supporting connection piece are rotatably connected, the power motor and the guide column are transmission connected to drive the guide column to rotate, the guide sleeve is sleeved outside the guide column, the guide sleeve and the other side of the transverse connection piece are hinged, the guide sleeve is provided with a spiral slide groove, the spiral slide groove surrounds the guide sleeve, an axial slide groove is provided between the two ends of the spiral slide groove, the guide column is provided with a raised slider that cooperates with the spiral slide groove and the axial slide groove, and an elastic member is provided between the guide column and the guide sleeve.

[0013] Optionally, the driving mechanism includes a driving motor and a driving wheel, the driving motor is mounted on the shift fork, the driving wheel is rotatably connected to the shift fork, and the driving wheel is fixedly connected to an output shaft of the driving motor.

[0014] Optionally, the base plate is provided with a telescopic lifting mechanism, a bracket is fixedly installed above the base plate, the bracket is provided with an electric motor for driving the telescopic lifting mechanism to rise and fall, and a detector is installed on the top of the telescopic lifting mechanism.

[0015] Optionally, the telescopic lifting mechanism includes a variable pitch screw and a variable pitch nut, the variable pitch nut is sleeved outside the variable pitch screw, the variable pitch screw and the base plate are connected to be relatively fixed in the circumferential direction and relatively slidably in the axial direction, the variable pitch screw includes a plurality of connecting seats and a spiral member, the plurality of connecting seats are arranged in sequence from bottom to top, and a plurality of kits that are mutually sleeved are provided between two adjacent connecting seats above and below, the innermost kit is fixedly connected to the connecting seat above it, and the outermost kit is fixedly connected to the connecting seat below it, the spiral member surrounds the outside of the connecting seat and is hinged to the connecting seat, a spiral groove that cooperates with the spiral member is provided in the variable pitch nut, the spiral groove in the variable pitch nut is divided into an upper spiral groove and a lower spiral groove, the pitch of the upper spiral groove is larger than the pitch of the lower spiral groove, and the variable pitch nut is connected to the electric motor gear transmission.

[0016] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0017] The invention provides a self-balancing inspection robot, which has a momentum balancing mechanism. When the robot tilts, the momentum balancing mechanism can keep the robot balanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the robot when the driving wheels of the present invention are parallel;

[0019] Figure 2 A schematic diagram of the robot of the present invention when the driving wheels are in line;

[0020] Figure 3 is a schematic diagram of a steering mechanism of the present invention;

[0021] Figure 4 is a schematic diagram of the driving mechanism of the present invention;

[0022] Figure 5 is a schematic diagram of the momentum balancing mechanism of the present invention;

[0023] Figure 6 This is a schematic diagram of another embodiment of the inspection robot of the present invention;

[0024] Figure 7 is a schematic diagram of a steering mechanism of the present invention;

[0025] Figure 8 An exploded view of the bouncing structure of the present invention;

[0026] Fig. 9 is a perspective view of a guide column of the present invention;

[0027] Fig.10 It is an exploded view of the telescopic lifting mechanism of the present invention;

[0028] Fig.11 It is a cross-sectional view of the variable pitch screw of the present invention;

[0029] Fig.12 It is a cross-sectional view of the variable pitch nut of the present invention.

[0030] Explanation of the symbols in the schematic diagram:

