A bionic inspection robot

Abstract

The application discloses a kind of bionic inspection robots, comprising: main body, internal circuit component and battery are fixedly connected in main body, internal circuit component is electrically connected with battery;Image acquisition component, image acquisition component is fixedly connected in the outer wall of main body, internal circuit component is electrically connected with image acquisition component;Moving mechanism, a plurality of moving mechanisms are installed in the outer wall of main body, moving mechanism includes joint part, connecting block, leg body and foot component, connecting block is connected with main body, leg body is connected with connecting block, foot component is connected with leg body, and foot component and joint part are electrically connected with internal circuit component;Control terminal, control terminal is electrically connected with internal circuit component.The special foot component and joint part of the application can not only walk on land and inspect, but also climb trees and other rough surface columnar objects, effectively expanding the application scenarios of the application, ensuring the stability and reliability of the application during use.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a biomimetic inspection robot. Background Technology

[0002] "Bionic robots" refer to robots that imitate biological organisms and perform tasks based on biological characteristics. For example, patent application number CN201711143489.8 discloses an eight-legged bionic spider robot that can replace humans in dangerous environments to perform tasks.

[0003] One application scenario for biomimetic robots is to patrol forests where it is inconvenient for humans to enter. However, because the feet of such biomimetic robots have a smooth structure, they cannot perform commands such as climbing trees, and therefore cannot patrol for pests and diseases on the surface of trees, which greatly reduces the applicable scenarios of biomimetic robots.

[0004] Therefore, there is an urgent need to design a biomimetic inspection robot to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a biomimetic inspection robot, comprising:

[0006] The main body has an internal circuit assembly and a storage battery fixedly connected inside it, and the internal circuit assembly is electrically connected to the storage battery.

[0007] An image acquisition component is fixed to the outer wall of the main body, and the internal circuit component is electrically connected to the image acquisition component;

[0008] The moving mechanism has several moving mechanisms installed on the outer walls of the main body. Each moving mechanism includes a joint, a connecting block, a leg, and a foot assembly. The connecting block is connected to the main body, the leg is connected to the connecting block, and the foot assembly is connected to the leg through the joint. The foot assembly and the joint are electrically connected to the internal circuit assembly.

[0009] A control terminal, which is electrically connected to the internal circuit components.

[0010] Preferably, the foot assembly includes a foot body, a hydraulic rod, a rotating shaft, and climbing claws. The foot body is connected to the leg body via the joint. The rotating shaft is rotatably connected to the foot body, and a plurality of climbing claws are fixedly connected to the rotating shaft. A notch is provided on one side of the foot body, through which the climbing claws extend out of the foot body. The hydraulic rod is located on the side of the rotating shaft away from the notch. One end of the hydraulic rod is hinged to the foot body, and the other end of the hydraulic rod is hinged to a fixed seat. The end of the fixed seat is fixedly connected to the rotating shaft, and the hydraulic rod is electrically connected to the internal circuit assembly.

[0011] Preferably, the joint includes a hinge seat, a hinge lug, a second servo motor, and a limiting assembly. The hinge lug is hinged to the hinge seat, the second servo motor is fixed to the hinge seat, and the output end of the second servo motor is coaxially fixed to the hinge lug. The limiting assembly is installed on the side of the hinge seat away from the second servo motor and is coaxially fixed to the hinge lug. Both the second servo motor and the limiting assembly are electrically connected to the internal circuit assembly. The main body and the connecting block, the connecting block and the leg body, and the leg body and the foot body are all hinged through the hinge seat and the hinge lug.

[0012] Preferably, the limiting component includes a fixing block, a limiting post, an electromagnet, a trigger, and a limiting member. The fixing block is fixedly connected to the hinge seat. A groove is formed on the side of the fixing block near the hinge seat. The limiting post is disposed in the groove and is coaxially fixedly connected to the hinge lug. The limiting member is provided on both sides of the limiting post and is used to clamp the limiting post. The limiting member is slidably connected to the fixing block. The trigger is located on the side of the limiting post away from the hinge seat and is slidably connected to the fixing block. The trigger is in contact with the limiting member. The electromagnet is disposed on the side of the trigger away from the hinge seat and is fixedly connected to the inner wall of the groove. The electromagnet is also electrically connected to the internal circuit assembly.

