A mother-child intelligent inspection robot based on the Internet of Things

Abstract

The present invention discloses a mother-and-child type intelligent inspection robot based on the Internet of Things, comprising a plurality of inspection areas distributed in an array along a straight line direction, and also comprising a robot inspection track extending along the straight line direction, wherein the robot inspection track passes through and crosses each of the inspection areas; a mother-and-child inspection robot is installed on the robot inspection track, and the mother-and-child inspection robot can walk along the robot inspection track and reach each inspection area; the present invention is based on the concept of a mother-and-child inspection robot, and combines the advantages of a tracked inspection robot, such as a fixed walking path, high certainty, strong stability, and long travel and endurance.

Description

Technical Field

[0001] The invention belongs to the field of intelligent inspection robots. Background Art

[0002] Track-based inspection robots based on IoT communication have been widely used in scenarios such as smart power systems, unmanned industrial production workshops, and smart warehousing. Track-based inspection robots have the advantages of fixed walking paths, high certainty, strong stability, long travel and endurance, etc. However, since track-based inspection robots can only walk along specific tracks, their inspection range is constrained by their own walking paths. When encountering suspicious situations, they cannot approach for inspection like free independent inspection robots without tracks.

[0003] However, the trackless free independent inspection robot has problems such as insufficient battery life, low stability, and poor long-distance walking ability;

[0004] Therefore, I came up with the idea of ​​a mother-and-child type inspection robot, which combines the advantages of tracked inspection and trackless inspection. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a mother-and-child intelligent inspection robot based on the Internet of Things, which combines the advantages of tracked inspection robots and trackless robots.

[0006] Technical solution: To achieve the above-mentioned purpose, the Internet of Things-based parent-child intelligent inspection robot of the present invention includes a number of inspection areas distributed in an array along a straight line direction, and also includes a robot inspection track extending along a straight line direction, and the robot inspection track passes through and passes through each of the inspection areas; a parent-child inspection robot is installed on the robot inspection track, and the parent-child inspection robot can walk along the robot inspection track and reach each inspection area; the parent-child inspection robot is composed of a mother unit and a child unit; after the mother-child inspection robot walks to any inspection area along the robot inspection track, the child unit can detach from the mother unit to which it is attached, and walk independently in the inspection area where it is located.

[0007] Furthermore, each inspection area is provided with a number of devices to be inspected, and each of the devices to be inspected is distributed in an array along the length direction of the robot inspection track on one side of the robot inspection track; an inspection camera unit is mounted on the sub-body unit; when the parent-child inspection robot arrives in front of the device to be inspected along the robot inspection track, the inspection camera unit mounted on the sub-body unit can photograph the corresponding device to be inspected.

[0008] Furthermore, the parent unit can drive the child unit to move up and down as a whole, so that the inspection camera unit on the child unit scans the equipment to be inspected up and down.

[0009] Furthermore, the sub-body unit includes a main body, the bottom of the main body is a running wheel, when the sub-body unit is attached to the mother unit, the running wheels at the bottom of the main body are higher than the ground, a vertical camera drive motor is provided on the main body, the rotating shaft of the camera drive motor is vertically upward, and the inspection camera unit is installed on the rotating shaft.

[0010] Furthermore, the robot inspection track includes a main track above the ground, the main track includes a roller walking bar extending along a horizontal straight line, and the upper side of the roller walking bar is provided with a linear array along the length direction; the mother unit walks along the main track.

[0011] Furthermore, the mother unit includes an active walking unit and a passive walking unit; the active walking unit can actively walk along the main track in the length direction, and the passive walking unit follows the active walking unit to passively walk along the main track in the length direction.

[0012] Furthermore, the active walking unit includes an active gear, which is meshed with the transmission tooth body; the gear shaft of the active gear is rotatably mounted on the a articulated bearing seat through a bearing; the passive walking unit includes a passive gear, which is meshed with the transmission tooth body; the gear shaft of the passive gear is rotatably mounted on the b articulated bearing seat through a bearing; the mother unit also includes a first articulated rod and a second articulated rod which are angled and close to each other at the upper ends; the upper end of the first articulated rod is fixedly connected to the c articulated bearing seat, the upper end of the second articulated rod is fixedly connected to the d articulated bearing seat, the c articulated bearing seat and the d articulated bearing seat They are hinged on the same hinge shaft through bearings; the lower end of the first hinge rod is fixedly connected to the a hinge bearing seat; a motor seat is fixedly arranged on the b hinge bearing seat, and a brake motor is fixedly installed on the motor seat, the output shaft of the brake motor is coaxial with the second hinge rod, and the end of the output shaft is rotatably matched with the coaxial bearing hole of the lower end of the second hinge rod through a slewing bearing; the axes of the driving gear, the driven gear and the hinge shaft are respectively recorded as axis a, axis b and axis c, and in the front view, the connecting lines of axis a, axis b and axis c always form an isosceles triangle.