[0031] 1. Bottom plate; 11. Through hole; 12. Groove; 2. Steering mechanism; 21. Steering motor; 22. Steering motor mounting frame; 23. Steering sleeve; 231. Slide groove; 241. Fork; 2411. Protrusion; 2412. Mounting hole; 242. Shock-absorbing spring; 243. First spring bowl support; 2431. First inner hole; 244. Second spring bowl support; 2441. Second inner hole; 3. Driving mechanism; 31. Driving motor; 32. Driving motor mounting plate; 33. Transmission shaft; 34. Driving wheel; 35. Coupling; 4. Momentum balancing mechanism; 41. First motor mounting plate; 42. First motor; 43. First bevel gear; 44. Second bevel gear; 45. First support seat; 46. First momentum wheel; 47. First transmission shaft; 48. Second support seat; 49 , second momentum wheel; 410, second transmission shaft; 411, third support seat; 412, fourth bevel gear; 413, second motor mounting plate; 414, second motor; 415, third bevel gear; 5, bracket; 6, detector; 71, horizontal connector; 72, vertical connector; 73, power motor; 74, guide column; 741, raised slider; 75, guide sleeve; 751, spiral slide groove; 752, axial slide groove; 76, support connector; 77, elastic member; 78, transition connector; 81, electric motor; 82, variable pitch lead screw; 821, connector seat; 822, kit; 823, inner convex rib; 824, outer convex rib 83, variable pitch nut; 831, upper spiral groove; 832, lower spiral groove; 84, circumferential limit sleeve; 85, spiral member. DETAILED DESCRIPTION

[0032] To further understand the content of the present invention, Figure 1-12 The present invention is described in detail with reference to the accompanying drawings and embodiments.

[0033] Combined with Figure 1-12A self-balancing inspection robot of this embodiment includes a base plate 1, a steering drive mechanism and a momentum balancing mechanism 4, wherein the steering drive mechanism includes a steering mechanism 2 and a driving mechanism 3. The steering mechanism 2 includes a steering motor 21, a shift fork 241, and a steering sleeve 23. The steering motor 21 is fixedly mounted on the base plate 1 through a steering motor mounting frame 22. The steering sleeve 23 is fixedly connected to the output shaft of the steering motor 21. The steering sleeve 23 is provided with a slide groove 231. One end of the shift fork 241 is provided with a protrusion 2411. One end of the shift fork 241 extends into the steering sleeve 23, and the protrusion 2411 is slidably connected to the slide groove 231. The protrusion 2411 cooperates with the slide groove 231 so that the steering sleeve 23 and the shift fork 241 can slide relative to each other in the axial direction and are relatively fixed in the circumferential direction.

[0034] The driving mechanism 3 includes a driving motor 31 and a driving wheel 34. The driving motor 31 is installed on one side of the fork 241 through a driving motor mounting plate 32. The driving wheel 34 is provided with a transmission shaft 33. The fork 241 is provided with a mounting hole 2412. One end of the transmission shaft 33 is rotatably connected to the mounting hole 2412 in the mounting hole 2412, and the other end of the transmission shaft 33 is fixedly connected to the driving wheel 34. The other end of the transmission shaft 33 is fixedly connected to the output shaft of the driving motor 31 through a coupling 35.

[0035] A shock absorbing mechanism is provided between the bottom plate 1 and the shift fork 241, and the shock absorbing mechanism includes a shock absorbing spring 242, a first spring bowl support 243, and a second spring bowl support 244. The first spring bowl support 243 is provided with a first inner hole 2431, and the second spring bowl support 244 is provided with a second inner hole 2441. One end of the shift fork 241 passes through the first inner hole 2431, and one end of the shift fork 241 is rotatably connected to the first inner hole 2431. The shock absorbing spring 242 is sleeved outside one end of the shift fork 241, and one end of the shock absorbing spring 242 is slidably connected to the first spring bowl support 243. One end of the shift fork 241 passes through the second inner hole 2441, and the second spring bowl support 244 is slidably connected to the other end of the shock absorbing spring 242. The bottom plate 1 is provided with a through hole 11, and one end of the shift fork 241 passes through the through hole 11, so that the shift fork 241 and the bottom plate 1 are rotatably connected, and the second spring bowl support 244 and the bottom plate 1 are slidably connected. The damping spring 242 is disposed between the first spring bowl support 243 and the second spring bowl support 244 .