[0013] Preferably, the limiting member includes a limiting clamp and a ball head. The limiting clamp is used to clamp the limiting post. A plurality of slides are provided on the side of the limiting clamp away from the limiting post. The slides are opened in the fixing block. A slide plate is slidably connected in the slide. A first spring is fixedly connected to the side of the slide plate away from the limiting post. The end of the first spring is fixedly connected to the inner wall of the slide. A second connecting rod is fixedly connected to the side of the slide plate near the limiting post. The end of the second connecting rod is fixedly connected to the limiting clamp. A first connecting rod is fixedly connected to the side of the limiting clamp away from the hinge seat. The ball head is fixedly connected to the end of the first connecting rod and contacts the trigger.

[0014] Preferably, the outer wall of the limiting post has a plurality of recesses, the plurality of recesses are equally spaced along the circumference, and the limiting clamp is fixedly connected to a plurality of protrusions on the side of the limiting post near the limiting post, the protrusions being adapted to the recesses.

[0015] Preferably, the trigger includes a conical block and a magnetic block. The conical block is fixed to the side of the magnetic block near the hinge seat. The electromagnet is located on the side of the magnetic block away from the hinge seat. A plurality of limiting blocks are fixed to the outer side of the magnetic block. A plurality of limiting grooves are formed on the side wall of the groove. A plurality of the limiting blocks and a plurality of the limiting grooves are arranged in a one-to-one correspondence. The limiting blocks and the limiting grooves are slidably connected. A second spring is fixed to the side of the limiting block away from the hinge seat. The end of the second spring is fixed to the inner wall of the limiting groove.

[0016] Preferably, the image acquisition component includes a camera and a first servo motor. A connector is rotatably connected to the outer wall of the main body. The camera is fixed to the connector. The first servo motor is located on one side of the connector. The first servo motor is fixed to the outer wall of the main body. The output end of the first servo motor is coaxially fixed to the connector. Both the camera and the first servo motor are electrically connected to the internal circuit component.

[0017] Preferably, the internal circuit components include a circuit board, a CPU module, a wireless communication module, an image compression module, a storage module, and a controller module. The CPU module, the wireless communication module, the image compression module, the storage module, and the controller module are all fixedly mounted on the circuit board. The camera, the hydraulic rod, the first servo motor, the second servo motor, the electromagnet, the battery, the CPU module, the wireless communication module, the image compression module, the storage module, and the controller module are all electrically connected to the circuit board. The control terminal is electrically connected to the wireless communication module.

[0018] The present invention discloses the following technical effects:

[0019] 1. By setting up special foot components, the present invention enables the inspection robot of the present invention not only to walk on land for inspection, but also to climb relatively rough columnar objects such as trees, effectively expanding the applicable scenarios of the inspection robot.

[0020] 2. By setting up special joints, the present invention can automatically lock after the inspection robot completes the specified action, preventing relative rotation of the joints after the movement is completed due to gravity or other reasons. This allows the inspection robot to maintain the corresponding action after the movement is completed, thus improving the reliability of the inspection robot's operation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a biomimetic inspection robot.

[0023] Figure 2 for Figure 1 Enlarged view of A in the middle;

[0024] Figure 3 This is a structural diagram of the foot assembly;

[0025] Figure 4 This is a schematic diagram of the climbing claw's structure;

[0026] Figure 5 This is a schematic diagram of the limit component.

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

[0028] Figure 7 for Figure 5 Enlarged view of C in the middle;

[0029] Figure 8 A schematic diagram of the connection structure between the limiting clamp and the limiting post;

[0030] Figure 9 This is a schematic diagram of the internal circuit components;

[0031] The components are as follows: 1. Main body; 2. First servo motor; 3. Connector; 4. Camera; 5. Internal circuit components; 501. CPU module; 502. Wireless communication module; 503. Image compression module; 504. Storage module; 505. Controller module; 6. Battery; 7. Foot; 8. Leg; 9. Connecting block; 10. Hinge; 11. Hinge seat; 12. Fixing block; 13. Second servo motor; 14. Hydraulic rod; 15. Rotating shaft; 16. Crawler; 17. Fixing seat; 18. Electromagnet; 19. Control terminal; 20. Magnetic block; 21. Conical block; 22. Ball head; 23. First connecting rod; 24. Limiting clamp; 25. Limiting post; 26. Slide rail; 27. First spring; 28. Slide plate; 29. ​​Second connecting rod; 30. Second spring; 31. Limiting block; 32. Limiting groove. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figure 1-9 This invention provides a biomimetic inspection robot, comprising:

[0035] The main body 1 has an internal circuit assembly 5 and a storage battery 6 fixedly connected inside it, and the internal circuit assembly 5 and the storage battery 6 are electrically connected.