[0013] Furthermore, it also includes a vertical gravity pull bar, which is fixedly connected to one end of the hinge shaft, and the lower end of the gravity pull bar is fixedly connected to a counterweight, so that the gravity pull bar generates a constant downward pulling force on the hinge shaft, so that the angle X between the first hinge rod and the second hinge rod always tends to increase; a downward fixed pulley bracket is fixedly installed on the second hinge rod, and a fixed pulley is rotatably arranged on the fixed pulley bracket; a wire rope drum is coaxially fixed on the output shaft, and the wire rope led out of the wire rope drum crosses the lower side of the fixed pulley and the end is fixedly connected to the lower part of the first hinge rod. When the brake motor is in the brake state, the taut wire rope prevents the angle X between the first hinge rod and the second hinge rod from increasing further.

[0014] Furthermore, one end of the hinge shaft away from the gravity pull bar is fixedly connected to a sub-unit posture maintaining bar extending downward; it also includes a first arc bar and a second arc bar that are symmetrical on the left and right, and the centers of the first arc bar and the second arc bar coincide with the center of the c axis; the first arc bar and the second arc bar are fixed to the first hinge rod and the second hinge rod respectively through the first fixing member and the second fixing member; a left-right symmetrical arc clamping strip is fixedly connected to the main body through a support, and when the sub-unit is attached to the mother unit, the center of the arc of the arc clamping strip coincides with the center of the c axis, and an arc sliding groove is provided on the lower side of the arc clamping strip along the direction of the arc contour, and the first arc bar and the second arc bar are respectively coaxially movably inserted into the left and right parts of the arc sliding groove, so that the first arc bar and the second arc bar jointly lift the arc clamping strip upward; an upward groove seat is fixed to the middle part of the upper side of the arc clamping strip, and a vertical positioning groove that passes through the upper end is provided on one side of the groove seat, and the lower end of the sub-unit posture maintaining bar is movably inserted into the positioning groove downward.

[0015] Beneficial effects: The present invention is based on the concept of a mother-and-child type inspection robot, which combines the advantages of track-based inspection robots, such as fixed walking path, high certainty, strong stability, long travel and endurance; at the same time, the mother-and-child structure gets rid of the disadvantage that the inspection range of traditional track-based robots is constrained by their own walking path, and when encountering suspicious situations, they cannot approach for inspection like trackless free and independent inspection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is the overall top view of the device;

[0017] Attached Figure 2 This is the front view of the mother-child inspection robot;

[0018] Attached Figure 3 For attachment Figure 2 A three-dimensional schematic diagram of

[0019] Attached Figure 4 It is a schematic diagram of the state where the mother unit and the body unit are separated;

[0020] Attached Figure 5 For attachment Figure 7 An enlarged schematic diagram of the mark 7;

[0021] Attached Figure 6 For attachment Figure 2 An enlarged schematic diagram of

[0022] Attached Figure 7 For attachment Figure 6 4 large enlarged schematic diagrams of the markings;

[0023] Attached Figure 8 For attachment Figure 6An enlarged schematic diagram of the mark 5;

[0024] Attached Fig. 9 is an enlarged schematic diagram of the parent unit;

[0025] Attached Fig.10 It is an enlarged schematic diagram of the subunit;

[0026] Attached Fig.11 For attachment Fig.10 Schematic diagram of the second perspective;

[0027] Attached Fig.12 This is a schematic diagram of the arc card strip. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] As attached Figures 1 to 12 The parent-child intelligent inspection robot based on the Internet of Things shown in the figure includes a plurality of inspection areas 10 arranged in an array along a straight line direction, and also includes a robot inspection track 8 extending along a straight line direction, and the robot inspection track 8 passes through each inspection area 10; a parent-child inspection robot 1 is installed on the robot inspection track 8, and the parent-child inspection robot 1 can walk along the robot inspection track 8 and reach each inspection area 10; Figure 1 It is a top view;

[0030] like Figure 4 The mother-child inspection robot 1 is composed of a mother unit 2 and a child unit 3; after the mother-child inspection robot 1 walks along the robot inspection track 8 to any inspection area 10, the child unit 3 can separate from the mother unit 2 to which it is attached and walk independently in the inspection area 10 where it is located.

