A cable trench inspection robot and its working method

Abstract

The present invention discloses a cable trench inspection robot and its working method, belonging to the technical field of inspection robots. There are problems in the existing cable trench inspection robots that they are prone to tipping over during inspection and have a large turning radius, resulting in poor passing performance. In the present invention, four groups of Y-shaped frames are symmetrically and rotatably installed at the front and rear ends of the seat. The Y-shaped frame includes a frame rotating plate rotatably installed at one end on the seat and frame plates symmetrically and rotatably installed above and below the outer end of the frame rotating plate. A walking unit is installed at the movable end of the frame plate; an elastic telescopic mechanism is installed between the upper and lower frame plates, and two groups of elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism; a steering control mechanism is rotatably installed through the middle of the seat, and both ends of the steering control mechanism are respectively rotatably connected to the middle parts of the telescopic distance adjustment mechanisms on both sides. An equipment box is installed on the top of the seat, and an imaging and control device and a power supply unit are installed in the equipment box. Through the above structure, while improving the driving stability, the turning radius is reduced and the passing performance is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly relates to a cable trench inspection robot and its working method. Background Art

[0002] The installation methods of cables are divided into overhead installation and cable trench buried wiring laying. In the case of uneven terrain and no obstacles in the air, most cable installations are carried out in an overhead manner; however, in most cases where overhead conditions are not available, cable wiring generally adopts the method of trench laying installation.

[0003] To ensure the protection of cables, in addition to having corresponding drainage mechanisms, cable trenches also need to be covered with covers to prevent animals from invading and biting the cables, which affects the stability of power transmission. At the same time, this closed structure brings certain resistance to the regular maintenance of cables. The traditional line inspection method is to lift the cover at intervals for inspection. This line inspection method has problems such as low inspection efficiency and high consumption of manpower and material resources.

[0004] To solve the above problems, a variety of cable trench inspection robots have emerged on the market. By installing crawlers or walking wheels on the robots, and then remotely controlling them manually to move forward to take pictures of the cable status in the trench and transmit them to the terminal devices of the operators, so as to carry out rapid line inspection. However, it is found in the actual operation process that due to the existence of soil stones on the bottom surface of the cable trench for a long time, the robots often tilt and overturn, and at the same time, when encountering corners, the existing robots have a large turning radius and need to be adjusted many times to pass or are directly stuck and cannot pass.

[0005] Based on the above problems, the present invention proposes a cable trench inspection robot and its working method. Summary of the Invention

[0006] Aiming at the problems in the above technical background, the purpose of the present invention is to provide a cable trench inspection robot and its working method, which systematically solves the problems that the existing cable trench inspection robots are prone to overturn and have a too large turning radius, resulting in poor passing performance.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] A cable trench inspection robot, including a seat, four groups of Y-shaped frames are symmetrically and rotatably installed at the front and rear ends of the seat. The Y-shaped frame includes a frame rotating plate rotatably installed at one end on the seat and frame plates symmetrically and rotatably installed up and down at the outer end of the frame rotating plate. A walking unit is installed at the movable end of the frame plate.

[0009] An elastic telescopic mechanism is installed between the upper and lower shelf plates, and two groups of the elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism;

[0010] A steering control mechanism is rotatably installed through the middle of the seat, and both ends of the steering control mechanism are respectively rotatably connected to the middle parts of the telescopic distance adjustment mechanisms on both sides;

[0011] An equipment box is installed on the top of the seat, and an imaging and control device and a power supply unit are installed in the equipment box.

[0012] Further, four groups of first rotation grooves are symmetrically arranged at the front and rear of both ends of the seat, one end of the frame rotating plate is rotatably installed on the inner column of the first rotation groove, a through rotation groove is provided through the middle of the seat, the steering control mechanism is installed in the through rotation groove, and slopes for facilitating the rotation of the steering control mechanism are provided at both ends of the through rotation groove.