[0036] A groove 12 is provided in the middle of the base plate 1, and a bracket 5 is provided on the base plate 1. The groove 12 is located below the bracket 5, and the momentum balancing mechanism 4 is installed in the groove 12. The momentum balancing mechanism 4 includes a first power mechanism, a first momentum wheel 46, a second power mechanism and a second momentum wheel 49 installed on the base plate 1. The first power mechanism drives the first momentum wheel 46 to rotate, and the second power mechanism drives the second momentum wheel 49 to rotate. The first power mechanism includes a first motor 42, a first bevel gear 43 and a second bevel gear 44. The first motor 42 is installed on the bracket 5 through a first motor mounting plate 41, and the output shaft of the first motor 42 and the first bevel gear 43 are fixedly installed. A first support seat 45, a second support seat 48 and a third support seat 411 are provided in the groove 12 of the base plate 1. The first support seat 45 is rotatably connected with a first transmission shaft 47, one end of the first transmission shaft 47 is rotatably connected with the first support seat 45, and the other end of the first transmission shaft 47 is rotatably connected with the second support seat 48. The second bevel gear 44 is fixedly mounted at one end of the first transmission shaft 47, the first momentum wheel 46 is fixedly mounted in the middle of the first transmission shaft 47, and the first bevel gear 43 and the second bevel gear 44 are meshed. The second power mechanism includes a second motor 414, a third bevel gear 415, and a fourth bevel gear 412. The output shaft of the second motor 414 and the third bevel gear 415 are fixedly mounted, the second motor 414 is mounted on the bracket 5 through the second motor mounting plate 413, the second support seat 48 is rotatably connected with the second transmission shaft 410, one end of the second transmission shaft 410 is rotatably connected to the third support seat 411, the other end of the second transmission shaft 410 is rotatably connected to the second support seat 48, the fourth bevel gear 412 is fixedly mounted at one end of the second transmission shaft 410, the second momentum wheel 49 is fixedly mounted in the middle of the second transmission shaft 410, and the third bevel gear 415 and the fourth bevel gear 412 are meshed.

[0037] A detector 6 is fixedly mounted above the bracket 5 .

[0038] In this embodiment, two steering mechanisms 2 and two driving mechanisms 3 are provided. The two driving mechanisms 3 are controlled respectively by the two steering mechanisms 2. When traveling on a wide road, the steering motor 21 drives the steering sleeve 23 to rotate, and the slide groove 231 on the steering sleeve 23 drives the protrusion 2411 on the fork 241 to rotate the fork 241, so that the two driving wheels 34 are parallel. Then, the movement speed and direction of the robot are controlled by the driving mechanism 3, the driving motor 31 drives the coupling 35 to rotate, the coupling 35 drives the transmission shaft 33 to rotate, and the transmission shaft 33 drives the driving wheel 34 to rotate, so that the robot moves forward. The steering is controlled by the differential speed of the two driving motors 31. When passing through a narrow road, the driving mechanism 3 is controlled by the steering mechanism 2 to make the two driving wheels 34 collinear, and the movement direction of the robot is controlled by controlling one of the steering mechanisms 2. Then, the movement speed of the robot is controlled by controlling the driving mechanism 3. The collinearity of the two driving wheels 34 can reduce the width of the robot and enhance its ability to adapt to the road. On uneven roads, the shift fork 241 drives the first spring bowl support 243 to move upward, compressing the shock absorbing spring 242, and at the same time, the protrusion 2411 on the shift fork 241 slides in the slide groove 231 of the steering sleeve 23 to achieve the purpose of shock absorption.