[0036] An image acquisition component is fixed to the outer wall of the main body 1, and the internal circuit component 5 is electrically connected to the image acquisition component.

[0037] The moving mechanism has several moving mechanisms installed on the outer walls of the main body 1. The moving mechanism includes joints, connecting blocks 9, legs 8 and foot components. The connecting blocks 9 are connected to the main body 1, the legs 8 are connected to the connecting blocks 9, and the foot components are connected to the legs 8 through joints. The foot components and joints are electrically connected to the internal circuit components 5.

[0038] Control terminal 19 is electrically connected to internal circuit component 5.

[0039] Furthermore, the foot assembly includes a foot body 7, a hydraulic rod 14, a pivot 15, and climbing claws 16. The foot body 7 is connected to the leg body 8 via a joint. The pivot 15 is rotatably connected inside the foot body 7. Several climbing claws 16 are fixedly attached to the pivot 15. A notch is provided on one side of the foot body 7, through which several climbing claws 16 extend out of the foot body 7. The hydraulic rod 14 is located on the side of the pivot 15 away from the notch. One end of the hydraulic rod 14 is hinged to the foot body 7, and the other end of the hydraulic rod 14 is hinged to a fixing seat 17. The end of the fixing seat 17 is fixedly attached to the pivot 15. The hydraulic rod 14 is electrically connected to the internal circuit assembly 5.

[0040] By controlling the extension or retraction of the hydraulic rod 14, the rotating shaft 15 can be rotated, thereby adjusting the angle of the climbing claw 16. By setting the climbing claw 16, the foot 7 can hold onto the tree trunk or other relatively rough columnar objects while hooking onto them, similar to the barbs on an animal's limbs. This allows the inspection robot to not only walk on the ground for inspection, but also climb for inspection.

[0041] Furthermore, the joint includes a hinge seat 11, a hinge lug 10, a second servo motor 13, and a limiting assembly. The hinge lug 10 is hinged to the hinge seat 11. The second servo motor 13 is fixed to the hinge seat 11. The output end of the second servo motor 13 is coaxially fixed to the hinge lug 10. The limiting assembly is installed on the side of the hinge seat 11 away from the second servo motor 13. The limiting assembly is coaxially fixed to the hinge lug 10. Both the second servo motor 13 and the limiting assembly are electrically connected to the internal circuit assembly 5. The main body 1 is hinged to the connecting block 9, the connecting block 9 is hinged to the leg body 8, and the leg body 8 is hinged to the foot body 7 through the hinge seat 11 and the hinge lug 10.

[0042] By controlling the rotation of the second servo motor 13 at the corresponding joint, the hinge lug 10 is driven to rotate relative to the hinge seat 11. By jointly controlling the movement of each second servo motor 13, the robot can be controlled to complete commands such as walking, obstacle crossing, and climbing.

[0043] Furthermore, a hinge seat 11 is fixedly connected to the main body 1, and a hinge lug 10 is fixedly connected to the side of the connecting block 9 near the main body 1. The connecting block 9 is hinged to the hinge seat 11 through the hinge lug 10.

[0044] A hinge seat 11 is fixedly connected to the side of the connecting block 9 away from the main body 1, and a hinge lug 10 is fixedly connected to the end of the leg body 8 close to the main body 1. The leg body 8 is hinged to the hinge seat 11 through the hinge lug 10.

[0045] A hinge seat 11 is fixedly connected to the end of the leg body 8 away from the main body 1, and a hinge lug 10 is fixedly connected to the foot body 7. The foot body 7 is hinged to the hinge seat 11 through the hinge lug 10.

[0046] Furthermore, the plane on which the foot 7 moves is on the same plane as the plane on which the leg 8 moves, and the plane on which the connecting block 9 moves is perpendicular to the plane on which the leg 8 moves.