[0013] Even further, side rotation grooves are symmetrically arranged at the upper and lower outer ends of the frame rotating plate, one end of the shelf plate is rotatably installed in the side rotation groove, and both ends of the elastic telescopic mechanism are rotatably installed through symmetrically arranged rotating seats in the middle of the upper and lower shelf plates.

[0014] Even further, the elastic telescopic mechanism includes a bidirectional telescopic rod, a connecting sleeve rotatably installed in the middle of the bidirectional telescopic rod, and shock-absorbing springs symmetrically installed on the bidirectional telescopic rods above and below the connecting sleeve, and the telescopic distance adjustment mechanism is installed between the connecting sleeves on the same side.

[0015] Even further, the telescopic distance adjustment mechanism includes an adapter seat and electric telescopic rods symmetrically installed at both ends of the adapter seat, the movable ends of the electric telescopic rods on both sides are respectively connected to the side walls of the connecting sleeves on both sides, and one side of the adapter seat rotatably installs both ends of the steering control mechanism through a second rotation groove.

[0016] Even further, the steering control mechanism includes a rotating block, rotating plates symmetrically installed on both side walls of the rotating block, and a rotating shaft connected to the top of the rotating block, the top end of the rotating shaft penetrates through the seat, and at the same time, the top end of the rotating shaft is connected to the output end of a servo motor installed in the equipment box through a coupling, and the outer ends of the rotating plates are rotatably installed in the second rotation groove.

[0017] Even further, a front slot, a middle slot and a rear slot are sequentially arranged in the equipment box from front to back, the imaging and control device is installed in the front slot, the servo motor is installed in the middle slot, and the power supply unit is installed in the rear slot.

[0018] Even further, two groups of cameras included in the imaging and control device are installed through the front end of the equipment box, and a plurality of heat dissipation holes are provided at the rear end of the equipment box communicating with the rear slot.

[0019] Furthermore, the walking unit includes a driving motor, a cylindrical rim, a hemisphere, and a plurality of anti-slip protrusions. The outer diameter of the cylindrical rim is the same as the diameter of the hemisphere. At the same time, one end of the cylindrical rim is installed on the cross-section of the hemisphere. A plurality of the anti-slip protrusions are provided on the outer side surfaces of the cylindrical rim and the hemisphere. The driving motor is installed on one side of the movable end of the frame plate. At the same time, the output end of the driving motor is connected to the center of the cross-sectional circle of the hemisphere.

[0020] To solve the above problems, the present invention also proposes a working method for the cable trench inspection robot, including the following steps:

[0021] S1. Place the cable inspection robot in the cable trench, and drive the hemisphere and the cylindrical rim to rotate by controlling the driving motor, so as to achieve the purpose of moving forward;

[0022] S2. Control the electric telescopic rod to extend and push the elastic telescopic mechanism to drive the Y-shaped frame to expand outward, increasing the distance between the support points of the walking unit. When encountering a bottom surface protrusion, the hemisphere and the cylindrical rim located below are pushed up, causing the bidirectional telescopic rod to contract and compress the shock-absorbing spring, and automatically reset through the reaction force of the shock-absorbing spring;