[0031] Each inspection area 10 is provided with a number of equipment to be inspected 11 (determined according to the applicable scenario, the equipment to be inspected 11 can be power equipment, production equipment or smart warehousing and other equipment), and each equipment to be inspected 11 is distributed in an array along the length direction of the robot inspection track 8 on one side of the robot inspection track 8; an inspection camera unit 19 is loaded on the sub-body unit 3; when the parent-child inspection robot 1 arrives in front of the equipment to be inspected 11 along the robot inspection track 8, the inspection camera unit 19 loaded on the sub-body unit 3 can photograph the corresponding equipment to be inspected 11.

[0032] The parent unit 2 can drive the child unit 3 to move up and down as a whole, so that the inspection camera unit 19 on the child unit 3 can scan the device to be inspected 11 photographed up and down, and the specific driving method is described in detail later;

[0033] like Fig.10 and Fig.11The sub-body unit 3 includes a main body 25, and the bottom of the main body 25 is a running wheel 12. When the sub-body unit 3 is attached to the parent unit 2, the running wheel 12 at the bottom of the main body 25 is higher than the ground 9. A vertical camera drive motor 56 is provided on the main body 25. Other sensors, such as infrared temperature sensors, can be added according to specific application scenarios. The rotating shaft 57 of the camera drive motor 56 is vertically upward, and the inspection camera unit 19 is installed on the rotating shaft 57, so that the inspection camera unit 19 can complete a certain turning action; such as Fig.10 ;

[0034] like Figure 2 The front view shows that the robot inspection track 8 includes a main track 8.2 which is higher than the ground 9. The main track includes a roller running bar 32 which extends along a horizontal straight line. The upper side of the roller running bar 32 is provided with a linear array of transmission teeth 31 along the length direction. The mother unit 2 runs along the main track 8.2. The robot inspection track 8 also includes an auxiliary track 8.1 which is parallel to the main track 8.2.

[0035] like Figure 6 and Fig. 9 The parent unit 2 includes an active walking unit 4 and a passive walking unit 5; the active walking unit 4 can actively walk along the length direction of the main track 8.2, and the passive walking unit 5 follows the active walking unit 4 to passively walk along the length direction of the main track 8.2;

[0036] like Figure 7 The active walking unit 4 includes an a groove wheel support 34, on which two a groove wheels 39 are rotatably mounted through bearings, and the axes of the two a groove wheels 39 are both vertical, and the wheel grooves 3 of the two a groove wheels 39 are respectively and rollingly clamped on the two sides of the roller walking bar 32; the active walking unit 4 also includes a driving gear 38, which is meshed with the transmission gear body 31; the gear shaft of the driving gear 38 is rotatably mounted on the a hinged bearing seat 37 through a bearing; and also includes an active motor 36, which is fixedly connected to the a groove wheel support 34 through a motor bracket 35, and the output end of the active motor 36 drives the gear shaft connected to the driving gear 38;

[0037] like Figure 8The passive walking unit 5 includes a b groove wheel support 51, on which two b groove wheels 50 are symmetrically installed through bearings, the axes of the two b groove wheels 50 are both vertical, and the wheel grooves 3 of the two b groove wheels 50 are respectively rollingly clamped on both sides of the roller walking strip 32; the passive walking unit 5 also includes a passive gear 49, which is meshed with the transmission tooth body 31; the gear shaft of the passive gear 49 is rotatably installed on the b hinged bearing seat 48 through a bearing; it also includes a bearing seat 54 fixedly connected to the b groove wheel support 51 through a bearing seat bracket 52, and a passive shaft 55 is rotatably installed on the bearing seat 54 through a bearing, and the passive shaft 55 is fixedly connected to the gear shaft of the passive gear 49 coaxially;

[0038] The mother unit 2 further includes a first hinge rod 16 and a second hinge rod 18, which are angled and close to each other at their upper ends; a c hinge bearing seat 26 is fixedly connected to the upper end of the first hinge rod 16, and a d hinge bearing seat 27 is fixedly connected to the upper end of the second hinge rod 18, and the c hinge bearing seat 26 and the d hinge bearing seat 27 are hinged on the same hinge shaft 95 through bearings;