[0047] Furthermore, the limiting assembly includes a fixing block 12, a limiting post 25, an electromagnet 18, a trigger element, and a limiting element. The fixing block 12 is fixedly connected to the hinge seat 11. A groove is provided on the side of the fixing block 12 near the hinge seat 11. The limiting post 25 is disposed in the groove and is coaxially fixedly connected to the hinge lug 10. Limiting elements are provided on both sides of the limiting post 25. The limiting elements are used to clamp the limiting post 25 and are slidably connected to the fixing block 12. The trigger element is located on the side of the limiting post 25 away from the hinge seat 11 and is slidably connected to the fixing block 12. The trigger element is in contact with the limiting element. The electromagnet 18 is disposed on the side of the trigger element away from the hinge seat 11 and is fixedly connected to the inner wall of the groove. The electromagnet 18 is also electrically connected to the internal circuit assembly 5.

[0048] Furthermore, the limiting component includes a limiting clamp 24 and a ball head 22. The limiting clamp 24 is used to clamp the limiting post 25. A plurality of slides 26 are provided on the side of the limiting clamp 24 away from the limiting post 25. The slides 26 are opened in the fixing block 12. A slide plate 28 is slidably connected in the slides 26. A first spring 27 is fixedly connected to the side of the slide plate 28 away from the limiting post 25. The end of the first spring 27 is fixedly connected to the inner wall of the slide 26. A second connecting rod 29 is fixedly connected to the side of the slide plate 28 near the limiting post 25. The end of the second connecting rod 29 is fixedly connected to the limiting clamp 24. A first connecting rod 23 is fixedly connected to the side of the limiting clamp 24 away from the hinge seat 11. The ball head 22 is fixedly connected to the end of the first connecting rod 23 and is in contact with the trigger.

[0049] Furthermore, the first spring 27 is normally in a compressed state.

[0050] Furthermore, in order to enable the limiting clamp 24 to better limit the limiting post 25, the outer wall of the limiting post 25 is provided with a number of recesses, which are evenly spaced along the circumference. The limiting clamp 24 is fixed with a number of protrusions on the side near the limiting post 25, and the protrusions are adapted to the recesses.

[0051] Furthermore, the triggering element includes a conical block 21 and a magnetic block 20. The conical block 21 is fixedly connected to the magnetic block 20 on the side near the hinge seat 11. The electromagnet 18 is located on the side of the magnetic block 20 away from the hinge seat 11. Several limiting blocks 31 are fixedly connected to the outside of the magnetic block 20. Several limiting grooves 32 are opened on the side wall of the groove. Several limiting blocks 31 and several limiting grooves 32 are arranged in a one-to-one correspondence. The limiting blocks 31 and the limiting grooves 32 are slidably connected. A second spring 30 is fixedly connected to the side of the limiting block 31 away from the hinge seat 11. The end of the second spring 30 is fixedly connected to the inner wall of the limiting groove 32.

[0052] Furthermore, the second spring 30 is normally in a state of neither stretching nor compressing.

[0053] When the electromagnet 18 is not energized, the second spring 30 of the conical block 21 is normally in a state of neither stretching nor compression, that is, the limiting clamp 24 clamps the limiting post 25. At this time, the hinge seat 11 and the hinge ear 10 cannot rotate relative to each other, thus ensuring that the joint will not rotate after the action is completed, ensuring the reliability of the joint. When the joint needs to be adjusted, the control terminal 19 sends a corresponding command and transmits it to the controller module 505. The electromagnet 18 is energized and generates a magnetic force that repels the magnetic block 20, pushing... The moving magnetic block 20 moves towards the side closer to the hinge seat 11, thereby driving the conical block 21 to rotate. The rotating conical block 21 pushes the ball head 22, which in turn drives the limiting clamp 24 to move away from the limiting post 25. At this time, the hinge seat 11 and the hinge ear 10 can rotate relative to each other. After the specified action is completed, the electromagnet 18 is de-energized. Under the action of the first spring 27 and the second spring 30, the conical block 21 returns to its original position, and the limiting clamp 24 re-clamps the limiting post 25. The limiting of the joint cannot rotate relative to each other.