[0023] S3. When passing through a corner, control the electric telescopic rod to contract and pull the elastic telescopic mechanism to drive the Y-shaped frame to rotate towards the middle of the seat. At the same time, drive the rotating block to rotate towards the corner direction through the servo motor. During the rotation of the rotating block, control the two telescopic distance adjustment mechanisms on both sides to rotate towards the corner direction through the rotating plates on both sides. The telescopic distance adjustment mechanism drives the two groups of Y-shaped frames outside the corner forward and the two groups of Y-shaped frames inside the corner backward through the elastic telescopic mechanism, so as to achieve the purpose of reducing the turning radius and passing through the corner.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] (1) In the present invention, four sets of Y-shaped frames are symmetrically rotatably installed at the front and rear ends of the seat. The Y-shaped frame includes a frame rotating plate rotatably installed at one end of the seat and frame plates symmetrically rotatably installed above and below the outer end of the frame rotating plate. A walking unit is installed at the movable end of the frame plate; an elastic telescopic mechanism is installed between the upper and lower frame plates, and two sets of elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism; a steering control mechanism is rotatably installed through the middle of the seat, and both ends of the steering control mechanism are respectively rotatably connected to the middle parts of the two telescopic distance adjustment mechanisms on both sides. An equipment box is installed on the top of the seat, and an imaging and control device and a power supply unit are installed in the equipment box; by setting the Y-shaped frame, which includes a frame rotating plate rotatably installed at one end of the seat and frame plates symmetrically rotatably installed above and below the outer end of the frame rotating plate, and a walking unit is installed at the movable end of the frame plate, the upper and lower walking units can be kept stable during the walking process of the robot. When the height is relatively low, the upper walking unit can also function as a driving unit for walking synchronously, and at the same time, the driving stability is further increased; by installing an elastic telescopic mechanism between the upper and lower frame plates, the upper and lower walking units have the function of elastic lifting, which improves the stability during obstacle crossing and driving, avoids the influence of vibration on the equipment, and increases the stability of shooting; by pulling the two sets of elastic telescopic mechanisms on the same side outward or inward through the telescopic distance adjustment mechanism, the elastic telescopic mechanism drives the Y-shaped frame to expand or rotate inward. When expanding, the support distance of the vehicle body walking unit is increased, and the stability is increased. When rotating inward, the steering control mechanism controls one side of the Y-shaped frame and the walking unit to move forward and the other side of the Y-shaped frame and the walking unit to move backward, so as to reduce the turning radius and improve the stable passing performance of turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional view of the inspection robot in the inspection state provided by the embodiment of the present invention Figure 1 ;

[0027] Figure 2 is a three-dimensional view of the inspection robot in the inspection state provided by the embodiment of the present invention Figure 2 ;

[0028] Figure 3 is a three-dimensional view of the seat and the equipment box without the cover plate provided by the embodiment of the present invention;

[0029] Figure 4 is a three-dimensional sectional view of the seat provided by the embodiment of the present invention;

[0030] Figure 5 is a three-dimensional sectional view of the seat of the inspection robot without the equipment box provided by the embodiment of the present invention;

[0031] Figure 6 is a three-dimensional view of the steering control mechanism provided by the embodiment of the present invention;

[0032] Figure 7A partial sectional view of the Y-shaped frame provided by the embodiment of the present invention and a three-dimensional view of the elastic telescopic mechanism with one shock-absorbing spring removed;

[0033] Figure 8 A three-dimensional view of the installation of the cylindrical rim, hemispheres, and multiple anti-slip protrusions provided by the embodiment of the present invention.

[0034] In the figure: 1, seat; 2, first rotating groove; 3, through rotating groove; 31, slope; 4, rotating block; 41, rotating plate; 5, rotating shaft; 6, equipment box; 61, heat dissipation holes; 7, front slot; 8, imaging and control equipment; 81, camera; 9, middle slot; 10, servo motor; 11, rear slot; 12, power supply unit; 13, adapter seat; 131, second rotating groove; 14, electric telescopic rod; 15, connecting sleeve; 16, frame rotating plate; 17, side rotating groove; 18, frame plate; 19, rotating seat; 20, bidirectional telescopic rod; 21, shock-absorbing spring; 22, drive motor; 23, cylindrical rim; 24, hemispheres; 25, anti-slip protrusions. Specific embodiments

[0035] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustration and explanation of the present invention, and are not intended to limit the present invention.