[0039] The lower end of the first hinge rod 16 is fixedly connected to the a hinge bearing seat 37; the b hinge bearing seat 48 is fixedly provided with a motor seat 47, and a brake motor 46 is fixedly installed on the motor seat 47, and the output shaft 45 of the brake motor 46 is coaxial with the second hinge rod 18, and the end of the output shaft 45 is rotatably matched with the coaxial bearing hole of the lower end of the second hinge rod 18 through a slewing bearing 44;

[0040] The axes of the driving gear 38, the driven gear 49 and the hinge shaft 95 are respectively denoted as axis a 140, axis b 150 and axis c 15. In a front view, the connecting lines of axis a 140, axis b 150 and axis c 15 always form an isosceles triangle; in an initial state, the angle X between the first hinge rod 16 and the second hinge rod 18 is about 60°;

[0041] like Figure 5 , further comprising a vertical gravity tie bar 13, the gravity tie bar 13 being fixedly connected to one end of the hinge shaft 95, and a counterweight 110 being fixedly connected to the lower end of the gravity tie bar 13, the counterweight 110 causing the gravity tie bar 13 to generate a constant downward pulling force on the hinge shaft 95, so that the angle X between the first hinge rod 16 and the second hinge rod 18 always tends to increase; the proportion of the counterweight 110 in the attached figure does not represent the actual size of the counterweight, and in practice, the weight of the counterweight 110 needs to be large enough to ensure that the angle X always tends to increase;

[0042] A downward fixed pulley bracket 40 is fixedly mounted on the second hinged rod 18, and a fixed pulley 41 is rotatably mounted on the fixed pulley bracket 40; a wire rope drum 43 is coaxially fixed to the output shaft 45, and the wire rope 23 drawn out of the wire rope drum 43 passes over the lower side of the fixed pulley 41 and is fixedly connected to the lower part of the first hinged rod 16 at its end. When the brake motor 46 is in the brake state, the taut wire rope 23 prevents the angle X between the first hinged rod 16 and the second hinged rod 18 from being further increased;

[0043] It also includes a slider 83 that is slidably sleeved outside the auxiliary track 8.1, and the slider 83 slides freely along the length direction of the auxiliary track 8.1; a roller seat 100 is fixedly arranged on the slider 83, and at least two guide wheels 80 are provided on both sides of the vertical gravity pull bar 13 in a rolling fit and tangentially, and each guide wheel 80 is rotatably mounted on the roller seat 100 through a bearing, and under the constraint of each guide wheel 80, the gravity pull bar 13 is always in a vertical posture;

[0044] One end of the hinge shaft 95 away from the gravity pull bar 13 is fixedly connected to a sub-unit posture maintaining bar 17 extending downward;

[0045] The first arc strip 21 and the second arc strip 20 are symmetrical, and the centers of the first arc strip 21 and the second arc strip 20 coincide with the c-axis 15; the first arc strip 21 and the second arc strip 20 are fixed to the first hinge rod 16 and the second hinge rod 18 through the first fixing member 91 and the second fixing member 92 respectively;

[0046] A left-right symmetrical arc clip strip 24 is fixedly connected to the main body 25 through a support 81. When the sub-body unit 3 is attached to the mother unit 2, the arc center of the arc clip strip 24 coincides with the c-axis center 15. An arc sliding slot 30 is provided on the lower side of the arc clip strip 24 along the arc contour direction. The first arc strip 21 and the second arc strip 20 are respectively coaxially movably inserted into the left and right parts of the arc sliding slot 30, so that the first arc strip 21 and the second arc strip 20 slide relatively along the common center in the arc sliding slot 30, so that the first arc strip 21 and the second arc strip 20 jointly lift the arc clip strip 24 upward; an upward groove seat 28 is fixed to the middle part of the upper side of the arc clip strip 24, and a vertical positioning groove 29 with the upper end penetrating is provided on the side of the groove seat 28 away from the inspection camera unit 19, and the lower end of the sub-body unit posture maintaining strip 17 is movably inserted into the positioning slot 29 downward;

[0047] Working principle:

[0048] Initial state settings:

[0049] In the initial state, if Figure 2 , 3, the sub-unit 3 is attached to the mother unit 2, specifically, the first arc bar 21 and the second arc bar 20 jointly lift the arc clamping bar 24 upward, and the lower end of the sub-unit posture maintaining bar 17 moves downward and is inserted into the positioning groove 29, so that the sub-unit 3 is in a state of being off the ground as a whole;

[0050] Under the constraint of each guide wheel 80, the gravity bar 13 is always in a vertical posture. Since the sub-unit posture maintaining bar 17 is synchronized with the gravity bar 13, the sub-unit posture maintaining bar 17 is always in a vertical state. Therefore, in the subsequent process, the sub-unit 3 is always in a central position between the first arc bar 21 and the second arc bar 20 under the constraint of the sub-unit posture maintaining bar 17, and will not deviate.

[0051] In the initial state, the brake motor 46 is in the brake state, the angle X between the first hinge rod 16 and the second hinge rod 18 is about 60°, and the counterweight 110 generates a constant downward pulling force on the hinge shaft 95 through the gravity pull bar 13, so that the angle X between the first hinge rod 16 and the second hinge rod 18 always tends to increase; at the same time, when the brake motor 46 is in the brake state, the taut wire rope 23 prevents the angle X between the first hinge rod 16 and the second hinge rod 18 from increasing further; thus, the overall structure of the mother-child inspection robot 1 is balanced;

[0052] The inspection process of the mother-child inspection robot 1 as a whole:

[0053] The active motor 36 is controlled separately to rotate the active gear 38. Under the meshing action of the transmission gear body 31, the active walking unit 4 walks along the length direction of the main track 8.2 as a whole, and the passive walking unit 5 and the slider 83 follow the active walking unit 4 to passively walk along the length direction of the main track 8.2, giving full play to the long endurance advantage of the rail robot, so that the mother-child inspection robot 1 as a whole arrives at each inspection area 10 along the main track 8.2. When the mother-child inspection robot 1 as a whole arrives in front of any device to be inspected 11, the inspection camera unit 19 mounted on the sub-body unit 3 of the mother-child inspection robot 1 just captures the middle height area of ​​the device to be inspected 11 in front.

[0054] If the inspection camera unit 19 needs to be lowered: control the brake motor 46 to make the wire rope drum 43 release a length of the wire rope 23, and then the brake motor 46 resumes the braking state, so that the originally taut wire rope 23 becomes loose. Since the angle X between the first hinge rod 16 and the second hinge rod 18 always tends to increase, the angle X between the first hinge rod 16 and the second hinge rod 18 automatically increases under the downward pull of the counterweight 110 until the wire rope 23 is tightened again, and the first arc bar 21 and the second arc bar 20 slide away from each other adaptively in the arc sliding groove 30 in which they are inserted, and the arc card strip 24 is still in a state of being held up by the first arc bar 21 and the second arc bar 20. At the same time, the sub-body unit 3 is in the sub-body The unit posture is always in the middle position between the first arc bar 21 and the second arc bar 20 under the constraint of the bar 17. After the angle X between the first hinge rod 16 and the second hinge rod 18 increases, the height of the c-axis 15, which is the common center of the first arc bar 21 and the second arc bar 20, drops a certain distance. Since the center of the arc clip 24 is also on the c-axis 15, the arc clip 24 also drops a certain distance accordingly, so that the sub-unit 3 drops as a whole, and the sub-unit 3 is still off the ground as a whole. The overall drop of the sub-unit 3 causes the inspection camera unit 19 to drop to a height that can just capture the lower part of the equipment to be inspected 11 in front. At this time, the angle X between the first hinge rod 16 and the second hinge rod 18 does not exceed 120°.

[0055] If the inspection camera unit 19 needs to rise: control the brake motor 46 to make the wire rope drum 43 reel a section of wire rope 23 into the wire rope drum 43, and then the brake motor 46 returns to the brake state, so that the originally taut wire rope 23 is further shortened, so that the angle X between the first hinge rod 16 and the second hinge rod 18 is forced to become smaller, and the first arc bar 21 and the second arc bar 20 adaptively slide close to each other in the arc sliding groove 30 in which they are inserted. At the same time, the sub-body unit 3 is always in the center position between the first arc bar 21 and the second arc bar 20 under the constraint of the sub-body unit posture maintaining bar 17, and the first hinge rod 16 and After the angle X between the second hinged rods 18 becomes smaller, the height of the c-axis 15, which is the common center of the first arc strip 21 and the second arc strip 20, rises by a certain distance. Since the center of the arc clip 24 is also on the c-axis 15, the arc clip 24 also rises by a certain distance accordingly, and both ends of the arc clip 24 are still in a state of being held up by the first arc strip 21 and the second arc strip 20, so that the sub-body unit 3 rises as a whole. The overall rise of the sub-body unit 3 causes the inspection camera unit 19 to rise to a height just capable of photographing the upper part of the equipment to be inspected 11 in front. At this time, the angle X between the first hinged rod 16 and the second hinged rod 18 is not less than 30°.