[0039] The robot is controlled to balance in a static and moving state by the momentum balance mechanism 4. When the robot tilts to the left, the first motor 42 drives the first bevel gear 43 to rotate, the first bevel gear 43 drives the second bevel gear 44 to rotate, the second bevel gear 44 drives the first transmission shaft 47 to rotate, the first transmission shaft 47 drives the first momentum wheel 46 to rotate to the right, the second motor 414 drives the third bevel gear 415 to brake, the third bevel gear 415 drives the fourth bevel gear 412 to brake, the fourth bevel gear 412 drives the second transmission shaft 410 to brake, the second transmission shaft 410 drives the second momentum wheel 49 to brake, so that the robot returns to a balanced state. Similarly, when the robot tilts to the right, the second motor 414 drives the third bevel gear 415 to rotate, the third bevel gear 415 drives the fourth bevel gear 412 to rotate, the fourth bevel gear 412 drives the second transmission shaft 410 to rotate, the second transmission shaft 410 drives the second momentum wheel 49 to rotate to the left, the first motor 42 drives the first bevel gear 43 to brake, the first bevel gear 43 drives the second bevel gear 44 to brake, the second bevel gear 44 drives the first transmission shaft 47 to brake, and the first transmission shaft 47 drives the first momentum wheel 46 to brake, so that the robot returns to a balanced state, avoiding frequent reversing of the motor resulting in untimely balance adjustment or even damage to the motor.

[0040] Combined with Figure 6-9In another embodiment, the shift fork is provided with a bouncing structure. The bouncing structure enables the inspection robot to jump over a pit when encountering one. The shift fork comprises a transverse connecting member 71 and a vertical connecting member 72. The middle of the transverse connecting member 71 is fixedly connected to the output shaft of the steering motor. One end of the vertical connecting member 72 is hinged to one side of the transverse connecting member 71. A bouncing structure is provided between the other end of the vertical connecting member 72 and the other side of the transverse connecting member 71. The bouncing structure comprises a power motor 73, a guide column 74, a guide sleeve 75 and a support connecting member 76. The support connecting member 76 is hinged to the other end of the vertical connecting member 72. The power motor 73 is mounted on the support connecting member 76. The guide column 74 and the support connecting member 76 are rotatably connected. The power motor 73 and the guide column 74 are connected by a belt transmission to drive the guide column 74 to rotate. The guide sleeve 75 is sleeved outside the guide column 74. A transition connecting member 78 is fixed to the upper end of the guide sleeve 75. The transition connecting member 78 is hinged to the other side of the transverse connecting member 71. An elastic member 77 is provided between the transition connector 78 and the support connector 76, and the elastic member 77 is a spring. The guide sleeve 75 is provided with a spiral slide 751, and the spiral slide 751 is around the guide sleeve 75. An axial slide 752 is provided between the two ends of the spiral slide 751. The guide column 74 is provided with a raised slider 741 that cooperates with the spiral slide 751 and the axial slide 752. When the inspection robot encounters a pit, the power motor 73 will drive the guide column 74 to rotate. The rotation of the guide column 74 drives the raised slider 741 to slide upward in the spiral slide 751. The upward movement of the guide column 74 will compress the elastic member 77. When the raised slider 741 slides to the top of the spiral slide 751, it moves downward from the top of the axial slide 752 to complete the release action, thereby providing a jumping force for the inspection robot to make the inspection robot jump. The drive motor and the drive wheel are installed at the other end of the vertical connector 72. The rotation of the steering motor can drive the shift fork to rotate, and the rotation of the shift fork can drive the drive wheel to turn. The driving motor can drive the driving wheel to rotate.

[0041] Combined with Figure 6 , 10 -12, the bottom plate 1 is provided with a telescopic lifting mechanism, a bracket 5 is fixedly installed on the top of the bottom plate 1, the bracket 5 is provided with an electric motor 81 for driving the telescopic lifting mechanism to rise and fall, and a detector 6 is installed on the top of the telescopic lifting mechanism. The telescopic lifting mechanism drives the detector 6 to rise by rising to obtain a high and far viewing angle.