[0036] Embodiment 1

[0037] As Figure 1-8As shown in the figure, a cable trench inspection robot includes a seat 1. The seat 1 and the equipment box should preferably be made of stainless steel to avoid being corroded by the accumulated liquid in the cable trench. Four groups of Y-shaped frames are symmetrically and rotatably installed at the front and rear ends of the seat 1. The Y-shaped frame includes a frame rotating plate 16 rotatably installed at one end on the seat 1 and two symmetrically and rotatably installed frame plates 18 at the upper and lower outer ends of the frame rotating plate 16. A walking unit is installed at the movable end of the frame plate 18. By setting the Y-shaped frame, which includes a frame rotating plate rotatably installed at one end on the seat and two symmetrically and rotatably installed frame plates at the upper and lower outer ends of the frame rotating plate, and a walking unit is installed at the movable end of the frame plate, the upper and lower walking units can be kept stable during the walking process of the robot. When the height is relatively low, the upper walking unit can also drive the walking synchronously, and at the same time, the driving stability is further increased; an elastic telescopic mechanism is installed between the upper and lower frame plates 18. By installing the elastic telescopic mechanism between the upper and lower frame plates, the upper and lower walking units have the function of elastic lifting, improving the obstacle-crossing and driving stability, avoiding the influence of vibration on the equipment, and increasing the shooting stability. The two groups of elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism. A steering control mechanism is rotatably installed through the middle of the seat 1, and both ends of the steering control mechanism are respectively rotatably connected to the middle parts of the two telescopic distance adjustment mechanisms on both sides. By pulling the two groups of elastic telescopic mechanisms on the same side outward or inward through the telescopic distance adjustment mechanism, the elastic telescopic mechanism drives the Y-shaped frame to expand or rotate inward. When expanding, the support distance of the walking units of the vehicle body is increased, improving the stability. When rotating inward, the steering control mechanism controls one side of the Y-shaped frame and the walking unit to move forward and the Y-shaped frame and the walking unit on the other side to move backward, so as to reduce the turning radius and improve the stable passing performance of turning. An equipment box 6 is installed on the top of the seat 1, and an imaging and control device 8 and a power supply unit 12 are installed in the equipment box 6.

[0038] Design concept: Compared with the existing inspection robots that install crawlers or walking wheels at the bottom of the robot, they are easily affected by bumps or roadblocks during driving, resulting in overturning or rolling over. The present invention proposes a Y-shaped frame. At the same time, the Y-shaped frame is rotatably installed at the four corners of the seat 1. Then, the two frame plates 18 included in the Y-shaped frame are rotatably installed. A walking unit is installed at the movable end of the frame plate 18. An elastic telescopic mechanism is installed between the frame plates 18, enabling the upper and lower walking units to have the function of elastic lifting. The two groups of elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism. A steering control mechanism is rotatably installed through the middle of the seat 1. By adjusting the steering control mechanism, the Y-shaped frames on both sides of the seat 1 are rotated forward and backward respectively, so as to achieve the purpose of reducing the turning radius and greatly improving the passing performance of the cable trench inspection robot.

[0039] As Figure 4 、 5As shown in the figure, four groups of first rotating grooves 2 are symmetrically arranged at the front and back ends of both sides of the saddle 1. One end of the frame rotating plate 16 is rotatably installed inside the inner column of the first rotating groove 2. A through rotating groove 3 is provided through the middle of the saddle 1. A steering control mechanism is installed inside the through rotating groove 3. At the same time, slopes 31 for facilitating the rotation of the steering control mechanism are provided at both ends of the through rotating groove 3. By setting the slopes 31, rotation limit is avoided, and the rotation angle range is increased.

[0040] As Figure 7 shown in the figure, side rotating grooves 17 are symmetrically arranged at the upper and lower outer ends of the frame rotating plate 16. One end of the frame plate 18 is rotatably installed inside the side rotating groove 17. At the same time, both ends of the elastic telescopic mechanism are rotatably installed through symmetrically arranged rotating seats 19 in the middle of the upper and lower frame plates 18. By rotatably installing one end of the frame plate 18 through the side rotating groove 17, the rotation is made stable. At the same time, rotating seats 19 are symmetrically installed in the middle of the opposite surfaces of the upper and lower frame plates 18 to install the elastic telescopic mechanism. When encountering a roadblock, the lower frame plate 18 is lifted to compress the elastic telescopic mechanism and then passes through. After passing through, it automatically resets under the action of the elastic telescopic mechanism, realizing stable passage over the protrusion while increasing the driving stability.