[0054] Furthermore, the image acquisition component includes a camera 4 and a first servo motor 2. A connector 3 is rotatably connected to the outer wall of the main body 1. The camera 4 is fixedly connected to the connector 3. The first servo motor 2 is located on one side of the connector 3. The first servo motor 2 is fixedly connected to the outer wall of the main body 1. The output end of the first servo motor 2 is coaxially fixedly connected to the connector 3. Both the camera 4 and the first servo motor 2 are electrically connected to the internal circuit component 5.

[0055] According to the instructions issued by the controller module 505, the first servo motor 2 is adjusted to adjust the angle of the connector 3, thereby adjusting the shooting angle of the camera 4. After the adjustment is completed, the camera 4 acquires images (video or photo) according to the control instructions.

[0056] Furthermore, the internal circuit assembly 5 includes a circuit board (not shown in the figure), a CPU module 501, a wireless communication module 502, an image compression module 503, a storage module 504, and a controller module 505. The CPU module 501, wireless communication module 502, image compression module 503, storage module 504, and controller module 505 are all fixedly connected to the circuit board. The camera 4, hydraulic rod 14, first servo motor 2, second servo motor 13, electromagnet 18, battery 6, CPU module 501, wireless communication module 502, image compression module 503, storage module 504, and controller module 505 are all electrically connected to the circuit board. The control terminal 19 is electrically connected to the wireless communication module 502.

[0057] Furthermore, CPU module 501 is an ARM-based processor.

[0058] Furthermore, the wireless communication module 502 employs one or more combinations of Bluetooth, Wi-Fi, Zigbee, and Z-wave.

[0059] Furthermore, camera 4 has infrared night vision capabilities.

[0060] Furthermore, the image compression module 503 encodes and compresses the image to a resolution of 600×480.

[0061] Furthermore, storage module 504 is an SSD solid-state drive.

[0062] Working process: Control commands are sent through the control terminal 19 and transmitted wirelessly to the wireless communication module 502. The wireless communication module 502 receives the control commands and transmits them to the CPU module 501. The CPU module 501 processes the control commands and then transmits the processed control commands to the controller. The controller performs corresponding actions based on the control hydraulic rod 14, the first servo motor 2, the second servo motor 13, the electromagnet 18, and the camera 4. The image captured by the camera 4 is transmitted to the CPU module 501, which processes it. At this time, there are two transmission paths: one is to directly transmit the processed signal to the wireless communication module 502, and then the wireless communication module 502 transmits the captured image to the control terminal 19; the other is to transmit the data to the image compression module 503, which compresses the data and then transmits the processed data to the storage module 504 for storage.