[0056] Thus, the inspection camera unit 19 can smoothly capture the upper, middle and lower parts of the equipment to be inspected 11 in front;

[0057] The process of daughter unit 3 separating from parent unit 2:

[0058] On the basis of the initial state, the brake motor 46 is controlled to gradually release the wire rope 23 from the wire rope drum 43. The angle X between the first hinge rod 16 and the second hinge rod 18 automatically increases under the pull-down action of the counterweight 110. The first arc bar 21 and the second arc bar 20 gradually move away from each other. The first arc bar 21 and the second arc bar 20 slide away from each other in the arc sliding groove 30 in which they are inserted. After the angle X between the first hinge rod 16 and the second hinge rod 18 increases, the height of the c-axis 15, which is the common center of the first arc bar 21 and the second arc bar 20, gradually decreases. Since the center of the arc clip 24 is also on the c-axis 15, the arc clip 24 also decreases synchronously accordingly, thereby causing the sub-unit 3 to descend as a whole. , until the walking wheel 12 at the bottom of the sub-unit 3 touches the ground, at which point the sub-unit 3 has landed and cannot continue to descend; then the angle X between the first hinge rod 16 and the second hinge rod 18 continues to increase, the first arc bar 21 and the second arc bar 20 continue to move away from each other, and the center of the first arc bar 21 and the second arc bar 20 continue to descend, until the first arc bar 21 and the second arc bar 20 are respectively disengaged from the two ends of the arc sliding groove 30, so that the first arc bar 21 and the second arc bar 20 are separated from the arc clamping strip 24, at which point the sub-unit 3 has been separated from the parent unit 2, so that the sub-unit 3 can walk independently in the inspection area 10 where it is located, giving full play to the advantages of the trackless robot, and thus realizing more detailed inspection and monitoring of the inspection area 10.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A parent-child intelligent inspection robot based on the Internet of Things, characterized by: The invention comprises a plurality of inspection areas (10) arranged in an array along a straight line, and also comprises a robot inspection track (8) extending along the straight line, wherein the robot inspection track (8) passes through each of the inspection areas (10); a mother-and-child inspection robot (1) is installed on the robot inspection track (8), and the mother-and-child inspection robot (1) can walk along the robot inspection track (8) and reach each of the inspection areas (10); the mother-and-child inspection robot (1) is composed of a mother unit (2) and a child unit (3); after the mother-and-child inspection robot (1) walks along the robot inspection track (8) to any inspection area (10), the child unit (3) can detach from the mother unit (2) to which it is attached, and walk independently in the inspection area (10) where it is located; A plurality of devices to be inspected (11) are arranged in each inspection area (10), and each of the devices to be inspected (11) is arranged in an array on one side of the robot inspection track (8) along the length direction of the robot inspection track (8); an inspection camera unit (19) is mounted on the sub-body unit (3); when the sub-body inspection robot (1) arrives in front of the device to be inspected (11) along the robot inspection track (8), the inspection camera unit (19) mounted on the sub-body unit (3) can capture the corresponding device to be inspected (11); The parent unit (2) can drive the child unit (3) to move up and down as a whole, so that the inspection camera unit (19) on the child unit (3) scans the device to be inspected (11) up and down; The sub-body unit (3) comprises a main body (25), the bottom of the main body (25) is a running wheel (12), when the sub-body unit (3) is attached to the main body unit (2), the running wheel (12) at the bottom of the main body (25) is higher than the ground (9), a vertical camera drive motor (56) is provided on the main body (25), the rotating shaft (57) of the camera drive motor (56) is vertically upward, and the inspection camera unit (19) is mounted on the rotating shaft (57); The robot inspection track (8) comprises a main track (8.2) above the ground (9), the main track comprising a roller running strip (32) extending along a horizontal straight line, and a transmission gear (31) is arranged in a linear array along the length direction on the upper side of the roller running strip (32); the mother unit (2) runs along the main track (8.2); The mother unit (2) comprises an active walking unit (4) and a passive walking unit (5); the active walking unit (4) can actively walk along the length direction of the main track (8.2), and the passive walking unit (5) follows the active walking unit (4) and passively walks along the length direction of the main track (8.2); The active walking unit (4) comprises an active gear (38), which meshes with the transmission gear body (31); the gear shaft of the active gear (38) is rotatably mounted on the a hinged bearing seat (37) via a bearing; the passive walking unit (5) comprises a passive gear (49), which meshes with the transmission gear body (31); the gear shaft of the passive gear (49) is rotatably mounted on the b hinged bearing seat (48) via a bearing; the mother unit (2) further comprises a first hinged rod (16) and a second hinged rod (18) which are angled and have upper ends close to each other; the upper end of the first hinged rod (16) is fixedly connected to the c hinged bearing seat (26), the upper end of the second hinged rod (18) is fixedly connected to the d hinged bearing seat (27), and the c hinged bearing seat (26) and the d hinged bearing seat (27) are hingedly connected to the same hinged bearing seat via a bearing. a hinge shaft (95); the lower end of the first hinge rod (16) is fixedly connected to the a hinge bearing seat (37); a motor seat (47) is fixedly arranged on the b hinge bearing seat (48), and a brake motor (46) is fixedly installed on the motor seat (47); the output shaft (45) of the brake motor (46) is coaxial with the second hinge rod (18), and the end of the output shaft (45) is rotatably matched with the coaxial bearing hole of the lower end of the second hinge rod (18) through a slewing bearing (44); the axes of the driving gear (38), the driven gear (49) and the hinge shaft (95) are respectively recorded as the a axis (140), the b axis (150) and the c axis (15), and in a front view, the connecting line of the a axis (140), the b axis (150) and the c axis (15) always forms an isosceles triangle.