[0041] As Figure 7 shown in the figure, the elastic telescopic mechanism includes a bidirectional telescopic rod 20, a connecting sleeve 15 rotatably installed in the middle of the bidirectional telescopic rod 20, and shock-absorbing springs 21 symmetrically installed on the bidirectional telescopic rods 20 above and below the connecting sleeve 15. By setting the bidirectional telescopic rod 20, when patrolling in a cable trench with a relatively low height, the upper and lower walking units are respectively supported on the upper and lower surfaces of the cable trench, increasing the driving stability and achieving the purpose of shock absorption at the same time. A telescopic distance adjustment mechanism is installed between the connecting sleeves 15 on the same side.

[0042] As Figure 2 、 5 As shown in FIGS. 6, the telescopic distance adjustment mechanism includes an adapter seat 13 and electric telescopic rods 14 symmetrically installed at both ends of the adapter seat 13. The movable ends of the electric telescopic rods 14 on both sides are respectively connected to the side walls of the connecting sleeves 15 on both sides. The electric telescopic rod 14 has the advantage of high control reaction accuracy. One side of the adapter seat 13 is rotatably installed with both ends of the steering control mechanism through a second rotating groove 131. By controlling the telescopic movement of the electric telescopic rod 14, both sides of the elastic telescopic mechanism are pulled, indirectly controlling the distance between the Y-shaped frames on both sides. When the distance increases, the driving stability is improved. When the distance is reduced, it is prepared for reducing the turning radius.

[0043] As Figure 3 、 6As shown in the figure, the steering control mechanism includes a rotating block 4, rotating plates 41 symmetrically installed on both side walls of the rotating block 4, and a rotating shaft 5 connected to the top of the rotating block 4. The top end of the rotating shaft 5 penetrates through the seat 1, and at the same time, the top end of the rotating shaft 5 is connected to the output end of a servo motor 10 installed in the equipment box 6 through a coupling. The outer ends of the rotating plates 41 are rotatably installed in the second rotating grooves 131. By controlling the rotation of the rotating shaft 5 by the servo motor 10, the rotating shaft 5 drives the rotating block 4 to rotate, and the rotating block 4 drives the rotating plates 41 on both sides to rotate, so as to control the telescopic distance adjustment mechanisms, elastic telescopic mechanisms, Y-shaped frames and walking units on both sides to move forward and backward respectively, achieving the purpose of reducing the turning radius.

[0044] As Figure 3 shown, a front slot 7, a middle slot 9 and a rear slot 11 are sequentially arranged in the equipment box 6 from front to back. The front slot 7 is equipped with an imaging and control device 8, and the imaging and control device 8 is an existing wireless video shooting and transmitting device and a vehicle body walking controller. A servo motor 10 is installed in the middle slot 9, and a power supply unit 12 is installed in the rear slot 11. The power supply unit 12 is a battery.

[0045] As Figure 1 、 2 shown, two groups of cameras 81 included in the imaging and control device 8 are installed through the front end of the equipment box 6. One can also be equipped with two groups of cameras 81 and a lighting lamp according to the usage requirements. A plurality of heat dissipation holes 61 are provided at the rear end of the equipment box 6 communicating with the rear slot 11. By setting a plurality of heat dissipation holes 61, the heat dissipation performance of the inspection robot is increased.