[0063] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0064] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A biomimetic inspection robot, characterized in that, include: The main body (1) has an internal circuit assembly (5) and a storage battery (6) fixedly connected inside it, and the internal circuit assembly (5) is electrically connected to the storage battery (6). An image acquisition component is fixed to the outer wall of the main body (1), and the internal circuit component (5) is electrically connected to the image acquisition component; The moving mechanism is provided with several moving mechanisms on each of the outer walls of the main body (1). Each moving mechanism includes a joint, a connecting block (9), a leg (8), and a foot assembly. The connecting block (9) is connected to the main body (1), the leg (8) is connected to the connecting block (9), and the foot assembly is connected to the leg (8) through the joint. The foot assembly and the joint are electrically connected to the internal circuit assembly (5). Control terminal (19), which is electrically connected to the internal circuit assembly (5); The foot assembly includes a foot body (7), a hydraulic rod (14), a rotating shaft (15), and climbing claws (16). The foot body (7) is connected to the leg body (8) through the joint. The rotating shaft (15) is rotatably connected inside the foot body (7). Several climbing claws (16) are fixedly connected to the rotating shaft (15). A notch is provided on one side of the foot body (7), and several climbing claws (16) extend out of the foot body (7) through the notch. The hydraulic rod (14) is located on the side of the rotating shaft (15) away from the notch. One end of the hydraulic rod (14) is hinged to the foot body (7), and the other end of the hydraulic rod (14) is hinged to a fixed seat (17). The end of the fixed seat (17) is fixedly connected to the rotating shaft (15). The hydraulic rod (14) is electrically connected to the internal circuit assembly (5). The joint includes a hinge seat (11), a hinge lug (10), a second servo motor (13), and a limiting component. The hinge lug (10) is hinged to the hinge seat (11). The second servo motor (13) is fixed to the hinge seat (11). The output end of the second servo motor (13) is coaxially fixed to the hinge lug (10). The limiting component is installed on the side of the hinge seat (11) away from the second servo motor (13). The limiting component is coaxially fixed to the hinge lug (10). The second servo motor (13) and the limiting component are both electrically connected to the internal circuit component (5). The main body (1) is hinged to the connecting block (9), the connecting block (9) is hinged to the leg body (8), and the leg body (8) is hinged to the foot body (7) through the hinge seat (11) and the hinge lug (10). The limiting assembly includes a fixing block (12), a limiting post (25), an electromagnet (18), a trigger, and limiting members. The fixing block (12) is fixedly connected to the hinge seat (11). A groove is provided on the side of the fixing block (12) near the hinge seat (11). The limiting post (25) is disposed in the groove and is coaxially fixedly connected to the hinge lug (10). The limiting members are provided on both sides of the limiting post (25) and are used to clamp the limiting post. (25), the limiting member is slidably connected to the fixing block (12), the trigger member is located on the side of the limiting post (25) away from the hinge seat (11), the trigger member is slidably connected to the fixing block (12), the trigger member is in contact with the limiting member, the electromagnet (18) is disposed on the side of the trigger member away from the hinge seat (11), the electromagnet (18) is fixedly connected to the inner wall of the groove, and the electromagnet (18) is electrically connected to the internal circuit assembly (5); The limiting component includes a limiting clamp (24) and a ball head (22). The limiting clamp (24) is used to clamp the limiting post (25). A plurality of slides (26) are provided on the side of the limiting clamp (24) away from the limiting post (25). The slides (26) are opened in the fixing block (12). A sliding plate (28) is slidably connected in the slide (26). A first spring (27) is fixedly connected on the side of the sliding plate (28) away from the limiting post (25). A spring (27) is fixed to the inner wall of the slide (26) at its end. A second connecting rod (29) is fixed to the side of the slide plate (28) near the limiting post (25). The end of the second connecting rod (29) is fixed to the limiting clamp (24). A first connecting rod (23) is fixed to the side of the limiting clamp (24) away from the hinge seat (11). A ball head (22) is fixed to the end of the first connecting rod (23) and the ball head (22) is in contact with the trigger. The outer wall of the limiting post (25) has a plurality of recesses, which are evenly spaced along the circumference. The limiting clamp (24) has a plurality of protrusions fixed to the side of the limiting post (25), which are adapted to the recesses. The triggering element includes a conical block (21) and a magnetic block (20). The conical block (21) is fixed to the magnetic block (20) on the side near the hinge seat (11). The electromagnet (18) is located on the side of the magnetic block (20) away from the hinge seat (11). A plurality of limiting blocks (31) are fixed to the outside of the magnetic block (20). A plurality of limiting grooves (32) are provided on the side wall of the groove. A plurality of the limiting blocks (31) and a plurality of the limiting grooves (32) are arranged in a one-to-one correspondence. The limiting blocks (31) and the limiting grooves (32) are slidably connected. A second spring (30) is fixed to the side of the limiting block (31) away from the hinge seat (11). The end of the second spring (30) is fixed to the inner wall of the limiting groove (32).

2. The biomimetic inspection robot according to claim 1, characterized in that: The image acquisition component includes a camera (4) and a first servo motor (2). A connector (3) is rotatably connected to the outer wall of the main body (1). The camera (4) is fixed to the connector (3). The first servo motor (2) is located on one side of the connector (3). The first servo motor (2) is fixed to the outer wall of the main body (1). The output end of the first servo motor (2) is coaxially fixed to the connector (3). The camera (4) and the first servo motor (2) are both electrically connected to the internal circuit component (5).

3. The biomimetic inspection robot according to claim 2, characterized in that: The internal circuit assembly (5) includes a circuit board, a CPU module (501), a wireless communication module (502), an image compression module (503), a storage module (504), and a controller module (505). The CPU module (501), the wireless communication module (502), the image compression module (503), the storage module (504), and the controller module (505) are all fixed on the circuit board. The camera (4), the hydraulic rod (14), the first servo motor (2), the second servo motor (13), the electromagnet (18), the battery (6), the CPU module (501), the wireless communication module (502), the image compression module (503), the storage module (504), and the controller module (505) are all electrically connected to the circuit board. The control terminal (19) is electrically connected to the wireless communication module (502).

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