[0042] The telescopic lifting mechanism includes a variable pitch screw 82 and a variable pitch nut 83, and the variable pitch nut 83 is sleeved on the outside of the variable pitch screw 82. The base plate 1 is fixed with a circumferential limiting sleeve 84, and the cross section of the circumferential limiting sleeve 84 is square. The bottom of the variable pitch screw 82 is arranged in the circumferential limiting sleeve 84, and the cross section of the bottom of the variable pitch screw 82 is also square, so that the variable pitch screw 82 is relatively fixed in the circumferential direction relative to the base plate 1 and relatively slidably connected in the axial direction. The variable pitch screw 82 includes a plurality of connecting seats 821 and a spiral member 85, and the plurality of connecting seats 821 are arranged in sequence from bottom to top. Three mutually sleeved sets 822 are arranged between two adjacent connecting seats 821, and the diameter of the sets 822 increases from the inside to the outside. The innermost set 822 is fixedly connected to the connecting seat 821 above it, and the outermost set 822 is fixedly connected to the connecting seat 821 below it, and the sets 822 and the sets 822 can slide up and down with each other. An anti-slip structure is provided between the innermost set 822 and the middle set 822, and the anti-slip structure includes an outer convex rib 824 provided on the outer surface of the innermost set 822 and an inner convex rib 823 provided on the inner surface of the middle set 822. When the inner set 822 slides upward, the anti-slip structure prevents the innermost set 822 from detaching from the outermost set 822. The same anti-slip structure is also provided between the middle set 822 and the outermost set 822. The spiral member 85 surrounds the outside of the connecting seat 821 and is hinged to the connecting seat 821. The spiral member 85 is provided with a hinge point for every half pitch, and is hinged to the connecting seat 821 at the hinge point. A spiral groove cooperating with the spiral member 85 is provided in the variable pitch nut 83, and the spiral groove in the variable pitch nut 83 is divided into an upper spiral groove 831 and a lower spiral groove 832, and the pitch of the upper spiral groove 831 is larger than the pitch of the lower spiral groove 832. The bracket 5 is provided with an avoidance hole for avoiding the variable pitch screw 82, and the variable pitch screw 82 passes through the avoidance hole. The variable pitch nut 83 is provided with a circle of transmission gears outside, and the output shaft of the electric motor 81 is fixed with a driving gear, and the driving gear and the transmission gear are meshed. The driving gear and the transmission gear are both arranged below the bracket 5.

[0043] When the detector 6 needs to be raised, the electric motor 81 is driven, and the electric motor 81 rotates to drive the variable pitch nut 83 to rotate, and the variable pitch nut 83 rotates to drive the screw 85 to spirally rise in the spiral groove, and the rising of the screw 85 drives the connecting seat 821 to rise. When the screw 85 rotates to the position of the upper spiral groove 831, the pitch between the screws 85 becomes larger, and the distance between two adjacent connecting seats 821 increases, so that the variable pitch screw 82 is extended. When the electric motor 81 drives the variable pitch nut 83 to rotate, the screw 85 spirals down, and the screw 85 descends and drives the connecting seat 821 to descend. When the screw 85 rotates to the position of the lower spiral groove 832, the pitch between the screws 85 becomes smaller, and the distance between two adjacent connecting seats 821 becomes smaller, so that the variable pitch screw 82 is shortened. In specific applications, springs are provided between adjacent beam connecting seats 821 to assist the variable pitch screw 82 in rising.