[0046] As Figure 8 shown, the walking unit includes a driving motor 22, a cylindrical rim 23, a hemispherical body 24 and a plurality of anti-slip protrusions 25. The outer diameter of the cylindrical rim 23 is the same as the diameter of the hemispherical body 24. The materials of the cylindrical rim 23 and the hemispherical body 24 can be selected as rubber materials to increase the driving stability. At the same time, one end of the cylindrical rim 23 is installed on the cross section of the hemispherical body 24, and a plurality of anti-slip protrusions 25 are provided on the outer side surfaces of the cylindrical rim 23 and the hemispherical body 24. The driving motor 22 is installed on one side of the movable end of the mounting plate 18, and at the same time, the output end of the driving motor 22 is connected to the center of the cross-sectional circle of the hemispherical body 24. By setting the hemispherical body 24, when there are piled-up sloping soils on both sides of the cable trench passed by the vehicle body, its curved side surface can effectively increase the contact surface, increase the resistance and improve the passing performance. By driving the rotation of the outer diameter of the cylindrical rim 23 and the hemispherical body 24 by the driving motor 22, the purpose of pushing the robot to walk is achieved. At the same time, the passing performance is increased by setting a plurality of anti-slip protrusions 25.

[0047] Embodiment 2

[0048] A working method of a cable trench inspection robot. The working method of the cable trench inspection robot includes the following steps:

[0049] S1. Place the cable inspection robot in the cable trough, and drive the hemisphere 24 and the cylindrical rim 23 to rotate by controlling the driving motor 22, so as to achieve the purpose of moving forward;

[0050] S2. Control the electric telescopic rod 14 to extend, push the elastic telescopic mechanism to drive the Y-shaped frame to expand outward, and increase the distance between the support points of the walking unit. When encountering a bottom surface protrusion, the hemisphere 24 and the cylindrical rim 23 located below are pushed up, causing the bidirectional telescopic rod 20 to contract and compress the shock-absorbing spring 21, and automatically reset through the reaction force of the shock-absorbing spring 21, improving the driving stability and passing performance;

[0051] S3. When passing through a corner, control the electric telescopic rod 14 to contract, pull the elastic telescopic mechanism to drive the Y-shaped frame to rotate towards the middle of the seat 1, and at the same time drive the rotating block 4 to rotate towards the corner direction through the servo motor 10. During the rotation of the rotating block 4, the two sides of the rotating plate 41 control the two sets of telescopic distance adjustment mechanisms on both sides to rotate towards the corner direction. The telescopic distance adjustment mechanism drives the two sets of Y-shaped frames outside the corner forward and the two sets of Y-shaped frames inside the corner backward through the elastic telescopic mechanism, so as to achieve the purpose of reducing the turning radius and passing through the corner.

[0052] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A cable trench inspection robot, including a saddle (1), characterized in that, Four sets of Y-shaped frames are symmetrically installed at the front and rear ends of the saddle (1) for rotational movement. Each Y-shaped frame includes a frame rotating plate (16) rotatably installed at one end on the saddle (1), and frame plates (18) symmetrically installed vertically at the outer end of the frame rotating plate (16). A walking unit is installed at the movable end of the frame plate (18). An elastic telescopic mechanism is installed between the upper and lower frame plates (18), and two sets of the elastic telescopic mechanisms on the same side are connected by a telescopic distance adjustment mechanism. A steering control mechanism is installed through the middle of the saddle (1) for rotational movement, and both ends of the steering control mechanism are respectively rotatably connected to the middle parts of the telescopic distance adjustment mechanisms on both sides. An equipment box (6) is installed on the top of the saddle (1), and an imaging and control device (8) and a power supply unit (12) are installed in the equipment box (6). The elastic telescopic mechanism includes a bidirectional telescopic rod (20), a connecting sleeve (15) rotatably installed in the middle of the bidirectional telescopic rod (20), and shock-absorbing springs (21) symmetrically installed on the bidirectional telescopic rods (20) above and below the connecting sleeve (15). The telescopic distance adjustment mechanism is installed between the connecting sleeves (15) on the same side. The telescopic distance adjustment mechanism includes an adapter seat (13) and electric telescopic rods (14) symmetrically installed at both ends of the adapter seat (13). The movable ends of the electric telescopic rods (14) on both sides are respectively connected to the side walls of the connecting sleeves (15) on both sides. One side of the adapter seat (13) is provided with a second rotation groove (131) for rotatably installing both ends of the steering control mechanism. The steering control mechanism includes a rotating block (4), rotating plates (41) symmetrically installed on both side walls of the rotating block (4), and a rotating shaft (5) connected to the top of the rotating block (4). The top end of the rotating shaft (5) penetrates through the saddle (1), and at the same time, the top end of the rotating shaft (5) is connected to the output end of a servo motor (10) installed in the equipment box (6) through a coupling. The outer ends of the rotating plates (41) are rotatably installed in the second rotation groove (131).