2. The parent-child type intelligent inspection robot based on the Internet of Things according to claim 1 is characterized in that: The invention also includes a vertical gravity bar (13), the gravity bar (13) being fixedly connected to one end of the hinge shaft (95), and a counterweight (110) being fixedly connected to the lower end of the gravity bar (13). The counterweight (110) causes the gravity bar (13) to generate a constant downward pulling force on the hinge shaft (95), so that the angle X between the first hinge rod (16) and the second hinge rod (18) always tends to increase; a downward fixed pulley bracket (40) is fixedly installed on the second hinge rod (18). ), a fixed pulley (41) is rotatably arranged on the fixed pulley bracket (40); a wire rope drum (43) is coaxially fixed on the output shaft (45); a wire rope (23) drawn out of the wire rope drum (43) passes over the lower side of the fixed pulley (41) and then the end thereof is fixedly connected to the lower part of the first hinged rod (16); when the brake motor (46) is in a brake state, the taut wire rope (23) prevents the angle X between the first hinged rod (16) and the second hinged rod (18) from being further increased.

3. The parent-child type intelligent inspection robot based on the Internet of Things according to claim 2 is characterized in that: One end of the hinge shaft (95) away from the gravity pull bar (13) is fixedly connected to a sub-unit posture maintaining bar (17) extending downward; it also includes a left-right symmetrical first arc bar (21) and a second arc bar (20), the centers of the first arc bar (21) and the second arc bar (20) coincide with the c-axis (15); the first arc bar (21) and the second arc bar (20) are respectively fixed to the first hinge rod (16) and the second hinge rod (18) through a first fixing member (91) and a second fixing member (92); the main body (25) is fixedly connected to a left-right symmetrical arc clamping bar (24) through a support (81), and the sub-unit (3) is attached to the main body unit (2). When the arc center of the arc clip strip (24) coincides with the c-axis center (15), an arc sliding slot (30) is provided on the lower side of the arc clip strip (24) along the arc contour direction, and the first arc strip (21) and the second arc strip (20) are coaxially movable and snapped into the left and right parts of the arc sliding slot (30), so that the first arc strip (21) and the second arc strip (20) jointly lift the arc clip strip (24) upward; an upward slot seat (28) is fixed to the middle part of the upper side of the arc clip strip (24), and a vertical positioning slot (29) is provided on one side of the slot seat (28) and the lower end of the sub-unit posture maintaining strip (17) is movable downward and inserted into the positioning slot (29).

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