[0044] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. A self-balancing inspection robot, comprising a base plate, the base plate being equipped with a driving steering mechanism for steering the robot, characterized in that: It also includes a momentum balancing mechanism, the momentum balancing mechanism includes a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel installed on the bottom plate, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate; When the robot tilts to the left, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism brakes. When the robot tilts to the right, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes. The driving steering mechanism comprises a driving mechanism and a steering mechanism, wherein the steering mechanism is rotatably mounted on the bottom plate, the driving mechanism is mounted under the bottom plate, and the steering mechanism drives the driving mechanism to turn. The steering mechanism comprises a steering motor and a shift fork, wherein the steering motor is mounted on the bottom plate, and the shift fork comprises a transverse connecting member and a vertical connecting member, wherein the transverse connecting member is fixedly connected to the output shaft of the steering motor, one end of the vertical connecting member is hinged to one side of the transverse connecting member, and a bouncing structure is provided between the other end of the vertical connecting member and the other side of the transverse connecting member. The bouncing structure includes a power motor, a guide column, a guide sleeve and a supporting connection piece, wherein the supporting connection piece and the other end of the vertical connection piece are hinged, the power motor is installed on the supporting connection piece, the guide column and the supporting connection piece are rotatably connected, the power motor and the guide column are transmission-connected to drive the guide column to rotate, the guide sleeve is sleeved outside the guide column, the guide sleeve and the other side of the transverse connection piece are hinged, the guide sleeve is provided with a spiral slide groove, the spiral slide groove surrounds the guide sleeve, an axial slide groove is provided between the two ends of the spiral slide groove, the guide column is provided with a raised slider that cooperates with the spiral slide groove and the axial slide groove, an elastic piece is provided between the guide column and the guide sleeve, The steering mechanism also includes a steering sleeve, which is fixedly connected to the output shaft of the steering motor, one end of the shift fork is axially relatively slidable and circumferentially relatively fixedly connected to the steering sleeve, the steering sleeve is provided with a slide groove, one end of the shift fork is provided with a protrusion, one end of the shift fork extends into the steering sleeve, and the protrusion is slidably connected to the slide groove.

2. A self-balancing inspection robot according to claim 1, characterized in that: The first power mechanism includes a first motor, a first bevel gear, and a second bevel gear. The output shaft of the first motor is fixedly mounted on the first bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is coaxially connected to the first momentum wheel. The second power mechanism includes a second motor, a third bevel gear, and a fourth bevel gear. The output shaft of the second motor is fixedly mounted on the third bevel gear, the third bevel gear is meshed with the fourth bevel gear, and the fourth bevel gear is coaxially connected to the second momentum wheel.

3. A self-balancing inspection robot according to claim 1, characterized in that: A shock absorbing mechanism is provided between the bottom plate and the shift fork, and the shock absorbing mechanism includes a shock absorbing spring, a first spring bowl support and a second spring bowl support, the first spring bowl support is provided with a first inner hole, the second spring bowl support is provided with a second inner hole, one end of the shift fork passes through the first inner hole and the second inner hole, and the shock absorbing spring is provided between the first spring bowl support and the second spring bowl support.

4. The self-balancing inspection robot according to claim 1, characterized in that: The driving mechanism comprises a driving motor and a driving wheel. The driving motor is mounted on the shift fork. The driving wheel is rotatably connected to the shift fork. The driving wheel is fixedly connected to an output shaft of the driving motor.

5. A self-balancing inspection robot according to any one of claims 1 to 4, characterized in that: The bottom plate is provided with a telescopic lifting mechanism, a bracket is fixedly installed above the bottom plate, the bracket is provided with an electric motor for driving the telescopic lifting mechanism to rise and fall, and a detector is installed on the top of the telescopic lifting mechanism.

6. The self-balancing inspection robot according to claim 5, characterized in that: The telescopic lifting mechanism includes a variable pitch screw and a variable pitch nut, the variable pitch nut is sleeved on the outside of the variable pitch screw, the variable pitch screw and the base plate are relatively fixed in the circumferential direction and are relatively slidably connected in the axial direction, the variable pitch screw includes a plurality of connecting seats and a spiral member, the plurality of connecting seats are arranged in sequence from bottom to top, and a plurality of sets of mutually sleeved sets are provided between two adjacent connecting seats above and below, the innermost set is fixedly connected to the connecting seat above it, and the outermost set is fixedly connected to the connecting seat below it, the spiral member surrounds the outside of the connecting seat and is hinged to the connecting seat, a spiral groove matching with the spiral member is provided in the variable pitch nut, the spiral groove in the variable pitch nut is divided into an upper spiral groove and a lower spiral groove, the pitch of the upper spiral groove is larger than the pitch of the lower spiral groove, and the variable pitch nut is connected to the electric motor gear transmission.

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