2. The cable trench inspection robot according to claim 1, characterized in that, Four sets of first rotation grooves (2) are symmetrically provided at the front and rear ends of the saddle (1). One end of the frame rotating plate (16) is rotatably installed in the first rotation groove (2). A through rotation groove (3) is provided through the middle of the saddle (1). The steering control mechanism is installed in the through rotation groove (3), and slopes (31) for facilitating the rotation of the steering control mechanism are provided at both ends of the through rotation groove (3).

3. The cable trench inspection robot according to claim 2, characterized in that, Side rotation grooves (17) are symmetrically provided at the upper and lower ends of the outer side of the frame rotating plate (16). One end of the frame plate (18) is rotatably installed in the side rotation groove (17). At the same time, both ends of the elastic telescopic mechanism are rotatably installed through symmetrically provided rotating seats (19) in the middle of the upper and lower frame plates (18).

4. The cable trench inspection robot according to claim 1, characterized in that, A front slot (7), a middle slot (9), and a rear slot (11) are sequentially provided in the equipment box (6) from front to back. The imaging and control device (8) is installed in the front slot (7), the servo motor (10) is installed in the middle slot (9), and the power supply unit (12) is installed in the rear slot (11).

5. The cable trench inspection robot according to claim 4, wherein Two groups of cameras (81) included in the image and control device (8) are installed through the front end of the device box (6), and a plurality of heat dissipation holes (61) are provided in the rear end of the device box (6) communicating with the rear slot (11).

6. The cable trench inspection robot according to claim 1, characterized in that, The walking unit includes a drive motor (22), a cylindrical rim (23), a hemisphere (24) and a plurality of anti-slip protrusions (25). The outer diameter of the cylindrical rim (23) is the same as the diameter of the hemisphere (24). At the same time, one end of the cylindrical rim (23) is installed on the cross-section of the hemisphere (24). A plurality of the anti-slip protrusions (25) are provided on the outer side surfaces of the cylindrical rim (23) and the hemisphere (24). The drive motor (22) is installed on one side of the movable end of the frame plate (18). At the same time, the output end of the drive motor (22) is connected to the center of the cross-sectional circle of the hemisphere (24).

7. A working method of a cable trench inspection robot, characterized in that, Using the cable trench inspection robot according to claim 6, the working method of the cable trench inspection robot includes the following steps: S1. Place the cable inspection robot in the cable trench, and drive the hemisphere (24) and the cylindrical rim (23) to rotate by controlling the drive motor (22) to achieve the purpose of moving forward; S2. Control the electric telescopic rod (14) to extend and push the elastic telescopic mechanism to drive the Y-shaped frame to expand outward, increasing the distance between the support points of the walking unit. When encountering a bottom surface protrusion, the hemisphere (24) and the cylindrical rim (23) located below are pushed up to drive the bidirectional telescopic rod (20) to contract and compress the shock absorption spring (21), and automatically reset by the reaction force of the shock absorption spring (21); S3. When passing through a corner, control the electric telescopic rod (14) to contract and pull the elastic telescopic mechanism to drive the Y-shaped frame to rotate towards the middle of the seat (1). At the same time, drive the rotating block (4) to rotate towards the corner direction by the servo motor (10). During the rotation of the rotating block (4), control the two sets of telescopic distance adjustment mechanisms on both sides to rotate towards the corner direction through the rotating plates (41) on both sides. The telescopic distance adjustment mechanism drives the two sets of Y-shaped frames outside the corner forward and the two sets of Y-shaped frames inside the corner backward through the elastic telescopic mechanism, so as to achieve the purpose of reducing the turning radius and passing through the corner.

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